Use moveit to set the UR realrobot's velocity by some function

[zp2546265641]

Thanks to the heroes in the community for helping, Can moveit achieve speed control of UR5 by setting self.arm_group.set_max_acceleration_scaling_factor(1) self.arm_group.set_max_velocity_scaling_factor(1)? or others? i just set the two, but i seemly fail. i write it to my code, but it did not work? if it can do, maybe I set it up wrong.But I would like to know if moveit can be used with the current ur package. If so, what are the approximate steps?what's more, if there is someways to get UR5's tcp velocity?