diff --git a/config.yaml b/config.yaml
index 5220547..a918341 100644
--- a/config.yaml
+++ b/config.yaml
@@ -41,13 +41,18 @@ tab_right_arm:
   yolo_conf_front: 0.4
   yolo_conf_wrist: 0.4
   move_offset_camera_mm:
-    x: 0
-    y: 0
-    z: 100
+    x: 100.0
+    y: 0.0
+    z: 100.0
   axis_sign_cam_to_wrist:
     x: 1
     y: -1
     z: -1
+  camera_offset_wrist_mm:
+    x: 0.0
+    y: 0.0
+    z: 100.0
+  cluster_depth_window_m: 0.20
   max_step_m: 0.15
   z_floor_m: null
   home_pose: