diff --git a/panda_moveit_config/config/panda.srdf b/panda_moveit_config/config/panda.srdf
index 8c66ceb3..eb2fe83e 100644
--- a/panda_moveit_config/config/panda.srdf
+++ b/panda_moveit_config/config/panda.srdf
@@ -32,7 +32,7 @@
     <joint name="panda_joint3" value="0"/>
     <joint name="panda_joint4" value="0"/>
     <joint name="panda_joint5" value="0"/>
-    <joint name="panda_joint6" value="0"/>
+    <joint name="panda_joint6" value="1.571"/>
     <joint name="panda_joint7" value="0.785"/>
   </group_state>
   <group_state group="panda_arm" name="transport">
diff --git a/panda_moveit_config/config/panda_arm.xacro b/panda_moveit_config/config/panda_arm.xacro
index e5473eef..e613c756 100644
--- a/panda_moveit_config/config/panda_arm.xacro
+++ b/panda_moveit_config/config/panda_arm.xacro
@@ -25,7 +25,7 @@
       <joint name="panda_joint3" value="0" />
       <joint name="panda_joint4" value="0" />
       <joint name="panda_joint5" value="0" />
-      <joint name="panda_joint6" value="0" />
+      <joint name="panda_joint6" value="1.571" />
       <joint name="panda_joint7" value="0.785" />
     </group_state>
     <group_state name="transport" group="panda_arm">