diff --git a/include/bezier-com-traj/solve_end_effector.hh b/include/bezier-com-traj/solve_end_effector.hh
index 38d207310700ca7d9fdd207c95936e8cb14de0f6..e33d9ef1b3c40eb9f40104240e8fc47cfc1ecc42 100644
--- a/include/bezier-com-traj/solve_end_effector.hh
+++ b/include/bezier-com-traj/solve_end_effector.hh
@@ -690,9 +690,9 @@ ResultDataCOMTraj solveEndEffector(const ProblemData& pData,const Path& path, co
     // stack the constraint for each waypoint :
     MatrixXX A;
     VectorX b;
-    Vector3 jerk_bounds(5000,5000,5000);
-    Vector3 acc_bounds(5000,5000,5000);
-    Vector3 vel_bounds(5000,5000,5000);
+    Vector3 jerk_bounds(10000,10000,10000);
+    Vector3 acc_bounds(500,500,500);
+    Vector3 vel_bounds(500,500,500);
     computeConstraintsMatrix(pData,wps_acc,wps_vel,acc_bounds,vel_bounds,A,b,wps_jerk,jerk_bounds);
   //  std::cout<<"End eff A = "<<std::endl<<A<<std::endl;
  //   std::cout<<"End eff b = "<<std::endl<<b<<std::endl;