diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml
index ec08f84..8687fc9 100644
--- a/ur_rtde_driver/config/ur10_controllers.yaml
+++ b/ur_rtde_driver/config/ur10_controllers.yaml
@@ -44,12 +44,12 @@ pos_based_pos_traj_controller:
       stopped_velocity_tolerance: 0.05
       shoulder_pan_joint: {trajectory: 0.1, goal: 0.1}
       shoulder_lift_joint: {trajectory: 0.1, goal: 0.1}
-      elbow_joint: {trajectory: 0.1, goal: 0.1}
-      wrist_1_joint: {trajectory: 0.1, goal: 0.1}
+      elbow_joint: {trajectory: 0.4, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.4, goal: 0.1}
       wrist_2_joint: {trajectory: 0.1, goal: 0.1}
       wrist_3_joint: {trajectory: 0.1, goal: 0.1}
    stop_trajectory_duration: 0.5
-   state_publish_rate:  125
+   state_publish_rate: 500
    action_monitor_rate: 10
 
    # state_publish_rate:  50 # Defaults to 50