fix: reduce jerk weight for smoother trajectory optimization

[Owen-Liuyuxuan]

https://star4.slack.com/archives/C07DMS06H6U/p1771309187965109?thread_ts=1771225315.644209&cid=C07DMS06H6U

@danielsanchezaran

Based on the experiment on 02/17

• if jerk weight is too high, the system will tend to preserve speed and not stop correctly.
• After tuning to 10.0, the system will be able to stop and slightly smooth the drive. (I thought I should only updated here first, AWF branch needs better update.)
• However, the longitudinal control is still not smoothed enough.
• I think the initial condition is wrong and need more seriours update. Currently, the initial condition will be set to pull out the velocity/acceleration or the current velocity/acceleration, and this will become the strong constraint of the trajectory. However, this will affect neighbouring trajectory points and will explicitly make the speed and acceleration changes even if we do not consider external factors.

[sonarqubecloud]

Quality Gate passed

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