diff --git a/xr_rm_bringup/config/dual_arm_rm75.yaml b/xr_rm_bringup/config/dual_arm_rm75.yaml
index 7ec70b5..6cdd4eb 100755
--- a/xr_rm_bringup/config/dual_arm_rm75.yaml
+++ b/xr_rm_bringup/config/dual_arm_rm75.yaml
@@ -61,7 +61,7 @@ left_arm_teleop:
     joint_max_speed: 180.0
     joint_max_acc: 180.0
     move_to_initial_pose_on_connect: false
-    initial_joint_pose: [-167.21, 28.48, 28.21, 61.35, -14.40, 84.49, -124.51]
+    initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm
 
@@ -118,6 +118,6 @@ right_arm_teleop:
     joint_max_speed: 180.0
     joint_max_acc: 180.0
     move_to_initial_pose_on_connect: false
-    initial_joint_pose: [-25.60, 34.09, -19.55, 71.59, 16.97, 80.98, 59.67]
+    initial_joint_pose: [-86.10, 22.80, -89.57, 93.98, -91.82, -87.32, -89.35]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm
diff --git a/xr_rm_bringup/config/left_arm_rm75.yaml b/xr_rm_bringup/config/left_arm_rm75.yaml
index 97177a2..426b06f 100644
--- a/xr_rm_bringup/config/left_arm_rm75.yaml
+++ b/xr_rm_bringup/config/left_arm_rm75.yaml
@@ -54,6 +54,6 @@ single_arm_velocity_teleop:
     joint_max_speed: 180.0
     joint_max_acc: 180.0
     move_to_initial_pose_on_connect: false
-    initial_joint_pose: [-79.55, -9.99, 71.01, 101.45, 95.07, -84.47, -74.52]
+    initial_joint_pose: [-78.81, 3.22, 67.96, 97.12, 95.08, -81.11, -74.55]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm
diff --git a/xr_rm_bringup/config/right_arm_rm75.yaml b/xr_rm_bringup/config/right_arm_rm75.yaml
index 5ca435e..6d19eaf 100644
--- a/xr_rm_bringup/config/right_arm_rm75.yaml
+++ b/xr_rm_bringup/config/right_arm_rm75.yaml
@@ -54,6 +54,6 @@ single_arm_velocity_teleop:
     joint_max_speed: 180.0
     joint_max_acc: 300.0
     move_to_initial_pose_on_connect: false
-    initial_joint_pose: [-90.14, 3.76, -86.89, 87.89, -96.53, -79.62, -90.04]
+    initial_joint_pose: [-86.10, 22.80, -89.57, 93.98, -91.82, -87.32, -89.35]
     init_move_speed: 20
     debug_topic_prefix: /xr_rm