I am trying to move the gripper of the PR2 in simulation but very often I get the error:

 Start state violates joint limits, can't plan. 

I am using Fuerte with Gazebo 1.0 and armnavigation with this tutorial: http://wiki.ros.org/movearm/Tutorials/MoveArmPoseGoal

Is there a service available to set the joints back or something? Or how can I set a start state that is correct? I already tried to adjust the limits but this makes the arms move to other joint limits. This is a similair problem, but no solution is given: http://answers.ros.org/question/12388/arm_navigation-reports-joint_limits_violated-often/