def setMaxSpeed(self, speed, jointName=None):
        if jointName is None:
            self._maxSpeed = np.deg2rad(speed)*np.ones(self._numPositions)
        else:
            idx = robotstate.getDrakePoseJointNames().index(jointName)
            self._maxSpeed[idx] = np.deg2rad(speed)
dataset/ETHPy150Open RobotLocomotion/director/src/python/tests/testAtlasCommand.py/AtlasCommandStream.setMaxSpeed/original