Before revision:  The proposed algorithm and implementation allows three contributions: (1) To the best of our knowledge, we derive the first OTG algorithm with non-zero target acceleration, resulting in a complete defined target state . (2) This is the first open-source prototype of time-optimal OTG with limited jerk  . (3) Ruckig allows for directional velocity and acceleration limits, enabling robots to better use their dynamical resources.
After revision:  The proposed algorithm and implementation allows three contributions: (1) To the best of our knowledge, we derive the first OTG algorithm with non-zero target acceleration, resulting in a complete defined target state . (2) This is the first open-source prototype of time-optimal OTG with limited jerk and complete time synchronization for multiple DoFs . (3) Ruckig allows for directional velocity and acceleration limits, enabling robots to better use their dynamical resources.