diff --git a/ur_rtde_driver/config/ur10_controllers.yaml b/ur_rtde_driver/config/ur10_controllers.yaml
index 42bb62d..ebbd6be 100644
--- a/ur_rtde_driver/config/ur10_controllers.yaml
+++ b/ur_rtde_driver/config/ur10_controllers.yaml
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-pos_based_pos_traj_controller:
+scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: 500
    action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur10e_controllers.yaml b/ur_rtde_driver/config/ur10e_controllers.yaml
index 345f4f5..c100dfc 100644
--- a/ur_rtde_driver/config/ur10e_controllers.yaml
+++ b/ur_rtde_driver/config/ur10e_controllers.yaml
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-pos_based_pos_traj_controller:
+scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: 500
    action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur3_controllers.yaml b/ur_rtde_driver/config/ur3_controllers.yaml
index 42bb62d..ebbd6be 100644
--- a/ur_rtde_driver/config/ur3_controllers.yaml
+++ b/ur_rtde_driver/config/ur3_controllers.yaml
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-pos_based_pos_traj_controller:
+scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: 500
    action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur3e_controllers.yaml b/ur_rtde_driver/config/ur3e_controllers.yaml
index 345f4f5..c100dfc 100644
--- a/ur_rtde_driver/config/ur3e_controllers.yaml
+++ b/ur_rtde_driver/config/ur3e_controllers.yaml
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-pos_based_pos_traj_controller:
+scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: 500
    action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur5_controllers.yaml b/ur_rtde_driver/config/ur5_controllers.yaml
index 42bb62d..ebbd6be 100644
--- a/ur_rtde_driver/config/ur5_controllers.yaml
+++ b/ur_rtde_driver/config/ur5_controllers.yaml
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-pos_based_pos_traj_controller:
+scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: 500
    action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
diff --git a/ur_rtde_driver/config/ur5e_controllers.yaml b/ur_rtde_driver/config/ur5e_controllers.yaml
index 345f4f5..c100dfc 100644
--- a/ur_rtde_driver/config/ur5e_controllers.yaml
+++ b/ur_rtde_driver/config/ur5e_controllers.yaml
@@ -29,7 +29,7 @@ speed_scaling_state_controller:
 
 # Joint Trajectory Controller - position based -------------------------------
 # For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-pos_based_pos_traj_controller:
+scaled_pos_traj_controller:
    type: position_controllers/ScaledJointTrajectoryController
    joints:
      - shoulder_pan_joint
@@ -50,3 +50,25 @@ pos_based_pos_traj_controller:
    stop_trajectory_duration: 0.5
    state_publish_rate: 500
    action_monitor_rate: 10
+
+pos_traj_controller:
+   type: position_controllers/JointTrajectoryController
+   joints:
+     - shoulder_pan_joint
+     - shoulder_lift_joint
+     - elbow_joint
+     - wrist_1_joint
+     - wrist_2_joint
+     - wrist_3_joint
+   constraints:
+      goal_time: 0.6
+      stopped_velocity_tolerance: 0.05
+      shoulder_pan_joint: {trajectory: 0.2, goal: 0.1}
+      shoulder_lift_joint: {trajectory: 0.2, goal: 0.1}
+      elbow_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_1_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_2_joint: {trajectory: 0.2, goal: 0.1}
+      wrist_3_joint: {trajectory: 0.2, goal: 0.1}
+   stop_trajectory_duration: 0.5
+   state_publish_rate: 500
+   action_monitor_rate: 10
diff --git a/ur_rtde_driver/launch/ur10_bringup.launch b/ur_rtde_driver/launch/ur10_bringup.launch
index b60464c..ef2d990 100644
--- a/ur_rtde_driver/launch/ur10_bringup.launch
+++ b/ur_rtde_driver/launch/ur10_bringup.launch
@@ -10,8 +10,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur10e_bringup.launch b/ur_rtde_driver/launch/ur10e_bringup.launch
index dadd662..317b44c 100644
--- a/ur_rtde_driver/launch/ur10e_bringup.launch
+++ b/ur_rtde_driver/launch/ur10e_bringup.launch
@@ -11,8 +11,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
diff --git a/ur_rtde_driver/launch/ur3_bringup.launch b/ur_rtde_driver/launch/ur3_bringup.launch
index ea0ea84..3ecd9eb 100644
--- a/ur_rtde_driver/launch/ur3_bringup.launch
+++ b/ur_rtde_driver/launch/ur3_bringup.launch
@@ -10,8 +10,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur3e_bringup.launch b/ur_rtde_driver/launch/ur3e_bringup.launch
index aef3632..02ff890 100644
--- a/ur_rtde_driver/launch/ur3e_bringup.launch
+++ b/ur_rtde_driver/launch/ur3e_bringup.launch
@@ -11,8 +11,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
diff --git a/ur_rtde_driver/launch/ur5_bringup.launch b/ur_rtde_driver/launch/ur5_bringup.launch
index a28b4ee..60a2363 100644
--- a/ur_rtde_driver/launch/ur5_bringup.launch
+++ b/ur_rtde_driver/launch/ur5_bringup.launch
@@ -10,8 +10,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
 
   <include file="$(find ur_rtde_driver)/launch/ur_common.launch">
     <arg name="debug" value="$(arg debug)"/>
diff --git a/ur_rtde_driver/launch/ur5e_bringup.launch b/ur_rtde_driver/launch/ur5e_bringup.launch
index 783f916..ad46d76 100644
--- a/ur_rtde_driver/launch/ur5e_bringup.launch
+++ b/ur_rtde_driver/launch/ur5e_bringup.launch
@@ -11,8 +11,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
diff --git a/ur_rtde_driver/launch/ur_common.launch b/ur_rtde_driver/launch/ur_common.launch
index d591941..646d378 100644
--- a/ur_rtde_driver/launch/ur_common.launch
+++ b/ur_rtde_driver/launch/ur_common.launch
@@ -8,8 +8,8 @@
   <arg name="robot_ip"/>
   <arg name="limited" default="false"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="tool_voltage" default="12"/>
   <arg name="tool_parity" default="0"/>
   <arg name="tool_baud_rate" default="115200"/>
diff --git a/ur_rtde_driver/launch/ur_control.launch b/ur_rtde_driver/launch/ur_control.launch
index 7c98798..e2a6d40 100644
--- a/ur_rtde_driver/launch/ur_control.launch
+++ b/ur_rtde_driver/launch/ur_control.launch
@@ -11,8 +11,8 @@
   <arg name="robot_ip"/>
   <arg name="kinematics_config"/>
   <arg name="tf_prefix" default="" />
-  <arg name="controllers" default="joint_state_controller pos_based_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
-  <arg name="stopped_controllers" default=""/>
+  <arg name="controllers" default="joint_state_controller scaled_pos_traj_controller speed_scaling_state_controller force_torque_sensor_controller"/>
+  <arg name="stopped_controllers" default="pos_traj_controller"/>
   <arg name="urscript_file" default="$(find ur_rtde_driver)/resources/servoj.urscript"/>
   <arg name="rtde_recipe_file" default="$(find ur_rtde_driver)/resources/rtde_recipe.txt"/>
   <arg name="tool_voltage" default="12"/>