How to control the speed of moving from one pose to another?

[Rodhaaret]

Hey everyone!

We are currently working with Spot and trying to create some specific movement pattern in order to check if objects are located on the floor. Our challenge right now is to control the speed of Spot as it moves between the predefined points / poses. How do we achieve this?

Below i have provided a snippet of the code that creates the movement:
`
action_goals = []
proto_goals = []
rotations = []

        # original_position
        r = geometry.EulerZXY(yaw=math.radians(0), pitch=-math.radians(0))
        rotations.append(r)

        # left_down
        r = geometry.EulerZXY(yaw=math.radians(45), pitch=math.radians(45))
        rotations.append(r)

        # middle1_down 
        r = geometry.EulerZXY(yaw=math.radians(15), pitch=math.radians(45))
        rotations.append(r)

        # middle2_down 
        r = geometry.EulerZXY(yaw=-math.radians(15), pitch=math.radians(45))
        rotations.append(r)

        # right_down
        r = geometry.EulerZXY(yaw=-math.radians(45), pitch=math.radians(45))
        rotations.append(r)

        # original_position
        r = geometry.EulerZXY(yaw=math.radians(0), pitch=-math.radians(0))
        rotations.append(r)
      
        for r in rotations: 
            proto_goal = RobotCommandBuilder.synchro_stand_command(footprint_R_body=r) 
            proto_goals.append(proto_goal)
            action_goals.append(RobotCommand.Goal())
        return action_goals, proto_goals, "Look For Object"`

It is then later on executed using the following command:
self.robot_command_client.send_goal_and_wait(self.action_name, self.action_goals[0], 0.3)
But as mention, how do we control the speed of the movement?