making a robot arm motion more likely human act in Moveit2

[Khyst]

Hi, I am currently make a motion for service robot’s left arm, and right arm with 2 joints per arm

By the way, I want to make a motion more likely human act, however currently this motions acts more likely robot act… (motion discretely…)

I think If I can adjust velocity, and acceleration per motion, the motion would be more likely human act.

So, can I adjust vel, and acc per motion in MoveIt2? or any other opinions or related sources to achieve human-likely motion?

Thanks for your help.