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I do not necessarily need the visualisation all the time. Can I switch off the rendering somehow while the robot keeps trying things in a mathematical simulation only?

I'll take a close look later today (and I'll update this answer once I can), but try running separately the launch files that are started through nextage_moveit_config/launch/moveit_planning_execution.launch; you should be able to run MoveIt! without visualization on RViz.

(sorry for the long tag list, I am quite new and don't know whether the solution will be robot-specific, or moveit-specific, or rospy etc... )

I'd say so far the issues/desires you raised seem to me pretty much robot-agnostic ;)

I do not necessarily need the visualisation all the time. Can I switch off the rendering somehow while the robot keeps trying things in a mathematical simulation only?

I'll take a close look later today (and I'll update this answer once I can), but try running separately the launch files that are started through nextage_moveit_config/launch/moveit_planning_execution.launch; you should be able to run MoveIt! without visualization on RViz.

(sorry for the long tag list, I am quite new and don't know whether the solution will be robot-specific, or moveit-specific, or rospy etc... )

I'd say so far the issues/desires you raised seem to me pretty much robot-agnostic ;)

I do not necessarily need the visualisation all the time. Can I switch off the rendering somehow while the robot keeps trying things in a mathematical simulation only?

I'll take a close look later today (and I'll update this answer once I can), but try running separately the launch files that are started through nextage_moveit_config/launch/moveit_planning_execution.launch; you should be able to run MoveIt! without visualization on RViz.

(sorry for the long tag list, I am quite new and don't know whether the solution will be robot-specific, or moveit-specific, or rospy etc... )

I'd say so far the issues/desires you raised seem to me pretty much robot-agnostic ;)

UPDATE 20170104

I also came across this solution which essentially tries to scale the velocity fields of RobotTrajectory, but that does not seem to be possible for me, because the velocities (or points) are tuples and thus immutable.

The thread you referred to is a bit long for me to track down...Which "solution" did you mean?

I also found this file containing max_velocity and max_acceleration limits. Can I dynamically change these via rospy?

The link to "this file" seems corrupted but I assume joint_limits.yaml. The velocity and acceleration values in that file is meant to be static and not supposed to be configurable during runtime (as Jeremy explained in the same thread you referred to earlier).

With the newest MoveIt! (for Indigo Indigo, 0.7.6), you can use scaling factor feature. more conveniently than ever before. Using it through RViz is the easiest but in case visualization is not an option for you, you can also modify the topic MotionPlanRequest as explained in the same page (although I haven't figured out how...I haven't found that topic being published using nextage_moveit_config).

I do not necessarily need the visualisation all the time. Can I switch off the rendering somehow while the robot keeps trying things in a mathematical simulation only?

I'll take a close look later today (and I'll update this answer once I can), but try running separately the launch files that are started through nextage_moveit_config/launch/moveit_planning_execution.launch; you should be able to run MoveIt! without visualization on RViz.

(sorry for the long tag list, I am quite new and don't know whether the solution will be robot-specific, or moveit-specific, or rospy etc... )

I'd say so far the issues/desires you raised seem to me pretty much robot-agnostic ;)

UPDATE 20170104

I also came across this solution which essentially tries to scale the velocity fields of RobotTrajectory, but that does not seem to be possible for me, because the velocities (or points) are tuples and thus immutable.

The thread you referred to is a bit long for me to track down...Which "solution" did you mean?

I also found this file containing max_velocity and max_acceleration limits. Can I dynamically change these via rospy?

The link to "this file" seems corrupted but I assume joint_limits.yaml. The velocity and acceleration values in that file is meant to be static and not supposed to be configurable during runtime (as Jeremy explained in the same thread you referred to earlier).

With the newest MoveIt! (for Indigo, 0.7.6), you can use scaling factor feature more conveniently than ever before. Using it through RViz is the easiest but in case visualization is not an option for you, you can also modify the topic MotionPlanRequest as explained in the same page (although I haven't figured out how...I haven't found that topic being published using nextage_moveit_config. I asked a question).