Not sure this is a good place to give feedback about your report, but here it is. :dog:
From your report page 16:
Geometric planning methods require time parameterization as a post-processing step to be able to execute on robots.
Kunz and Stilman developed a bounded velocity and acceleration time-parameterization technique [4] that
is extensively used in the robotics community, including MoveIt [55]. However, this time parameterization
technique does not bound the jerk along the trajectory and as such can have very large jerks. We could not
find any accessible software library that can post process geometric paths while bounding jerks, making
geometric path planning not directly deploy-able on jerk sensitive manipulators.
Not sure this is a good place to give feedback about your report, but here it is. :dog:
From your report page 16:
The currently-advised way to limit jerks in MoveIt is to run a ruckig smoothing filter on the parameterized trajectory - at almost no overhead due to the performant implementation of ruckig. Here is the short tutorial you could not find (whether it's "accessible" definitely depends on your standards, I'm the last to claim MoveIt has good usability): https://ros-planning.github.io/moveit_tutorials/doc/time_parameterization/time_parameterization_tutorial.html?highlight=ruckig#jerk-limited-trajectory-smoothing I would (have) be(en) interested in the comparison.