diff --git a/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml b/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml
index dbd3574..ca58aa4 100644
--- a/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml
+++ b/src/rrrobot_ws/src/rrrobot/config/rrrobot_sensors.yaml
@@ -1,9 +1,4 @@
 sensors:
-    logical_camera_1:
-      type: logical_camera
-      pose:
-        xyz: [1.2, 3.5, 1.5]
-        rpy: [0, 1.5707, 0]
     depth_camera_1:
       type: depth_camera
       pose:
diff --git a/src/rrrobot_ws/src/rrrobot/src/cv_model.py b/src/rrrobot_ws/src/rrrobot/src/cv_model.py
index e9fd9ef..93d2d72 100644
--- a/src/rrrobot_ws/src/rrrobot/src/cv_model.py
+++ b/src/rrrobot_ws/src/rrrobot/src/cv_model.py
@@ -50,7 +50,7 @@ def call_back(filename):
     print('type: ', type_dict[predicted_label])
 
     # publish a message, name of this node is 'cv_model'
-    pub = rospy.Publisher('cv_model', String, queue_size=10)
+    pub = rospy.Publisher('/cv_model', String, queue_size=10)
     # rospy.init_node('talker', anonymous=True)
     rate = rospy.Rate(10) # 10hz
 
diff --git a/src/rrrobot_ws/src/rrrobot/src/object_spawner_node.cpp b/src/rrrobot_ws/src/rrrobot/src/object_spawner_node.cpp
index 0b3a6fb..fd3c18b 100644
--- a/src/rrrobot_ws/src/rrrobot/src/object_spawner_node.cpp
+++ b/src/rrrobot_ws/src/rrrobot/src/object_spawner_node.cpp
@@ -20,7 +20,7 @@ class ObjectSpawner
 {
 public:
     ObjectSpawner(const std::string &model_file = "/app/rrrobot_ws/src/gazebo_models/model_mappings.txt")
-        : DEFAULT_SPAWN_POINT(1.21825, 5.474367, 0.937978),
+        : DEFAULT_SPAWN_POINT(1.21825, 4.0, 0.937978),
           CONVEYOR_WIDTH(0.391404)
     {
         // DEFAULT_SPAWN_POINT.x = 0.2516105;
diff --git a/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp b/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
index 071586d..4d5d38b 100644
--- a/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
+++ b/src/rrrobot_ws/src/rrrobot/src/rrrobot_node.cpp
@@ -127,7 +127,7 @@ public:
 
 		desired_grasp_pose = grasp_pose;
 		// TODO: Tune z offset so end effector doesn't hit object
-		desired_grasp_pose.position.z -= 0.025;
+		desired_grasp_pose.position.z += 0.01;
 
 		if (current_robot_state & RobotState::WAITING_FOR_CLASSIFICATION)
 		{
@@ -165,23 +165,19 @@ private:
 	ros::ServiceClient conveyor_pub;
 	ros::Publisher arm_destination_pub;
 
+	Position trash_bin = Position(-0.3, 0.383, 1);
+	Position recycle_bin = Position(-0.3, 1.15, 1);
+
 	Position destination(const std::string &type) const
 	{
 		Position pos;
-		float z = 1;
-
-		if (type == "cardboard")
-			pos = Position(-0.3, -1.916, z);
-		else if (type == "glass")
-			pos = Position(-0.3, -1.15, z);
-		else if (type == "metal")
-			pos = Position(-0.3, -0.383, z);
-		else if (type == "paper")
-			pos = Position(-0.3, 0.383, z);
-		else if (type == "plastic")
-			pos = Position(-0.3, 1.15, z);
-		else if (type == "trash")
-			pos = Position(-0.3, 1.916, z);
+		
+		if(type == "trash") {
+			pos = trash_bin;
+		}
+		else {
+			pos = recycle_bin;
+		}
 
 		return pos;
 	}
diff --git a/src/rrrobot_ws/world/gear.py b/src/rrrobot_ws/world/gear.py
index bb4fcd6..29a73ce 100644
--- a/src/rrrobot_ws/world/gear.py
+++ b/src/rrrobot_ws/world/gear.py
@@ -113,12 +113,12 @@ bin_depth = 0.6
 bin_height = 0.72
 bin_angle = 0.0
 default_bin_origins = {
-    'bin1': [-0.3, -1.916, 0],
-    'bin2': [-0.3, -1.15, 0],
-    'bin3': [-0.3, -0.383, 0],
+    # 'bin1': [-0.3, -1.916, 0],
+    # 'bin2': [-0.3, -1.15, 0],
+    # 'bin3': [-0.3, -0.383, 0],
     'bin4': [-0.3, 0.383, 0],
     'bin5': [-0.3, 1.15, 0],
-    'bin6': [-0.3, 1.916, 0],
+    # 'bin6': [-0.3, 1.916, 0],
 }
 
 configurable_options = {
@@ -135,7 +135,7 @@ configurable_options = {
     'visualize_sensor_views': False,
     'visualize_drop_regions': False,
 }
-default_time_limit = 500  # seconds
+default_time_limit = 600  # seconds
 max_count_per_model = 30  # limit on the number of instances of each model type
 
 def initialize_model_id_mappings(random_seed=None):