diff --git a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
index 330d4fc6..2a980334 100644
--- a/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
+++ b/src/moveit_pro_ur_configs/picknik_ur_base_config/objectives/request_teleoperation.xml
@@ -34,7 +34,7 @@
                   <Control ID="Sequence">
                     <Action
                       ID="RetrieveJointStateParameter"
-                      timeout_sec="-1"
+                      timeout_sec="2"
                       joint_state="{target_joint_state}"
                     />
                     <SubTree