diff --git a/srv/GetCartesianPath.srv b/srv/GetCartesianPath.srv
index 29a4c8f..fc2dffb 100644
--- a/srv/GetCartesianPath.srv
+++ b/srv/GetCartesianPath.srv
@@ -43,6 +43,15 @@ bool avoid_collisions
 # Specify additional constraints to be met by the Cartesian path
 Constraints path_constraints
 
+# Scaling factors for optionally reducing the maximum joint velocities and
+# accelerations.  Allowed values are in (0,1]. The maximum joint velocity and
+# acceleration specified in the robot model are multiplied by their respective
+# factors. If a factor is outside its valid range (importantly, this
+# includes being set to 0.0), this factor is set to the default value of 1.0
+# internally (i.e., maximum joint velocity or maximum joint acceleration).
+float64 max_velocity_scaling_factor
+float64 max_acceleration_scaling_factor
+
 ---
 
 # The state at which the computed path starts