diff --git a/cfg/ArmClient.cfg b/cfg/ArmClient.cfg
index 6d66a62249b52ce3622e93f426f4400f56364724..a90d62aa73c2e472c22ac917848e9f1bf8bfd28f 100755
--- a/cfg/ArmClient.cfg
+++ b/cfg/ArmClient.cfg
@@ -45,22 +45,22 @@ const = gen.add_group("Path constraints")
 #gen.add("velocity_scale_factor",  double_t,  0,                               "Maximum velocity scale factor",  0.5,      0.0,  1.0)
 move_joints.add("start_joints",         bool_t,    0,                          "Execute selected motion",        False)
 move_joints.add("cancel_joints",        bool_t,    0,                          "Cancel current motion",          False)
-move_joints.add("torso",                double_t,  0,                          "Target angle for torso",         0.0,       0.0, 0.35)
-move_joints.add("joint1",               double_t,  0,                          "Target angle for joint 1",       0.0,       -3.14159, 3.14159)
-move_joints.add("joint2",               double_t,  0,                          "Target angle for joint 2",       0.0,       -3.14159, 3.14159)
-move_joints.add("joint3",               double_t,  0,                          "Target angle for joint 3",       0.0,       -3.14159, 3.14159)
-move_joints.add("joint4",               double_t,  0,                          "Target angle for joint 4",       0.0,       -3.14159, 3.14159)
-move_joints.add("joint5",               double_t,  0,                          "Target angle for joint 5",       0.0,       -3.14159, 3.14159)
-move_joints.add("joint6",               double_t,  0,                          "Target angle for joint 6",       0.0,       -3.14159, 3.14159)
+move_joints.add("torso",                double_t,  0,                          "Target angle for torso",         0.15,       0.0, 0.35)
+move_joints.add("joint1",               double_t,  0,                          "Target angle for joint 1",       0.2,       -3.14159, 3.14159)
+move_joints.add("joint2",               double_t,  0,                          "Target angle for joint 2",       -1.3,       -3.14159, 3.14159)
+move_joints.add("joint3",               double_t,  0,                          "Target angle for joint 3",       -0.2,       -3.14159, 3.14159)
+move_joints.add("joint4",               double_t,  0,                          "Target angle for joint 4",       2.0,       -3.14159, 3.14159)
+move_joints.add("joint5",               double_t,  0,                          "Target angle for joint 5",       -1.5,       -3.14159, 3.14159)
+move_joints.add("joint6",               double_t,  0,                          "Target angle for joint 6",       1.4,       -3.14159, 3.14159)
 move_joints.add("joint7",               double_t,  0,                          "Target angle for joint 7",       0.0,       -3.14159, 3.14159)
 move_joints.add("joint_tol",            double_t,  0,                          "Target angle tolerance",         0.0,       -3.14159, 3.14159)
 
 move_pose.add("start_pose",             bool_t,    0,                          "Execute selected motion",        False)
 move_pose.add("cancel_pose",            bool_t,    0,                          "Cancel current motion",          False)
 move_pose.add("plan_frame_id",          str_t,     0,                          "Target pose reference frame",    "/base_footprint")
-move_pose.add("x_pos",                  double_t,  0,                          "Target X position",              0.0,        -2.0,    2.0)
+move_pose.add("x_pos",                  double_t,  0,                          "Target X position",              0.5,        -2.0,    2.0)
 move_pose.add("y_pos",                  double_t,  0,                          "Target Y position",              0.0,        -2.0,    2.0)
-move_pose.add("z_pos",                  double_t,  0,                          "Target Z position",              0.0,        -2.0,    2.0)
+move_pose.add("z_pos",                  double_t,  0,                          "Target Z position",              0.6,        -2.0,    2.0)
 move_pose.add("x_orientation",          double_t,  0,                          "Target X orientation",           0.0,        -3.14159,3.14159)
 move_pose.add("y_orientation",          double_t,  0,                          "Target Y orientation",           0.0,        -3.14159,3.14159)
 move_pose.add("z_orientation",          double_t,  0,                          "Target Z orientation",           0.0,        -3.14159,3.14159)