diff --git a/pyrep/robots/arms/baxter.py b/pyrep/robots/arms/baxter.py
index b446284..b2b9b1a 100644
--- a/pyrep/robots/arms/baxter.py
+++ b/pyrep/robots/arms/baxter.py
@@ -3,11 +3,35 @@
 
 class BaxterLeft(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Baxter_leftArm', 7, base_name='Baxter')
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Baxter_leftArm',
+            7,
+            base_name='Baxter',
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
 
 
 class BaxterRight(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Baxter_rightArm', 7, base_name='Baxter')
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Baxter_rightArm',
+            7,
+            base_name='Baxter',
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
\ No newline at end of file
diff --git a/pyrep/robots/arms/dobot.py b/pyrep/robots/arms/dobot.py
index dc9b596..ec91e40 100644
--- a/pyrep/robots/arms/dobot.py
+++ b/pyrep/robots/arms/dobot.py
@@ -3,5 +3,16 @@
 
 class Dobot(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Dobot', 4)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Dobot',
+            4,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/jaco.py b/pyrep/robots/arms/jaco.py
index 181dcfe..0fdd039 100644
--- a/pyrep/robots/arms/jaco.py
+++ b/pyrep/robots/arms/jaco.py
@@ -3,5 +3,16 @@
 
 class Jaco(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Jaco', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Jaco',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/lbr_iiwa_14_r820.py b/pyrep/robots/arms/lbr_iiwa_14_r820.py
index 012a602..42dda10 100644
--- a/pyrep/robots/arms/lbr_iiwa_14_r820.py
+++ b/pyrep/robots/arms/lbr_iiwa_14_r820.py
@@ -3,5 +3,16 @@
 
 class LBRIwaa14R820(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'LBR_iiwa_14_R820', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'LBR_iiwa_14_R820',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/lbr_iiwa_7_r800.py b/pyrep/robots/arms/lbr_iiwa_7_r800.py
index 971b240..05f0870 100644
--- a/pyrep/robots/arms/lbr_iiwa_7_r800.py
+++ b/pyrep/robots/arms/lbr_iiwa_7_r800.py
@@ -3,5 +3,16 @@
 
 class LBRIwaa7R800(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'LBR_iiwa_7_R800', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'LBR_iiwa_7_R800',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/locobot_arm.py b/pyrep/robots/arms/locobot_arm.py
index 4a233dd..7a44ae6 100644
--- a/pyrep/robots/arms/locobot_arm.py
+++ b/pyrep/robots/arms/locobot_arm.py
@@ -3,5 +3,16 @@
 
 class LoCoBotArm(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'LoCoBotArm', 5)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'LoCoBotArm',
+            5,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/mico.py b/pyrep/robots/arms/mico.py
index 11052cf..34334f5 100644
--- a/pyrep/robots/arms/mico.py
+++ b/pyrep/robots/arms/mico.py
@@ -3,5 +3,16 @@
 
 class Mico(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Mico', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Mico',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/panda.py b/pyrep/robots/arms/panda.py
index 855cb60..2b977e9 100644
--- a/pyrep/robots/arms/panda.py
+++ b/pyrep/robots/arms/panda.py
@@ -3,5 +3,16 @@
 
 class Panda(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Panda', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Panda',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/sawyer.py b/pyrep/robots/arms/sawyer.py
index 3623758..cfacf27 100644
--- a/pyrep/robots/arms/sawyer.py
+++ b/pyrep/robots/arms/sawyer.py
@@ -2,6 +2,17 @@
 
 
 class Sawyer(Arm):
-
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'Sawyer', 7)
+    
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'Sawyer',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/ur10.py b/pyrep/robots/arms/ur10.py
index c9bf987..693a12f 100644
--- a/pyrep/robots/arms/ur10.py
+++ b/pyrep/robots/arms/ur10.py
@@ -3,5 +3,16 @@
 
 class UR10(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'UR10', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'UR10',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/ur3.py b/pyrep/robots/arms/ur3.py
index 9d49d58..7481d8e 100644
--- a/pyrep/robots/arms/ur3.py
+++ b/pyrep/robots/arms/ur3.py
@@ -3,5 +3,16 @@
 
 class UR3(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'UR3', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'UR3',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/ur5.py b/pyrep/robots/arms/ur5.py
index 9e5ee23..5f7df27 100644
--- a/pyrep/robots/arms/ur5.py
+++ b/pyrep/robots/arms/ur5.py
@@ -3,5 +3,16 @@
 
 class UR5(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'UR5', 6)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'UR5',
+            6,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/xarm7.py b/pyrep/robots/arms/xarm7.py
index 5a241f7..f86dc0d 100644
--- a/pyrep/robots/arms/xarm7.py
+++ b/pyrep/robots/arms/xarm7.py
@@ -3,5 +3,16 @@
 
 class XArm7(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'xarm', 7)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'xarm',
+            7,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )
diff --git a/pyrep/robots/arms/youBot.py b/pyrep/robots/arms/youBot.py
index 86fb9ee..a47f04d 100644
--- a/pyrep/robots/arms/youBot.py
+++ b/pyrep/robots/arms/youBot.py
@@ -3,5 +3,16 @@
 
 class youBot(Arm):
 
-    def __init__(self, count: int = 0):
-        super().__init__(count, 'YouBot', 5)
+    def __init__(
+        self,
+        count: int = 0,
+        max_velocity: float = 1.0,
+        max_acceleration: float = 4.0
+    ):
+        super().__init__(
+            count,
+            'YouBot',
+            5,
+            max_velocity=max_velocity,
+            max_acceleration=max_acceleration,
+        )