diff --git a/y2023/constants.cc b/y2023/constants.cc
index c9eda5e..7e30898 100644
--- a/y2023/constants.cc
+++ b/y2023/constants.cc
@@ -93,16 +93,17 @@
           0.0220711555235029 - 0.0162945074111813 + 0.00630344935527365 -
           0.0164398318919943 - 0.145833494945215 + 0.234878799868491;
 
-      roll_joint->zeroing.measured_absolute_position = 1.12525305971909;
+      roll_joint->zeroing.measured_absolute_position = 1.7229611246564;
       roll_joint->potentiometer_offset =
-          3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
-          0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
-          0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
-          0.5935210745062 + 0.166256655718334 - 0.12591438680483 +
-          0.11972765117321;
+          -(3.87038557084874 - 0.0241774522172967 + 0.0711345168020632 -
+            0.866186131631967 - 0.0256788357596952 + 0.18101759154572017 -
+            0.0208958996127179 - 0.186395903925026 + 0.45801689548395 -
+            0.5935210745062 + 0.166256655718334 - 0.12591438680483 +
+            0.11972765117321 - 0.318724743041507) +
+          0.0201047336425017;
 
       wrist->subsystem_params.zeroing_constants.measured_absolute_position =
-          0.783151696328745;
+          0.85247856535298;
 
       break;