diff --git a/rbs_mill_assist/assets/bunker/meshes/Bunker_for_labels_60х40.STL b/rbs_mill_assist/assets/bunker/meshes/Bunker_for_labels_60х40.STL
new file mode 100644
index 0000000..2ab7bf2
Binary files /dev/null and b/rbs_mill_assist/assets/bunker/meshes/Bunker_for_labels_60х40.STL differ
diff --git a/rbs_mill_assist/assets/bunker/model.sdf b/rbs_mill_assist/assets/bunker/model.sdf
index ede8a4e..54faf4f 100644
--- a/rbs_mill_assist/assets/bunker/model.sdf
+++ b/rbs_mill_assist/assets/bunker/model.sdf
@@ -6,41 +6,41 @@
       <visual name="bunker_visual">
         <geometry>
           <mesh>
-            <uri>model://bunker/meshes/bunker.stl</uri>
+            <uri>model://bunker/meshes/Bunker_for_labels_60х40.STL</uri>
           </mesh>
         </geometry>
-        <!-- <material> -->
-        <!--   <diffuse>1 1 1 1</diffuse> -->
-        <!--   <ambient>1 1 1 1</ambient> -->
-        <!--   <specular>0.5 0.5 0.5 1</specular> -->
-        <!--   <emissive>0 0 0 1</emissive> -->
-        <!--   <texture> -->
-        <!--     <diffuse_map>model://bunker/textures/shildik_sh.png</diffuse_map> -->
-        <!--   </texture> -->
-        <!--   <pbr> -->
-        <!--     <metal> -->
-        <!--       <albedo_map>model://bunker/textures/shildik_sh_d.png</albedo_map> -->
-        <!--       <normal_map>model://bunker/textures/shildik_sh_n.png</normal_map> -->
-        <!--       <roughness_map>model://bunker/textures/shildik_sh_r.png</roughness_map> -->
-        <!--       <metalness_map>model://bunker/textures/shildik_sh_m.png</metalness_map> -->
-        <!--       <ambient_occlusion_map>model://bunker/textures/shildik_sh_o.png</ambient_occlusion_map> -->
-        <!--     </metal> -->
-        <!--   </pbr> -->
-        <!-- </material> -->
+        <material>
+          <diffuse>1 1 1 1</diffuse>
+          <ambient>1 1 1 1</ambient>
+          <specular>0.5 0.5 0.5 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
       </visual>
-      <collision name="laser_collision">
+      <collision name="bunker_collision">
         <geometry>
           <mesh>
-            <uri>model://bunker/meshes/bunker.stl</uri>
+            <uri>model://bunker/meshes/Bunker_for_labels_60х40.STL</uri>
           </mesh>
         </geometry>
         <surface>
           <contact>
-            <ode />
+            <ode>
+              <kp>1e6</kp>
+              <kd>1e3</kd>
+              <max_vel>0.1</max_vel>
+              <min_depth>0.001</min_depth>
+            </ode>
           </contact>
-          <bounce />
+          <bounce>
+            <restitution>0.3</restitution>
+          </bounce>
           <friction>
-            <ode />
+            <ode>
+              <mu>0.61</mu>
+              <mu2>0.47</mu2>
+              <slip1>0.0</slip1>
+              <slip2>0.0</slip2>
+            </ode>
           </friction>
         </surface>
       </collision>
diff --git a/rbs_mill_assist/bt/xmls/MainTree.xml b/rbs_mill_assist/bt/xmls/MainTree.xml
index 6cdae24..59258cb 100644
--- a/rbs_mill_assist/bt/xmls/MainTree.xml
+++ b/rbs_mill_assist/bt/xmls/MainTree.xml
@@ -1,8 +1,9 @@
 <?xml version='1.0' encoding='utf-8'?>
 <root BTCPP_format="4">
   <BehaviorTree ID="Main">
+    <Repeat num_cycles="5">
     <Sequence>
-      <Condition ID="IsInPose" topic_name="/ee_pose"/>
+      <!-- <Condition ID="IsInPose" topic_name="/ee_pose"/> -->
       <SubTree ID="ToGraver" robot_name="arm" />
 
       <Action ID="GetNamedPose" pose_name="waiting" output_pose="{named_pose}"
@@ -13,10 +14,11 @@
       <Delay delay_msec="2000">
         <SubTree ID="FromGraver" robot_name="arm" />
       </Delay>
-      <Action ID="MoveToJointState" joint_state="0.0;0.85;1.0;0.0;1.0;0.0" duration="3"
-        robot_name="arm" action_name="/mtjs_jtc" />
+      <!-- <Action ID="MoveToJointState" joint_state="0.0;0.85;1.0;0.0;1.0;0.0" duration="3" -->
+      <!--   robot_name="arm" action_name="/mtjs_jtc" /> -->
 
     </Sequence>
+    </Repeat>
   </BehaviorTree>
 </root>
 
diff --git a/rbs_mill_assist/config/grasping.yaml b/rbs_mill_assist/config/grasping.yaml
index 96082a3..79a08d2 100644
--- a/rbs_mill_assist/config/grasping.yaml
+++ b/rbs_mill_assist/config/grasping.yaml
@@ -3,7 +3,7 @@ to_graver:
     position:
       x: -0.3
       y: -0.20
-      z: 0.1
+      z: 0.2
     orientation:
       x: 0.707
       y: -0.707
@@ -23,7 +23,7 @@ to_graver:
     position:
       x: -0.3
       y: -0.20
-      z: 0.1
+      z: 0.2
     orientation:
       x: 0.707
       y: -0.707
@@ -96,7 +96,7 @@ from_graver:
     position:
       x: -0.3
       y: 0.20
-      z: 0.1
+      z: 0.2
     orientation:
       x: 0.707
       y: -0.707
@@ -116,7 +116,7 @@ from_graver:
     position:
       x: -0.3
       y: 0.20
-      z: 0.1
+      z: 0.2
     orientation:
       x: 0.707
       y: -0.707
diff --git a/rbs_mill_assist/world/default.sdf b/rbs_mill_assist/world/default.sdf
index 97fb3a0..944e48b 100644
--- a/rbs_mill_assist/world/default.sdf
+++ b/rbs_mill_assist/world/default.sdf
@@ -37,7 +37,7 @@
       name="gz::sim::systems::SceneBroadcaster">
     </plugin>
     <plugin filename="gz-sim-contact-system"
-            name="gz::sim::systems::Contact">
+      name="gz::sim::systems::Contact">
     </plugin>
 
     <light type="directional" name="sun">
@@ -53,30 +53,30 @@
       </attenuation>
       <direction>-0.5 0.1 -0.9</direction>
     </light>
-    
+
     <include>
       <name>shildik_0</name>
-      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
+      <pose>-0.5 -0.2 0.02 0 0 1.57</pose>
       <uri>model://shildik</uri>
     </include>
     <include>
       <name>shildik_1</name>
-      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
+      <pose>-0.5 -0.2 0.04 0 0 1.57</pose>
       <uri>model://shildik</uri>
     </include>
     <include>
       <name>shildik_2</name>
-      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
+      <pose>-0.5 -0.2 0.05 0 0 1.57</pose>
       <uri>model://shildik</uri>
     </include>
     <include>
       <name>shildik_3</name>
-      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
+      <pose>-0.5 -0.2 0.06 0 0 1.57</pose>
       <uri>model://shildik</uri>
     </include>
     <include>
       <name>shildik_4</name>
-      <pose>-0.5 -0.2 0.0 0 0 1.57</pose>
+      <pose>-0.5 -0.2 0.07 0 0 1.57</pose>
       <uri>model://shildik</uri>
     </include>
 
@@ -86,67 +86,67 @@
       <uri>model://laser</uri>
     </include>
 
-    <!-- <include> -->
-    <!--   <static>true</static> -->
-    <!--   <pose>0.0 -0.3 0.0752 1.57 0 3.14159</pose> -->
-    <!--   <uri>model://bunker</uri> -->
-    <!-- </include> -->
+    <include>
+      <static>true</static>
+      <pose>-0.505 -0.20 0.06 0.0 0.0 1.57</pose>
+      <uri>model://bunker</uri>
+    </include>
 
-  <model name="rgbd_camera">
-    <pose>0 -0.93 0.42 0 0.4 1.81</pose>
-    <static>1</static>
-    <link name="rgbd_camera">
+    <model name="rgbd_camera">
+      <pose>0 -0.93 0.42 0 0.4 1.81</pose>
+      <static>1</static>
+      <link name="rgbd_camera">
 
-      <!-- Visual -->
-      <visual name="visual">
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-        <material>
-          <ambient>0 0 0 1</ambient>
-          <diffuse>0 0 0 1</diffuse>
-          <specular>0 0 0 1</specular>
-        </material>
-      </visual>
+        <!-- Visual -->
+        <visual name="visual">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 0.01 0.01</size>
+            </box>
+          </geometry>
+          <material>
+            <ambient>0 0 0 1</ambient>
+            <diffuse>0 0 0 1</diffuse>
+            <specular>0 0 0 1</specular>
+          </material>
+        </visual>
 
-      <!-- Collision -->
-      <collision name="collision">
-        <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.01 0.01 0.01</size>
-          </box>
-        </geometry>
-      </collision>
+        <!-- Collision -->
+        <collision name="collision">
+          <pose>0 0 0 0 0 0</pose>
+          <geometry>
+            <box>
+              <size>0.01 0.01 0.01</size>
+            </box>
+          </geometry>
+        </collision>
 
-      <!-- RGBD Sensor -->
-      <sensor name="rgbd_camera" type="rgbd_camera">
-        <camera>
-          <horizontal_fov>1.047</horizontal_fov>
-          <image>
-            <width>1920</width>
-            <height>1080</height>
-            <format>R8G8B8</format>
-          </image>
-          <clip>
-            <near>0.1</near>
-            <far>3</far>
-          </clip>
-          <depth_camera>
-            <output>depth</output>
-          </depth_camera>
-        </camera>
-        <always_on>1</always_on>
-        <update_rate>30</update_rate>
-        <visualize>true</visualize>
-        <topic>/rgbd_camera/image</topic>
-        <enable_metrics>true</enable_metrics>
-      </sensor>
-    </link>
-  </model>
+        <!-- RGBD Sensor -->
+        <sensor name="rgbd_camera" type="rgbd_camera">
+          <camera>
+            <horizontal_fov>1.047</horizontal_fov>
+            <image>
+              <width>1920</width>
+              <height>1080</height>
+              <format>R8G8B8</format>
+            </image>
+            <clip>
+              <near>0.1</near>
+              <far>3</far>
+            </clip>
+            <depth_camera>
+              <output>depth</output>
+            </depth_camera>
+          </camera>
+          <always_on>1</always_on>
+          <update_rate>30</update_rate>
+          <visualize>true</visualize>
+          <topic>/rgbd_camera/image</topic>
+          <enable_metrics>true</enable_metrics>
+        </sensor>
+      </link>
+    </model>
 
 
     <model name="table">
@@ -174,10 +174,20 @@
           </geometry>
           <surface>
             <friction>
-              <ode/>
+              <ode>
+                <mu>1.0</mu>
+                <mu2>1.0</mu2>
+              </ode>
             </friction>
-            <bounce/>
-            <contact/>
+            <bounce />
+            <contact>
+              <ode>
+                <soft_cfm>0.00001</soft_cfm>
+                <soft_erp>0.8</soft_erp>
+                <kp>1e5</kp>
+                <kd>1e3</kd>
+              </ode>
+            </contact>
           </surface>
         </collision>
         <visual name='table_link_visual'>
@@ -187,17 +197,17 @@
               <size>1.2 0.69999999999999996 0.80000000000000004</size>
             </box>
           </geometry>
-          <material>
-            <diffuse>0 0 1 1</diffuse>
-            <ambient>0 0 1 1</ambient>
-          </material>
+        <material>
+          <diffuse>0.6 0.4 0.2 1</diffuse>
+          <ambient>0.6 0.4 0.2 1</ambient>
+          <specular>0.1 0.1 0.1 1</specular>
+          <emissive>0 0 0 1</emissive>
+        </material>
         </visual>
         <enable_wind>false</enable_wind>
       </link>
     </model>
 
 
-
-
   </world>
 </sdf>