diff --git a/launch/all.launch b/launch/all.launch
index fd7ae65..e993976 100644
--- a/launch/all.launch
+++ b/launch/all.launch
@@ -3,9 +3,12 @@
 
   <include file="$(find hand_control)/launch/freenect-registered-xyzrgb.launch"/>
 
-  <param name="/filtre/zmax" value="1.1" type="double"/>
+  <param name="/filtre/zmax" value="1.9" type="double"/>
+  <!-- hand color
   <param name="/filtre/hue" value="0.0" type="double"/>
-  <param name="/filtre/delta_hue" value="10.0" type="double"/>
+  -->
+  <param name="/filtre/hue" value="210.0" type="double"/>
+  <param name="/filtre/delta_hue" value="20.0" type="double"/>
 
   <node name="filtre" pkg="hand_control" type="filtre">
     <remap from="/filtre/input" to="/camera/xyzrgb/points"/>
@@ -16,8 +19,8 @@
   </node>
 
   <param name="/commande/max_curv" value="0.02" type="double" />
-  <param name="/commande/plan_vel" value="0.3" type="double" />
-  <param name="/commande/z_vel" value="0.3" type="double" />
+  <param name="/commande/plan_vel" value="0.2" type="double" />
+  <param name="/commande/z_vel" value="1.0" type="double" />
   <param name="/commande/min_number" value="2000" type="int" />
   <param name="/commande/x_dev_min" value="0.1" type="double" />
   <param name="/commande/y_dev_min" value="0.1" type="double" />