diff --git a/core/src/solvers/cartesian_path.cpp b/core/src/solvers/cartesian_path.cpp index a9092175..9cc959dd 100644 --- a/core/src/solvers/cartesian_path.cpp +++ b/core/src/solvers/cartesian_path.cpp @@ -116,7 +116,7 @@ tl::expected CartesianPath::plan(const planning_scene::Planni timing->computeTimeStamps(*result, props.get("max_velocity_scaling_factor"), props.get("max_acceleration_scaling_factor")); - if (achieved_fraction >= props.get("min_fraction")) { + if (achieved_fraction < props.get("min_fraction")) { return tl::make_unexpected("Min fraction not met. Achieved fraction : " + std::to_string(achieved_fraction)); } return true;