diff --git a/config.yaml b/config.yaml
index af310eb..bfae7a7 100644
--- a/config.yaml
+++ b/config.yaml
@@ -31,7 +31,7 @@ aruco:
     id: 10
     size_mm: 40.0
 robot:
-  wrist_side: right
+  wrist_side: left
   active: h1
 grasp:
   approach_offset_m: 0.1
@@ -53,7 +53,7 @@ grasp:
     max_rmse_mm: 5.0
 calibration:
   min_samples: 5
-  method: DANIILIDIS  # sweep su 49 sample H1 sx: TSAI=62.5mm, DANIILIDIS=14.2mm trans residual
+  method: DANIILIDIS
   file: data/calibration.yaml
   samples_file: data/samples.json
 chat: