I want to set initial velocity when plan arm trajectory in Moveit. I tried to use "setstartstate" function in "moveitcommander.movegroup.MoveGroupCommander". I set value in argument that RobotState.msg >joint_state > velocity.

But it overwrite only first value in "RobotTrajecotry > JointTrajectory > JointTrajectoryPoint > velocities. It not consider max acceleration and so on.

Can I plan trajectory considering initial velocity using Moveit?