diff --git a/scripts/hw_node.py b/scripts/hw_node.py
index 6ee1db3..dc75efd 100755
--- a/scripts/hw_node.py
+++ b/scripts/hw_node.py
@@ -49,7 +49,7 @@ class HwNode:
 
         # Move to the initial configuration
         self.switch_to_joint_trajectory_controller()
-        self.moveit.goto(q0, velocity_scaling=0.2)
+        self.moveit.goto(q0, velocity_scaling=0.4)
         self.gripper.move(0.08)
 
         return ResetResponse(to_bbox_msg(bbox))
diff --git a/scripts/run.py b/scripts/run.py
index 5c02047..65328c6 100755
--- a/scripts/run.py
+++ b/scripts/run.py
@@ -31,7 +31,7 @@ def main():
         if args.wait_for_input:
             controller.gripper.move(0.08)
             controller.switch_to_joint_trajectory_control()
-            controller.moveit.goto("ready", velocity_scaling=0.2)
+            controller.moveit.goto("ready", velocity_scaling=0.4)
             i = input("Run policy? [y/n] ")
             if i != "y":
                 exit()