diff --git a/talos_bringup/config/talos_motions.yaml b/talos_bringup/config/talos_motions.yaml
index b55677e2c067dda5ce00bf288786a964459c4da1..c929acf45b32a3a1f546ab087770d9c811a1ca47 100644
--- a/talos_bringup/config/talos_motions.yaml
+++ b/talos_bringup/config/talos_motions.yaml
@@ -1,12 +1,12 @@
 play_motion:
   controllers: [right_arm_controller, left_arm_controller, left_leg_controller, right_leg_controller,
-    head_controller, torso_controller]
+    head_controller, torso_controller, gripper_left_controller, gripper_right_controller]
   motions:
     hands_front:
-      joints: [arm_right_3_joint, arm_right_4_joint, arm_right_1_joint, arm_left_4_joint,
-        arm_left_1_joint, arm_left_2_joint, arm_right_2_joint, arm_left_3_joint]
+      joints: [arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, 
+               arm_left_1_joint, arm_left_2_joint, arm_left_3_joint,  arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,  arm_left_7_joint]
       points:
-      - positions: [-1.0, 1.65, 1.2, 1.65, 1.2, 0.3, 0.3, -1.0]
+      - positions: [0.0, -0.252, 0.285, -1.591, 0.0, 0.0, 0.0, 0.0, 0.252, -0.285, -1.591, 0.0, 0.0, 0.0]
         time_from_start: 0.0
     hands_up:
       joints: [torso_2_joint, arm_right_6_joint, arm_right_5_joint, arm_left_5_joint,
@@ -22,11 +22,10 @@ play_motion:
         arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
         arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
         arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
-        hand_left_thumb_joint, hand_left_index_joint, hand_left_middle_joint, hand_right_thumb_joint,
-        hand_right_index_joint, hand_right_middle_joint]
+        gripper_left_joint, gripper_right_joint]
       points:
-      - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1,
-          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      - positions: [0.0, 0.0, 0.0, 0.0, 0.0, 0.15, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.15,
+          0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
         time_from_start: 0.0
       meta:
         name: Home
@@ -45,11 +44,10 @@ play_motion:
         arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint,
         arm_left_7_joint, arm_right_1_joint, arm_right_2_joint, arm_right_3_joint,
         arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint,
-        hand_left_thumb_joint, hand_left_index_joint, hand_left_middle_joint, hand_right_thumb_joint,
-        hand_right_index_joint, hand_right_middle_joint]
+        gripper_left_joint, gripper_right_joint]
       points:
-      - positions: [0.0, 0.0, 0.0, 0.0, -0.4, 0.25, -0.1, 0.6109, 0.0, 0.0, 0.0, -0.4,
-          0.25, -0.1, 0.6109, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+      - positions: [0.0, 0.0, 0.0, 0.0, -0.2, 0.25, -0.1, -0.6109, 0.0, 0.0, 0.0, 0.2,
+          -0.25, 0.1, -0.6109, 0.0, 0.0, 0.0, 0.0, 0.0]
         time_from_start: 0.0
       meta:
         name: Interact