diff --git a/cfg/hw/scene04.yaml b/cfg/hw/scene04.yaml
new file mode 100644
index 0000000..1eb5045
--- /dev/null
+++ b/cfg/hw/scene04.yaml
@@ -0,0 +1,4 @@
+target:
+  min: [0.1, 0.02, 0.0]
+  max: [0.28, 0.24, 0.08]
+q0: [-0.2038460316093344, -1.5706782408931799, 0.08710045849053434, -1.9481923636386265, 0.11544798021816888, 1.1516802040659084, 0.897635449346578]