diff --git a/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py b/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
index 7f36fb7..df148e9 100644
--- a/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
+++ b/mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
@@ -84,21 +84,37 @@ class HWI:
         #     "right_knee": -0.027999999999999997,
         #     "right_ankle": -0.09799999999999999,
         # }
+        # self.joints_offsets = {
+        #     "left_hip_yaw": 0.14,
+        #     "left_hip_roll": -0.05,
+        #     "left_hip_pitch": -0.011,
+        #     "left_knee": 0.0,
+        #     "left_ankle": -0.107,
+        #     "neck_pitch": 0.061,
+        #     "head_pitch": 0.108,
+        #     "head_yaw": -0.08399999999999999,
+        #     "head_roll": 0.063,
+        #     "right_hip_yaw": -0.131,
+        #     "right_hip_roll": 0.089,
+        #     "right_hip_pitch": 0.06799999999999999,
+        #     "right_knee": 0.002,
+        #     "right_ankle": -0.093,
+        # }
         self.joints_offsets = {
-            "left_hip_yaw": 0.14,
-            "left_hip_roll": -0.05,
-            "left_hip_pitch": -0.011,
-            "left_knee": 0.0,
-            "left_ankle": -0.107,
-            "neck_pitch": 0.061,
-            "head_pitch": 0.108,
-            "head_yaw": -0.08399999999999999,
-            "head_roll": 0.063,
-            "right_hip_yaw": -0.131,
-            "right_hip_roll": 0.089,
-            "right_hip_pitch": 0.06799999999999999,
-            "right_knee": 0.002,
-            "right_ankle": -0.093,
+            "left_hip_yaw" : 0.082,
+            "left_hip_roll" : -0.089,
+            "left_hip_pitch" : -0.004,
+            "left_knee" : 0.077,
+            "left_ankle" : -0.1,
+            "neck_pitch" : 0.057,
+            "head_pitch" : 0.069,
+            "head_yaw" : -0.101,
+            "head_roll" : 0.08,
+            "right_hip_yaw" : -0.166,
+            "right_hip_roll" : 0.115,
+            "right_hip_pitch" : 0.089,
+            "right_knee" : -0.098,
+            "right_ankle" : -0.125
         }
 
         init_pos_with_offsets = {