diff --git a/source/isaaclab/isaaclab/envs/mdp/terminations.py b/source/isaaclab/isaaclab/envs/mdp/terminations.py
index ac472a923574..413c3c3f752a 100644
--- a/source/isaaclab/isaaclab/envs/mdp/terminations.py
+++ b/source/isaaclab/isaaclab/envs/mdp/terminations.py
@@ -89,6 +89,8 @@ def joint_pos_out_of_limit(env: ManagerBasedRLEnv, asset_cfg: SceneEntityCfg = S
     limits = asset.data.soft_joint_pos_limits[:, asset_cfg.joint_ids]
     out_of_upper_limits = torch.any(asset.data.joint_pos[:, asset_cfg.joint_ids] > limits[..., 1], dim=1)
     out_of_lower_limits = torch.any(asset.data.joint_pos[:, asset_cfg.joint_ids] < limits[..., 0], dim=1)
+    if torch.any(out_of_upper_limits | out_of_lower_limits):
+        print("Joint position out of limit", asset.data.joint_pos[:, asset_cfg.joint_ids])
     return torch.logical_or(out_of_upper_limits, out_of_lower_limits)
 
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_insert_vismot.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_insert_vismot.py
index 3c9ab028214c..d17376b70dd8 100755
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_insert_vismot.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_insert_vismot.py
@@ -12,7 +12,7 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR
-from source.isaaclab_assets.isaaclab_assets.robots.universal_robots import UR10_CFG
+from isaaclab_assets.robots.universal_robots import UR10_CFG
 from . import dev_env_cfg
 import isaaclab.sim as sim_utils
 from isaaclab.sensors import CameraCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place.py
index b68bac84e865..9e9fb2a2269c 100755
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place.py
@@ -12,7 +12,6 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-#from source.isaaclab_assets.isaaclab_assets.robots.universal_robots import UR10_CFG
 from . import dev_env_cfg
 import math
 from isaaclab.managers import SceneEntityCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place_vismot.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place_vismot.py
index fabf3a6cfc84..8681f75d1236 100755
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place_vismot.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_env_place_vismot.py
@@ -12,7 +12,7 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR
-from source.isaaclab_assets.isaaclab_assets.robots.universal_robots import UR10_CFG
+from isaaclab_assets.robots.universal_robots import UR10_CFG
 from . import dev_env_cfg
 import isaaclab.sim as sim_utils
 from isaaclab.sensors import CameraCfg
@@ -27,11 +27,11 @@
 # Pre-defined configs
 ##
 from isaaclab_assets.robots.franka import FRANKA_PANDA_HIGH_PD_CFG  # isort: skip
-from isaaclab_assets.robots.universal_robots import UR10e_ROBOTIQ_GRIPPER_CFG
+#from isaaclab_assets.robots.universal_robots import UR10e_ROBOTIQ_GRIPPER_CFG
 
 ## add some cameras in
 
-
+## this is fully configured for cosmos now! 
 
 @configclass
 class FrankaDevEnvVMCfg(dev_env_cfg.FrankaDevEnvCfg):
@@ -70,12 +70,15 @@ def __post_init__(self):
         self.scene.table_cam = CameraCfg(
             prim_path="{ENV_REGEX_NS}/table_cam",
             update_period=0.0,
-            height=84,
-            width=84,
-            data_types=["rgb", "distance_to_image_plane"],
+            height=200,
+            width=200,
+            data_types=["rgb", "semantic_segmentation", "normals","distance_to_image_plane"],
+            colorize_semantic_segmentation=True,
+            semantic_segmentation_mapping=SEMANTIC_MAPPING,
             spawn=sim_utils.PinholeCameraCfg(
                 focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 2)
             ),
+            ### Where is this in the scene?
             offset=CameraCfg.OffsetCfg(
                 pos=(1.0, 0.0, 0.4), rot=(0.35355, -0.61237, -0.61237, 0.35355), convention="ros"
             ),
@@ -154,6 +157,37 @@ def __post_init__(self):
         self.observations.policy.table_cam = ObsTerm(
             func=mdp.image, params={"sensor_cfg": SceneEntityCfg("table_cam"), "data_type": "rgb", "normalize": False}
         )
+
+        #### for cosmos add the segmentation, normals and depth data
+        self.observations.table_cam_segmentation= ObsTerm(
+            func = mdp.image,
+            params = {
+                "sensor_cfg": SceneEntityCfg("table_cam"),
+                "data_type": "semantic_segmentation",
+                "normalize" : True,
+            }
+        )
+
+        self.observations.table_cam_normals= ObsTerm(
+            func=mdp.image,
+            params={
+                "sensor_cfg": SceneEntityCfg("table_cam"),
+                "data_type" : "normals",
+                "normalize" : True,
+            }
+        )
+
+        self.observations.table_cam_depth = ObsTerm(
+            func=mdp.image,
+            params={
+                "sensor_cfg": SceneEntityCfg("table_cam"),
+                "data_type": "distance_to_image_plane",
+                "normalize" : True,
+            }
+        )
+
+        ## wrist cam? do we have one? 
+
         self.observations.policy.wrist_cam = ObsTerm(
             func=mdp.image, params={"sensor_cfg": SceneEntityCfg("wrist_cam"), "data_type": "rgb", "normalize": False}
         )
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_skillgen.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_skillgen.py
index 0872b185059a..d9159313831a 100755
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_skillgen.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_skillgen.py
@@ -12,7 +12,7 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
-from source.isaaclab_assets.isaaclab_assets.robots.universal_robots import UR10_CFG
+from isaaclab_assets.robots.universal_robots import UR10_CFG
 from . import dev_env_cfg
 import math
 from isaaclab.managers import SceneEntityCfg
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert.py
index 2f6c9ff9edac..69dc64dd95cb 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert.py
@@ -12,7 +12,6 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR
-#from source.isaaclab_assets.isaaclab_assets.robots.universal_robots import UR10_CFG
 from isaaclab_assets.robots.universal_robots import UR10_CFG
 from . import dev_env_cfg
 import isaaclab.sim as sim_utils
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert_top_down.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert_top_down.py
index a58caa636834..2ebe3b8758f9 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert_top_down.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/config/franka/dev_ik_rel_vial_insert_top_down.py
@@ -12,7 +12,6 @@
 from isaaclab.assets import AssetBaseCfg
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, NVIDIA_NUCLEUS_DIR
-#from source.isaaclab_assets.isaaclab_assets.robots.universal_robots import UR10_CFG
 from isaaclab_assets.robots.universal_robots import UR10_CFG
 from . import dev_env_cfg
 import isaaclab.sim as sim_utils
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/lift_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/lift_env_cfg.py
index afdc2d1174fa..9546c29a3851 100755
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/lift_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/cube_lift/lift_env_cfg.py
@@ -294,7 +294,7 @@ class TerminationsCfg:
 
     time_out = DoneTerm(func=mdp.time_out, time_out=True)
 
-    joint_violation = DoneTerm(func=mdp.joint_pos_out_of_limit)
+    #joint_violation = DoneTerm(func=mdp.joint_pos_out_of_limit)
     
     #object_orientation = DoneTerm(func=mdp.bad_orientation)
 
diff --git a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py
index 6dda2c8b4274..6780bbd04e98 100644
--- a/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py
+++ b/source/isaaclab_tasks/isaaclab_tasks/manager_based/manipulation/stack/config/franka/stack_ik_rel_visuomotor_cosmos_env_cfg.py
@@ -44,7 +44,10 @@ class PolicyCfg(ObsGroup):
         )
         table_cam_normals = ObsTerm(
             func=mdp.image,
-            params={"sensor_cfg": SceneEntityCfg("table_cam"), "data_type": "normals", "normalize": True},
+            params={
+                "sensor_cfg": SceneEntityCfg("table_cam"), 
+                "data_type": "normals", 
+                "normalize": True},
         )
         table_cam_depth = ObsTerm(
             func=mdp.image,