diff --git a/.gitignore b/.gitignore
index 5d3ba95..170d055 100644
--- a/.gitignore
+++ b/.gitignore
@@ -6,3 +6,4 @@ ref
 **/logs/**
 **/docs/_build/
 **/docs/build/
+**/__pycache__/**
diff --git a/env_manager b/env_manager
index 984c046..ab2abf4 160000
--- a/env_manager
+++ b/env_manager
@@ -1 +1 @@
-Subproject commit 984c046daea3de1c0c395c4e74dda695b2cb2395
+Subproject commit ab2abf428e09f941067db5cd17abbc9482516233
diff --git a/rbs_utils/rbs_utils/scripts/assembly_config_service.py b/rbs_utils/rbs_utils/scripts/assembly_config_service.py
index 1b67153..5754919 100755
--- a/rbs_utils/rbs_utils/scripts/assembly_config_service.py
+++ b/rbs_utils/rbs_utils/scripts/assembly_config_service.py
@@ -18,56 +18,57 @@ class AssemblyConfigService(Node):
         # Initialize parameters
         self.declare_parameter("assembly_config_name", "board_pick_and_place")
         config_name = self.get_parameter("assembly_config_name").get_parameter_value().string_value
-        self.get_logger().info(f"Loading assembly config with name: {config_name}")
-        asm_config_filepath = get_asm_config(config_name)
-        yaml_file = os.path.join(
-            asm_config_filepath
-        )
-        self.assembly_config = parse_yaml(yaml_file)
-
-        tf2_broadcaster = Tf2Broadcaster(self)
-        for relative_part in self.assembly_config.relative_part:
-            tf2_broadcaster.broadcast_tf(
-                relative_part.relative_at,
-                relative_part.name,
-                translation=(
-                    relative_part.pose.position.x,
-                    relative_part.pose.position.y,
-                    relative_part.pose.position.z,
-                ),
-                rotation=(
-                    relative_part.pose.orientation.x,
-                    relative_part.pose.orientation.y,
-                    relative_part.pose.orientation.z,
-                    relative_part.pose.orientation.w
-                )
+        if config_name:
+            self.get_logger().info(f"Loading assembly config with name: {config_name}")
+            asm_config_filepath = get_asm_config(config_name)
+            yaml_file = os.path.join(
+                asm_config_filepath
             )
-        
-        for grasp_pose in self.assembly_config.grasp_pose:
-            tf2_broadcaster.broadcast_tf(
-                grasp_pose.relative_at,
-                grasp_pose.name,
-                translation=(
-                    grasp_pose.pose.position.x,
-                    grasp_pose.pose.position.y,
-                    grasp_pose.pose.position.z,
-                ),
-                rotation=(
-                    grasp_pose.pose.orientation.x,
-                    grasp_pose.pose.orientation.y,
-                    grasp_pose.pose.orientation.z,
-                    grasp_pose.pose.orientation.w,
+            self.assembly_config = parse_yaml(yaml_file)
+
+            tf2_broadcaster = Tf2Broadcaster(self)
+            for relative_part in self.assembly_config.relative_part:
+                tf2_broadcaster.broadcast_tf(
+                    relative_part.relative_at,
+                    relative_part.name,
+                    translation=(
+                        relative_part.pose.position.x,
+                        relative_part.pose.position.y,
+                        relative_part.pose.position.z,
+                    ),
+                    rotation=(
+                        relative_part.pose.orientation.x,
+                        relative_part.pose.orientation.y,
+                        relative_part.pose.orientation.z,
+                        relative_part.pose.orientation.w
+                    )
                 )
+            
+            for grasp_pose in self.assembly_config.grasp_pose:
+                tf2_broadcaster.broadcast_tf(
+                    grasp_pose.relative_at,
+                    grasp_pose.name,
+                    translation=(
+                        grasp_pose.pose.position.x,
+                        grasp_pose.pose.position.y,
+                        grasp_pose.pose.position.z,
+                    ),
+                    rotation=(
+                        grasp_pose.pose.orientation.x,
+                        grasp_pose.pose.orientation.y,
+                        grasp_pose.pose.orientation.z,
+                        grasp_pose.pose.orientation.w,
+                    )
+                )
+
+
+            # Services
+            self.workspace_service = self.create_service(
+                GetWorkspace, "get_workspace", self.get_workspace_callback
+            )
+            self.grasp_pose_service = self.create_service(
+                GetGraspPose, "get_grasp_pose", self.get_grasp_pose_callback
             )
-
-
-        # Services
-        self.workspace_service = self.create_service(
-            GetWorkspace, "get_workspace", self.get_workspace_callback
-        )
-        self.grasp_pose_service = self.create_service(
-            GetGraspPose, "get_grasp_pose", self.get_grasp_pose_callback
-        )
 
     def get_workspace_callback(self, request, response):
         self.get_logger().info("Workspace request received")
diff --git a/repos/requirements.txt b/repos/requirements.txt
index 549cf8b..99d4673 100644
--- a/repos/requirements.txt
+++ b/repos/requirements.txt
@@ -1,9 +1,11 @@
 tensorflow==2.17.1
-torch>=2.4.1
-torchvision>=0.19.1
+torch==2.4.1
+optuna==2.10.0
+torchvision==0.19.1
 
 pcg-gazebo
 loguru
+aim # monitoring tool
 # markupsafe==2.0.1
 # Jinja2==2.6