plan_constant_velocity_twist() doesnot give a constant velocity profile

[lakshmip001]

I applied plan_constant_velocity_twist on UR5 robot.

Kindly find the code and the velocity plot below:

 start_transform = numpy.eye(4)
        start_transform[0, 3] = 0.80917
        start_transform[1, 3] = 0.05212
        start_transform[2, 3] = 0.81
        twist = numpy.zeros(6)
        twist[:3] = [0.0, 0.5, 0.0]
        twist[3:] = [0.9,0,0]
        velocity = 0.07
        traj = ru.planning.plan_constant_velocity_twist(self.robot, twist, velocity, 5)

velocity profile:

Kindly guide me if something is wrong.

[fsuarez6]

Try adding more waypoints, something like 100.

[lakshmip001]

I tried adding number of waypoints 10, 15, but still the profile is almost shown above. While sometimes it gives trajectory as nonetype. Is there any other way to add more number of waypoints?

Velocity profile when configuration is as below:
velocity = 0.05
traj = ru.planning.plan_constant_velocity_twist(self.robot, twist, velocity, 100)