diff --git a/config/ur5_controllers.yaml b/config/ur5_controllers.yaml
index 4eab52e..bcfe680 100644
--- a/config/ur5_controllers.yaml
+++ b/config/ur5_controllers.yaml
@@ -83,12 +83,12 @@ vel_based_pos_traj_controller:
    action_monitor_rate: 10
    gains:
       #!!These values are useable, but maybe not optimal
-      shoulder_pan_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
-      shoulder_lift_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
-      elbow_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
-      wrist_1_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
-      wrist_2_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
-      wrist_3_joint: {p: 20.0,  i: 0.0, d: 0.1, i_clamp: 1}
+      shoulder_pan_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+      shoulder_lift_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+      elbow_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_1_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_2_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
+      wrist_3_joint: {p: 1.2,  i: 0.0, d: 0.1, i_clamp: 1}
 
    # state_publish_rate:  50 # Defaults to 50
    # action_monitor_rate: 20 # Defaults to 20