diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py
index 94b870e..90c7ce9 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -53,7 +53,7 @@ class GraspController:
         rospy.sleep(1.0)  # Wait for connections to be established.
         self.moveit.move_group.set_planner_id("PRMstarkConfigDefault")
         # self.moveit.move_group.set_num_planning_attempts(10)
-        self.moveit.move_group.set_planning_time(4.0)
+        self.moveit.move_group.set_planning_time(6.0)
 
     def switch_to_cartesian_velocity_control(self):
         req = SwitchControllerRequest()