diff --git a/benchmark_replay.yaml b/benchmark_replay.yaml
index 7ae9273..a935617 100644
--- a/benchmark_replay.yaml
+++ b/benchmark_replay.yaml
@@ -9,7 +9,7 @@ simulation:
   launch_config:
     device: cuda
     enable_cameras: true
-    headless: false
+    headless: true
     livestream: 0
 scene:
   name: kujiale_multispace
@@ -67,19 +67,21 @@ scene:
         torso_joint2: 0.0
         torso_joint3: 0.0
         torso_joint4: 0.0
+        # palms-down init (back of hand up): verified ee_link +X palm-normal -> ~[0,0,-1]
+        # (down-score 0.97 on both hands), within joint limits.
         left_arm_joint1: -0.2
-        left_arm_joint2: 0.05
+        left_arm_joint2: 0.6
         left_arm_joint3: 0.0
-        left_arm_joint4: -1.0
-        left_arm_joint5: 0.0
-        left_arm_joint6: 0.0
+        left_arm_joint4: -1.6
+        left_arm_joint5: -2.3
+        left_arm_joint6: -0.33
         left_arm_joint7: 0.0
         right_arm_joint1: -0.2
-        right_arm_joint2: -0.05
+        right_arm_joint2: -0.6
         right_arm_joint3: 0.0
-        right_arm_joint4: -1.0
-        right_arm_joint5: 0.1
-        right_arm_joint6: 0.0
+        right_arm_joint4: -1.6
+        right_arm_joint5: 2.3
+        right_arm_joint6: -0.33
         right_arm_joint7: 0.0
 
       actuator_cfg_dict: