diff --git a/configs/experiments/5.yaml b/configs/experiments/5.yaml
new file mode 100644
index 0000000..ff7145e
--- /dev/null
+++ b/configs/experiments/5.yaml
@@ -0,0 +1,102 @@
+Poses:
+  out1: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: 0}
+
+Grids:
+  grid0:
+    pose: {x: 0.0, y: 0.0, z: 0.165, roll: 3.14, pitch: 0, yaw: 0}
+    locations:
+      x1y1: {x: -0.08, y: 0.08}
+      x1y2: {x: -0.08, y: 0.0}
+      x1y3: {x: -0.08, y: -0.08}
+      x2y1: {x: 0.0, y: 0.08}
+      x2y2: {x: 0.0, y: 0.0}
+      x2y3: {x: 0.0, y: -0.08}
+      x3y1: {x: 0.08, y: 0.08}
+      x3y2: {x: 0.08, y: 0.0}
+      x3y3: {x: 0.08, y: -0.08}
+
+targets:
+  - move2pose: out1
+  - pick_location:
+      object: wooden_cube1
+      grid: grid0
+      location: x1y1
+  - place_location:
+      object: wooden_cube1
+      grid: grid0
+      location: x3y3
+      level: 0
+  - pick_location:
+      object: wooden_cube2
+      grid: grid0
+      location: x1y2
+  - place_location:
+      object: wooden_cube2
+      grid: grid0
+      location: x3y3
+      level: 1
+  - pick_location:
+      object: wooden_cube3
+      grid: grid0
+      location: x1y3
+  - place_location:
+      object: wooden_cube3
+      grid: grid0
+      location: x3y3
+      level: 2
+  - pick_location:
+      object: wooden_cube4
+      grid: grid0
+      location: x2y1
+  - place_location:
+      object: wooden_cube4
+      grid: grid0
+      location: x3y3
+      level: 3
+  - pick_location:
+      object: wooden_cube5
+      grid: grid0
+      location: x2y2
+  - place_location:
+      object: wooden_cube5
+      grid: grid0
+      location: x3y3
+      level: 4
+  - pick_location:
+      object: wooden_cube6
+      grid: grid0
+      location: x2y3
+  - place_location:
+      object: wooden_cube6
+      grid: grid0
+      location: x3y3
+      level: 5
+  - pick_location:
+      object: wooden_cube7
+      grid: grid0
+      location: x3y1
+  - place_location:
+      object: wooden_cube7
+      grid: grid0
+      location: x3y3
+      level: 6
+  - pick_location:
+      object: wooden_cube8
+      grid: grid0
+      location: x3y2
+  - place_location:
+      object: wooden_cube8
+      grid: grid0
+      location: x3y3
+      level: 7
+  - pick_location:
+      object: wooden_cube9
+      grid: grid0
+      location: x3y3
+  - place_location:
+      object: wooden_cube9
+      grid: grid0
+      location: x3y3
+      level: 8
+  - move2pose: out1
+
diff --git a/configs/experiments/6.yaml b/configs/experiments/6.yaml
new file mode 100644
index 0000000..fbf6e0d
--- /dev/null
+++ b/configs/experiments/6.yaml
@@ -0,0 +1,45 @@
+Poses:
+  out1: {x: 0.2, y: 0, z: 0.5, roll: 3.14, pitch: 0, yaw: 0}
+  above1: {x: 0.425, y: 0.010, z: 0.280, roll: 3.14, pitch: 0, yaw: 0}
+  in1: {x: 0.425, y: 0.010, z: 0.175, roll: 3.14, pitch: 0, yaw: 0}
+
+Grids:
+  grid0:
+    pose: {x: 0.425, y: 0.010, z: 0.165, roll: 3.14, pitch: 0, yaw: 0}
+    locations:
+      x1y1: {x: 0.0, y: 0.08}
+      x1y2: {x: 0.0, y: 0.0}
+      x2y1: {x: -0.08, y: 0.08}
+      x2y2: {x: -0.08, y: 0.0}
+      stack: {x: 0.08, y: 0.0}  # Reserved for stacking
+
+targets:
+  - move2pose: out1
+  - pick_location:
+      object: wooden_cube1
+      grid: grid0
+      location: x1y1
+  - place_location:
+      object: wooden_cube1
+      grid: grid0
+      location: stack
+  - pick_location:
+      object: wooden_cube2
+      grid: grid0
+      location: x1y2
+  - place_location:
+      object: wooden_cube2
+      grid: grid0
+      location: stack
+      level: 1
+  - pick_location:
+      object: wooden_cube3
+      grid: grid0
+      location: x2y1
+  - place_location:
+      object: wooden_cube3
+      grid: grid0
+      location: stack
+      level: 2
+  - move2pose: out1
+
diff --git a/configs/experiments/test_multi.yaml b/configs/experiments/test_multi.yaml
index 81340b9..edef5b7 100644
--- a/configs/experiments/test_multi.yaml
+++ b/configs/experiments/test_multi.yaml
@@ -21,7 +21,7 @@ Grids:
       x2y2: {x: -0.08, y: 0.0}
       x2y3: {x: -0.08, y: -0.08}
 
-targets:
+old_targets:
   - move2pose: out1
   - pick_location:
       object: wooden_cube1
@@ -75,7 +75,7 @@ targets:
   #     location: x2y3
   - move2pose: out1
 
-old_targets:
+targets:
   ##setup tasks##
   # - move2pose: out1
   # - gripper: true
diff --git a/configs/lab_setup.yaml b/configs/lab_setup.yaml
index e17e5a7..0e76da5 100644
--- a/configs/lab_setup.yaml
+++ b/configs/lab_setup.yaml
@@ -1,21 +1,11 @@
 lab_setup:
-  lab_name: "oss_lab1"
-#   real_sim: "aruco_world" # with perception (significantly slower)
-  real_sim: "oss_lab1" # without perception
-  robot:
-      name: "xarm_lite6"
-      pose:
-          x: -1.239280
-          y: -3.298410
-          z: 1.120070
-          roll: 0.0
-          pitch: 0.0
-          yaw: -1.57
-      home_joint_state:
-          joint1: 0
-          joint2: 0.17
-          joint3: 0.56
-          joint4: 0
-          joint5: 0.38
-          joint6: 0
+  lab_name: "oss_lab1"  # Name of the lab environment
 
+  # Choose the simulation environment
+  # "aruco_world" includes perception but is significantly slower
+  # "oss_lab1" runs without perception for faster performance
+  real_sim: "oss_lab1"
+
+  robot_name: "jay"  # Primary robot in the setup
+  robot_config_file: "robots/{robot_name}.yaml"
+ 
\ No newline at end of file
diff --git a/configs/robots/franka.yaml b/configs/robots/franka.yaml
new file mode 100644
index 0000000..ea7e95d
--- /dev/null
+++ b/configs/robots/franka.yaml
@@ -0,0 +1,25 @@
+name: "franka"  # Robot identifier
+pose:  # Initial pose of the robot in the environment
+  x: 0.0
+  y: 0.0
+  z: 0.0
+  roll: 0.0
+  pitch: 0.0
+  yaw: 0.0
+home_joint_state:  # Default joint angles for the home position
+  joint1: 0.0
+  joint2: -0.785
+  joint3: 0.0
+  joint4: -2.356
+  joint5: 0.0
+  joint6: 1.571
+  joint7: 0.785
+constraints:  # Motion constraints for the robot
+  workspace:  # Allowable workspace limits in meters
+    x: [-0.855, 0.855]
+    y: [-0.855, 0.855]
+    z: [0.0, 1.2]
+  orientation:  # Allowed orientation range in radians
+    roll: [-3.14, 3.14]
+    pitch: [-3.14, 3.14]
+    yaw: [-3.14, 3.14]
diff --git a/configs/robots/xarm_lite6.yaml b/configs/robots/xarm_lite6.yaml
new file mode 100644
index 0000000..30a5f89
--- /dev/null
+++ b/configs/robots/xarm_lite6.yaml
@@ -0,0 +1,24 @@
+name: "xarm_lite6"  # Robot identifier
+pose:  # Initial pose of the robot in the environment
+  x: -1.239280
+  y: -3.298410
+  z: 1.120070 
+  roll: 0.0
+  pitch: 0.0
+  yaw: -1.57
+home_joint_state:  # Default joint angles for the home position
+  joint1: 0
+  joint2: 0.17
+  joint3: 0.56
+  joint4: 0
+  joint5: 0.38
+  joint6: 0
+constraints:  # Motion constraints for the robot
+  workspace:  # Allowable workspace limits in meters
+    x: [-2.0, 2.0]
+    y: [-4.0, 4.0]
+    z: [0.0, 2.0]
+  orientation:  # Allowed orientation range in radians
+    roll: [-3.14, 3.14]
+    pitch: [-3.14, 3.14]
+    yaw: [-3.14, 3.14]
diff --git a/scripts/ras_docker/app.py b/scripts/ras_docker/app.py
index 1bc05dc..8c36b4f 100644
--- a/scripts/ras_docker/app.py
+++ b/scripts/ras_docker/app.py
@@ -75,8 +75,8 @@ def get_app_spacific_docker_cmd(args : argparse.Namespace,docker_cmd_fmt_src,rem
         exit(1)
     if remove_cn:
         extra_docker_args += " --rm "
-    # if app_conf.app_name == "ras_server_app":
-    extra_docker_args += f" -v {asset_dir}:/{app_conf.app_name}/ros2_ws/src/assets "
+    if app_conf.app_name == "ras_server_app":
+        extra_docker_args += f" -v {asset_dir}:/{app_conf.app_name}/ros2_ws/src/assets "
     docker_cmd_fmt_local = partial(docker_cmd_fmt_src,
         display_env=f"{get_display_var()}",
         app_dir=str(app_path),