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.gitattributes

@@ -58,3 +58,4 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+0/0_0.mcap filter=lfs diff=lfs merge=lfs -text

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+size 11281184

0/camera_info/cam_left_head.yaml

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+header:
+  frame_id: zed_left_camera_optical_frame
+  stamp:
+    sec: 1784891796
+    nanosec: 690720648
+height: 376
+width: 672
+distortion_model: plumb_bob
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0/camera_info/cam_left_wrist.yaml

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+header:
+  frame_id: camera_left_color_optical_frame
+  stamp:
+    sec: 1784891796
+    nanosec: 679117432
+height: 240
+width: 424
+distortion_model: plumb_bob
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0/camera_info/cam_right_head.yaml

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+header:
+  frame_id: zed_right_camera_optical_frame
+  stamp:
+    sec: 1784891796
+    nanosec: 690720648
+height: 376
+width: 672
+distortion_model: plumb_bob
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+  do_rectify: false

0/camera_info/cam_right_wrist.yaml

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+header:
+  frame_id: camera_right_color_optical_frame
+  stamp:
+    sec: 1784891798
+    nanosec: 683306396
+height: 240
+width: 424
+distortion_model: plumb_bob
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0/camera_info/camera_metadata.yaml

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+format_version: robotis_camera_metadata_v1
+source: robot_config
+cameras:
+  cam_left_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/left/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/left/camera_info
+  cam_left_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_left/camera_left/color/image_rect_raw/compressed
+    camera_info_topic: /camera_left/camera_left/color/camera_info
+  cam_right_head:
+    rotation_deg: 0
+    rotation_applied_at: record
+    image_topic: /zed/zed_node/right/image_rect_color/compressed
+    camera_info_topic: /zed/zed_node/right/camera_info
+  cam_right_wrist:
+    rotation_deg: 270
+    rotation_applied_at: record
+    image_topic: /camera_right/camera_right/color/image_rect_raw/compressed
+    camera_info_topic: /camera_right/camera_right/color/camera_info

0/episode_info.json

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+{
+  "task_instruction": "test1",
+  "task_num": "1",
+  "task_name": "test1",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "jhong-System-Product-Name",
+  "episode_index": 0,
+  "timestamp": "2026-07-29T08:44:58Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "test1",
+      "frame_duration": [
+        0.0,
+        28.287236064
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

0/metadata.yaml

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+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 28287236064
+  starting_time:
+    nanoseconds_since_epoch: 1784891768376365712
+  message_count: 22743
+  topics_with_message_count:
+  - topic_metadata:
+      name: /cmd_vel
+      type: geometry_msgs/msg/Twist
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 2829
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 2829
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1548
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1548
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 2829
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 2829
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 2829
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 5502
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 0_0.mcap
+  files:
+  - path: 0_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1784891768376365712
+    duration:
+      nanoseconds: 28287236064
+    message_count: 22743
+  custom_data: null
+  ros_distro: jazzy

0/robot.urdf

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+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
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README.md

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+---
+tags:
+  - robotis
+  - cyclo_intelligence
+  - robotics
+---
+
+# Task_1_test1_MCAP
+
+Created with [Cyclo Intelligence](https://github.com/ROBOTIS-GIT/cyclo_intelligence) by ROBOTIS.