diff --git a/deep_grasp_task/config/panda_object.yaml b/deep_grasp_task/config/panda_object.yaml
index a242495..147f74f 100644
--- a/deep_grasp_task/config/panda_object.yaml
+++ b/deep_grasp_task/config/panda_object.yaml
@@ -61,6 +61,11 @@ grasp_frame_transform: [0, 0, 0.1, 1.571, 0.785, 1.571]
 place_pose: [0.6, -0.15, 0, 0, 0, 0]
 place_surface_offset: 0.0001 # place offset from table
 
+# Approach vector in the hand frame
+approach_vector_x: 0.0
+approach_vector_y: 0.0
+approach_vector_z: 1.0
+
 # Valid distance range when approaching an object for picking
 approach_object_min_dist: 0.1
 approach_object_max_dist: 0.15
diff --git a/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h b/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
index f2fc514..ac1ca8e 100644
--- a/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
+++ b/deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
@@ -117,6 +117,8 @@ class DeepPickPlaceTask
 
   // Pick metrics
   Eigen::Isometry3d grasp_frame_transform_;
+  geometry_msgs::Vector3 approach_vector_;
+  geometry_msgs::Vector3 retreat_vector_;
   double approach_object_min_dist_;
   double approach_object_max_dist_;
   double lift_object_min_dist_;
diff --git a/deep_grasp_task/src/deep_pick_place_task.cpp b/deep_grasp_task/src/deep_pick_place_task.cpp
index b017948..4fe73b6 100644
--- a/deep_grasp_task/src/deep_pick_place_task.cpp
+++ b/deep_grasp_task/src/deep_pick_place_task.cpp
@@ -81,6 +81,9 @@ void DeepPickPlaceTask::loadParameters()
   errors += !rosparam_shortcuts::get(LOGNAME, pnh, "action_name", action_name_);
 
   // Pick/Place metrics
+  errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_vector_x", approach_vector_.x);
+  errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_vector_y", approach_vector_.y);
+  errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_vector_z", approach_vector_.z);
   errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_object_min_dist", approach_object_min_dist_);
   errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_object_max_dist", approach_object_max_dist_);
   errors += !rosparam_shortcuts::get(LOGNAME, pnh, "lift_object_min_dist", lift_object_min_dist_);
@@ -195,7 +198,7 @@ void DeepPickPlaceTask::init()
       // Set hand forward direction
       geometry_msgs::Vector3Stamped vec;
       vec.header.frame_id = hand_frame_;
-      vec.vector.z = 1.0;
+      vec.vector = approach_vector_;
       stage->setDirection(vec);
       grasp->insert(std::move(stage));
     }
@@ -238,7 +241,7 @@ void DeepPickPlaceTask::init()
      ***************************************************/
     {
       auto stage = std::make_unique<stages::MoveTo>("close hand", sampling_planner);
-      stage->properties().property("group").configureInitFrom(Stage::PARENT, hand_group_name_);
+      stage->setGroup(hand_group_name_);
       stage->setGoal(hand_close_pose_);
       grasp->insert(std::move(stage));
     }
@@ -366,7 +369,7 @@ void DeepPickPlaceTask::init()
      *****************************************************/
     {
       auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
-      stage->properties().property("group").configureInitFrom(Stage::PARENT, hand_group_name_);
+      stage->setGroup(hand_group_name_);
       stage->setGoal(hand_open_pose_);
       place->insert(std::move(stage));
     }
@@ -402,7 +405,10 @@ void DeepPickPlaceTask::init()
       stage->properties().set("marker_ns", "retreat");
       geometry_msgs::Vector3Stamped vec;
       vec.header.frame_id = hand_frame_;
-      vec.vector.z = -1.0;
+      retreat_vector_.x = -approach_vector_.x;
+      retreat_vector_.y = -approach_vector_.y;
+      retreat_vector_.z = -approach_vector_.z;
+      vec.vector = retreat_vector_;
       stage->setDirection(vec);
       place->insert(std::move(stage));
     }