diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml
index 837816e2..b12b516d 100644
--- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml
index 6bb653bd..61c98b2f 100644
--- a/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_lite_gen3_lite_2f_move_it_config/config/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml
index c0949cac..74744634 100644
--- a/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml
index e432d1b5..71fffc36 100644
--- a/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml
index aab91ccb..56fc9457 100644
--- a/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml
index 74a3e6d9..4f5e90e1 100644
--- a/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_move_it_config/config/7dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml
index 2c4ec837..0e74ac74 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml
index aa235da0..d413cebd 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml
index 169f2af7..23755194 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml
index 9365c62a..6ce91c5b 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_140_move_it_config/config/7dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml
index 2c4ec837..0e74ac74 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml
index aa235da0..d413cebd 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/6dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml
index 169f2af7..23755194 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/default_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
diff --git a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml
index 9365c62a..6ce91c5b 100644
--- a/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml
+++ b/kortex_move_it_config/gen3_robotiq_2f_85_move_it_config/config/7dof/hard_joint_limits.yaml
@@ -1,3 +1,8 @@
+# Change robot speed to 100% by default
+# changes following this PR : https://github.com/ros-planning/moveit/pull/1890 
+default_velocity_scaling_factor: 1
+default_acceleration_scaling_factor: 1
+
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]