diff --git a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
index 6e9612a..a99e764 100644
--- a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
@@ -3,32 +3,32 @@
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
   joint2_to_joint1:
-    has_velocity_limits: false
-    max_velocity: 0
+    has_velocity_limits: true
+    max_velocity: 3.14
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 30
   joint3_to_joint2:
-    has_velocity_limits: false
-    max_velocity: 0
+    has_velocity_limits: true
+    max_velocity: 3.14
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 30
   joint4_to_joint3:
-    has_velocity_limits: false
-    max_velocity: 0
+    has_velocity_limits: true
+    max_velocity: 3.14
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 30
   joint5_to_joint4:
-    has_velocity_limits: false
-    max_velocity: 0
+    has_velocity_limits: true
+    max_velocity: 3.14
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 30
   joint6_to_joint5:
-    has_velocity_limits: false
-    max_velocity: 0
+    has_velocity_limits: true
+    max_velocity: 3.14
     has_acceleration_limits: false
-    max_acceleration: 0
+    max_acceleration: 30
   joint6output_to_joint6:
-    has_velocity_limits: false
-    max_velocity: 0
+    has_velocity_limits: true
+    max_velocity: 3.14
     has_acceleration_limits: false
-    max_acceleration: 0
\ No newline at end of file
+    max_acceleration: 30
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
index 3f4d0c2..82f7d9d 100644
--- a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
@@ -121,7 +121,7 @@ planner_configs:
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
 arm_group:
-  default_planner_config: None
+  default_planner_config: RRTConnect
   planner_configs:
     - SBL
     - EST