diff --git a/config/joints_module_default.yaml b/config/joints_module_default.yaml
index 5145b1e47492813a40e8acdc7546a5d8b1df2173..d8d76c117acf0070e73440a15d1f79c63c257980 100644
--- a/config/joints_module_default.yaml
+++ b/config/joints_module_default.yaml
@@ -5,7 +5,7 @@ joint_states_watchdog_time_s: 1.0
 
 pointing_frame: "head_camera_link"
 pointing_axis: 0
-point_frame: "base_link"
+point_frame: "torso_lift_link"
 pt_enabled: True
 
 pt_max_retries: 1
diff --git a/src/iri_joints_module.cpp b/src/iri_joints_module.cpp
index 9876ee1ba5e2e11e8f3461e21cdac5d61550b99e..61bebbcb1c73d4688f0f0e568d66b8bcf2ae8009 100644
--- a/src/iri_joints_module.cpp
+++ b/src/iri_joints_module.cpp
@@ -421,6 +421,7 @@ bool CIriJointsModule::point_to(double x, double y, double z, double max_vel)
     this->unlock();
     return false;
   }
+  std::cout << "point to: " << x << "," << y << "," << z << std::endl;
   this->point_to_goal.target.point.x = x;
   this->point_to_goal.target.point.y = y;
   this->point_to_goal.target.point.z = z;