diff --git a/config.yaml b/config.yaml
index c647fb1..5220547 100644
--- a/config.yaml
+++ b/config.yaml
@@ -34,22 +34,40 @@ aruco:
     id: 10
     size_mm: 40.0
 robot:
-  wrist_side: left
-  active: h1
+  wrist_side: right
+  active: g1
 tab_right_arm:
   yolo_class: pestello
   yolo_conf_front: 0.4
   yolo_conf_wrist: 0.4
-  move_offset_camera_mm: { x: 0, y: 0, z: 100 }
-  axis_sign_cam_to_wrist:  { x: 1, y: -1, z: -1 }
+  move_offset_camera_mm:
+    x: 0
+    y: 0
+    z: 100
+  axis_sign_cam_to_wrist:
+    x: 1
+    y: -1
+    z: -1
   max_step_m: 0.15
   z_floor_m: null
   home_pose:
-    position:   [0.30, -0.20, 0.30]
-    rpy_deg:    [0, 0, 0]
+    position:
+    - 0.3
+    - -0.2
+    - 0.3
+    rpy_deg:
+    - 0
+    - 0
+    - 0
   custom_pose:
-    position:   [0.30, -0.20, 0.30]
-    rpy_deg:    [0, 0, 0]
+    position:
+    - 0.3
+    - -0.2
+    - 0.3
+    rpy_deg:
+    - 0
+    - 0
+    - 0
 grasp:
   approach_offset_m: 0.1
   pre_grasp_clearance_m: 0.05