diff --git a/rbs_mill_assist/world/config/places.yaml b/rbs_mill_assist/world/config/places.yaml
index 6261d5c..d315288 100644
--- a/rbs_mill_assist/world/config/places.yaml
+++ b/rbs_mill_assist/world/config/places.yaml
@@ -29,49 +29,49 @@ models:
     mesh_filename: aruco_template.obj
     pose:
       position:
-        x: -0.18
-        y: 0.165
+        x: -0.235
+        y: 0.28
         z: 0.15
       orientation:
         r: 3.14
         p: 0.0
-        y: 1.57
+        y: 0.0
 
   - name: aruco_2
     mesh_filename: aruco_template.obj
     pose:
       position:
-        x: -0.18
-        y: 0.209
+        x: -0.191
+        y: 0.28
         z: 0.11
       orientation:
         r: 3.14
         p: 0.0
-        y: 1.57
+        y: 0.0
 
   - name: aruco_3
     mesh_filename: aruco_template.obj
     pose:
       position:
-        x: -0.18
-        y: 0.253
+        x: -0.147
+        y: 0.28
         z: 0.15
       orientation:
         r: 3.14
         p: 0.0
-        y: 1.57
+        y: 0.0
 
   - name: aruco_4
     mesh_filename: aruco_template.obj
     pose:
       position:
-        x: -0.18
-        y: 0.297
+        x: -0.103
+        y: 0.28
         z: 0.11
       orientation:
         r: 3.14
         p: 0.0
-        y: 1.57
+        y: 0.0
 
   - name: conductor
     mesh_filename: conductor.stl
diff --git a/rbs_mill_assist/world/world_macro.xacro b/rbs_mill_assist/world/world_macro.xacro
index 471b60f..009aea8 100644
--- a/rbs_mill_assist/world/world_macro.xacro
+++ b/rbs_mill_assist/world/world_macro.xacro
@@ -58,7 +58,8 @@
       <!-- </xacro:model> -->
 
       <xacro:rgbd_camera>
-        <pose>0 -0.93 0.42 0 0.4 1.81</pose>
+        <pose>0.22 -0.46 0.3 0 0.4 1.81</pose>
+        <!-- <pose>0 -0.93 0.42 0 0.4 1.81</pose> -->
       </xacro:rgbd_camera>
 
       <xacro:table />