diff --git a/dual_arm_panda_moveit_config/config/ros2_controllers.yaml b/dual_arm_panda_moveit_config/config/ros2_controllers.yaml
index 0f88968..e01bb16 100644
--- a/dual_arm_panda_moveit_config/config/ros2_controllers.yaml
+++ b/dual_arm_panda_moveit_config/config/ros2_controllers.yaml
@@ -28,6 +28,7 @@ left_arm_controller:
       - left_panda_joint5
       - left_panda_joint6
       - left_panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
 
 right_arm_controller:
   ros__parameters:
@@ -44,3 +45,4 @@ right_arm_controller:
       - right_panda_joint5
       - right_panda_joint6
       - right_panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/fanuc_moveit_config/config/ros2_controllers.yaml b/fanuc_moveit_config/config/ros2_controllers.yaml
index f70562e..85a3e45 100644
--- a/fanuc_moveit_config/config/ros2_controllers.yaml
+++ b/fanuc_moveit_config/config/ros2_controllers.yaml
@@ -24,3 +24,4 @@ fanuc_controller:
       - joint_4
       - joint_5
       - joint_6
+    allow_nonzero_velocity_at_trajectory_end: true
diff --git a/panda_moveit_config/config/ros2_controllers.yaml b/panda_moveit_config/config/ros2_controllers.yaml
index 6d6bef4..38d7439 100644
--- a/panda_moveit_config/config/ros2_controllers.yaml
+++ b/panda_moveit_config/config/ros2_controllers.yaml
@@ -28,6 +28,7 @@ panda_arm_controller:
       - panda_joint5
       - panda_joint6
       - panda_joint7
+    allow_nonzero_velocity_at_trajectory_end: true
 
 panda_hand_controller:
   ros__parameters: