diff --git a/config/pnkx_local_planner_params.yaml b/config/pnkx_local_planner_params.yaml
index 9b3aa9d..170f5c4 100644
--- a/config/pnkx_local_planner_params.yaml
+++ b/config/pnkx_local_planner_params.yaml
@@ -41,8 +41,8 @@ PNKXRotateLocalPlanner:
     
 LimitedAccelGenerator:
   library_path: libmkt_plugins_standard_traj_generator
-  max_vel_x: 0.2
-  min_vel_x: -0.2
+  max_vel_x: 1.0
+  min_vel_x: -1.0
 
   max_vel_y: 0.0  # diff drive robot
   min_vel_y: 0.0  # diff drive robot
@@ -50,7 +50,7 @@ LimitedAccelGenerator:
   max_speed_xy: 2.0    # max_trans_vel: 0.8  # choose slightly less than the base's capability
   min_speed_xy: 0.25    # min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
 
-  max_vel_theta: 0.7   # max_rot_vel: 1.0  # choose slightly less than the base's capability
+  max_vel_theta: 0.4   # max_rot_vel: 1.0  # choose slightly less than the base's capability
   min_vel_theta: 0.05 # min_rot_vel: 0.1 default: 0.4  # this is the min angular velocity when there is negligible translational velocity
 
   acc_lim_x: 1.5