PR2 arm navigation: Start state violates joint limits, can't plan. [closed]

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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 arm_navigation with this tutorial: http://wiki.ros.org/move_arm/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/