Bug report

I have a suspicion that the acceleration limits are not working after #5266

Steps to reproduce issue

ax_max: 0.1
ax_min: -0.1

Scenario: some setup that makes your robot accelerate in a straight line

Checkout before and after the PR

Expected behavior

See a curve that roughly respects the acceleration constraints

Actual behavior

Does not seem to respect the acceleration constraints

Reproduction instructions

Additional information