diff --git a/config/blue_conf.yaml b/config/blue_conf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..beeba6d8104202545953e52886ec12cb9fd717b5
--- /dev/null
+++ b/config/blue_conf.yaml
@@ -0,0 +1,9 @@
+color_id: blue
+H_center: 240
+H_window: 10
+S_center: 250
+S_window: 10
+V_center: 102
+V_window: 8
+max_area: 100000
+min_area: 10
diff --git a/config/green_conf.yaml b/config/green_conf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..175431ebd9ecf46686e5dda87b381fee2118c7c5
--- /dev/null
+++ b/config/green_conf.yaml
@@ -0,0 +1,9 @@
+color_id: green
+H_center: 120
+H_window: 10
+S_center: 250
+S_window: 10
+V_center: 108
+V_window: 23
+max_area: 100000
+min_area: 10
diff --git a/config/red_conf.yaml b/config/red_conf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e91af09942a0327ce3ac113256f8089f49e63ae6
--- /dev/null
+++ b/config/red_conf.yaml
@@ -0,0 +1,9 @@
+color_id: red
+H_center: 0
+H_window: 10
+S_center: 250
+S_window: 10
+V_center: 102
+V_window: 7
+max_area: 100000
+min_area: 10
diff --git a/config/sim_position.yaml b/config/sim_position.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..0abc5388fcc27eee311ac6e299cf7f033032d77d
--- /dev/null
+++ b/config/sim_position.yaml
@@ -0,0 +1,17 @@
+color1_id: green
+color1_x: 5.0
+color1_y: -10.0
+color1_z: 2.0
+color2_id: red
+color2_x: 5.0
+color2_y: 0.0
+color2_z: 2.0
+color3_id: yellow
+color3_x: -5.0
+color3_y: -10.0
+color3_z: 2.0
+color4_id: blue
+color4_x: -5.0
+color4_y: 0.0
+color4_z: 2.0
+
diff --git a/config/yellow_conf.yaml b/config/yellow_conf.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cbe58fc4a5920def85f324bcffb3c4cadc3eb667
--- /dev/null
+++ b/config/yellow_conf.yaml
@@ -0,0 +1,9 @@
+color_id: yellow
+H_center: 60
+H_window: 10
+S_center: 251
+S_window: 8
+V_center: 101
+V_window: 7
+max_area: 100000
+min_area: 10