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The joint velocity limits can be set in the URDF like here. They additionally can be overwritten in the MoveIt joint_limits.yaml file. To change the speed on a per motion plan basis, you can set the two scaling factors for velocity and accelerations as described in MotionPlanRequest.msg. Spinboxes for setting both of those are also available in the MoveIt! MotionPlanning rviz plugin.

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