diff --git a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
index 78c341b..584a15d 100644
--- a/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
+++ b/source/mindbot/mindbot/tasks/manager_based/il/pick_place/pickplace_gr1t2_env_cfg.py
@@ -47,7 +47,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     # Table
     packing_table = AssetBaseCfg(
         prim_path="/World/envs/env_.*/PackingTable",
-        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, 0.0], rot=[1.0, 0.0, 0.0, 0.0]),
+        init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.55, -0.15], rot=[1.0, 0.0, 0.0, 0.0]),
         spawn=UsdFileCfg(
             usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/PackingTable/packing_table.usd",
             rigid_props=sim_utils.RigidBodyPropertiesCfg(kinematic_enabled=True),
@@ -66,7 +66,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
     centrifuge01 = CENTRIFUGE_CFG.replace(
         prim_path="{ENV_REGEX_NS}/Centrifuge01",
         init_state=ArticulationCfg.InitialStateCfg(
-            pos=[0.0, 0.55, 1.0],
+            pos=[0.0, 0.55, 0.85],
             rot=[1.0, 0.0, 0.0, 0.0],
             joint_pos={"RevoluteJoint": -1.7453},  # -100°
         ),
@@ -82,7 +82,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
 
     rack= RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Rack",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.3,0.4,0.9996],rot=[1,0,0,0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.3,0.4,0.8496],rot=[1,0,0,0]),
         spawn=UsdFileCfg(
             # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd",
             usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/Test_Tube_Rack_AA_01.usdc",
@@ -93,7 +93,7 @@ class ObjectTableSceneCfg(InteractiveSceneCfg):
 
     tube= RigidObjectCfg(
         prim_path="{ENV_REGEX_NS}/Tube",
-        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.31574,0.32615,1.02],rot=[1,0,0,0]),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=[-0.32374,0.32415,0.862],rot=[1,0,0,0]),
         spawn=UsdFileCfg(
             # usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube_Rack (2)/tube.usd",
             usd_path=f"{MINDBOT_ASSETS_DIR}/laboratory_equipment/Test_Tube/Test_Tube_AA_01.usdc",
@@ -350,20 +350,74 @@ class EventCfg:
             "velocity_range": (0.0, 0.0),
         },
     )
-    # reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
 
-    # reset_object = EventTerm(
-    #     func=mdp.reset_root_state_uniform,
-    #     mode="reset",
-    #     params={
-    #         "pose_range": {
-    #             "x": [-0.01, 0.01],
-    #             "y": [-0.01, 0.01],
-    #         },
-    #         "velocity_range": {},
-    #         "asset_cfg": SceneEntityCfg("object"),
-    #     },
-    # )
+    reset_robot_joints = EventTerm(
+        func=base_mdp.reset_joints_by_offset,
+        mode="reset",
+        params={
+            "asset_cfg": SceneEntityCfg("robot"),
+            "position_range": (0.0, 0.0),
+            "velocity_range": (0.0, 0.0),
+        },
+    )
+
+    reset_robot_root = EventTerm(
+        func=base_mdp.reset_root_state_uniform,
+        mode="reset",
+        params={
+            "pose_range": {},
+            "velocity_range": {},
+            "asset_cfg": SceneEntityCfg("robot"),
+        },
+    )
+
+    reset_tube = EventTerm(
+        func=base_mdp.reset_root_state_uniform,
+        mode="reset",
+        params={
+            "pose_range": {},
+            "velocity_range": {},
+            "asset_cfg": SceneEntityCfg("tube"),
+        },
+    )
+
+    reset_rack = EventTerm(
+        func=base_mdp.reset_root_state_uniform,
+        mode="reset",
+        params={
+            "pose_range": {},
+            "velocity_range": {},
+            "asset_cfg": SceneEntityCfg("rack"),
+        },
+    )
+    
+# @configclass
+# class EventCfg:
+#     """Configuration for events."""
+
+#     reset_centrifuge_joints = EventTerm(
+#         func=base_mdp.reset_joints_by_offset,
+#         mode="reset",
+#         params={
+#             "asset_cfg": SceneEntityCfg("centrifuge01"),
+#             "position_range": (0.0, 0.0),
+#             "velocity_range": (0.0, 0.0),
+#         },
+#     )
+#     # reset_all = EventTerm(func=mdp.reset_scene_to_default, mode="reset")
+
+#     # reset_object = EventTerm(
+#     #     func=mdp.reset_root_state_uniform,
+#     #     mode="reset",
+#     #     params={
+#     #         "pose_range": {
+#     #             "x": [-0.01, 0.01],
+#     #             "y": [-0.01, 0.01],
+#     #         },
+#     #         "velocity_range": {},
+#     #         "asset_cfg": SceneEntityCfg("object"),
+#     #     },
+#     # )
 
 
 @configclass