diff --git a/src/ar3_config/config/planning_scene.yaml b/src/ar3_config/config/planning_scene.yaml
new file mode 100644
index 0000000..b49489f
--- /dev/null
+++ b/src/ar3_config/config/planning_scene.yaml
@@ -0,0 +1,4 @@
+publish_planning_scene: true
+publish_geometry_updates: true
+publish_state_updates: true
+publish_transforms_updates: true
diff --git a/src/ar3_config/config/trajectory.yaml b/src/ar3_config/config/trajectory.yaml
new file mode 100644
index 0000000..495b635
--- /dev/null
+++ b/src/ar3_config/config/trajectory.yaml
@@ -0,0 +1,4 @@
+moveit_manage_controllers: true
+trajectory_execution.allowed_execution_duration_scaling: 1.2
+trajectory_execution.allowed_goal_duration_margin: 0.5
+trajectory_execution.allowed_start_tolerance: 0.1