diff --git a/sciurus17_moveit_config/config/initial_positions.yaml b/sciurus17_moveit_config/config/initial_positions.yaml
new file mode 100644
index 0000000..b5f2a65
--- /dev/null
+++ b/sciurus17_moveit_config/config/initial_positions.yaml
@@ -0,0 +1,20 @@
+# Default initial positions for sciurus17's ros2_control fake system
+
+initial_positions:
+  l_arm_joint1: 0
+  l_arm_joint2: 0
+  l_arm_joint3: 0
+  l_arm_joint4: 0
+  l_arm_joint5: 0
+  l_arm_joint6: 0
+  l_arm_joint7: 0
+  l_hand_joint: 0
+  r_arm_joint1: 0
+  r_arm_joint2: 0
+  r_arm_joint3: 0
+  r_arm_joint4: 0
+  r_arm_joint5: 0
+  r_arm_joint6: 0
+  r_arm_joint7: 0
+  r_hand_joint: 0
+  waist_yaw_joint: 0
\ No newline at end of file
diff --git a/sciurus17_moveit_config/config/pilz_cartesian_limits.yaml b/sciurus17_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 0000000..b2997ca
--- /dev/null
+++ b/sciurus17_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57