diff --git a/.gitattributes b/.gitattributes
index bed0738c7eeb449bca98b5d2f33c89a1ee56349a..68aea4ae710ff1402211c06668847a6631d22be6 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -58,3 +58,51 @@ 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
+0/0_1.mcap filter=lfs diff=lfs merge=lfs -text
+0/0_2.mcap filter=lfs diff=lfs merge=lfs -text
+1/1_0.mcap filter=lfs diff=lfs merge=lfs -text
+1/1_1.mcap filter=lfs diff=lfs merge=lfs -text
+1/1_2.mcap filter=lfs diff=lfs merge=lfs -text
+10/10_0.mcap filter=lfs diff=lfs merge=lfs -text
+10/10_1.mcap filter=lfs diff=lfs merge=lfs -text
+10/10_2.mcap filter=lfs diff=lfs merge=lfs -text
+11/11_0.mcap filter=lfs diff=lfs merge=lfs -text
+11/11_1.mcap filter=lfs diff=lfs merge=lfs -text
+11/11_2.mcap filter=lfs diff=lfs merge=lfs -text
+12/12_0.mcap filter=lfs diff=lfs merge=lfs -text
+12/12_1.mcap filter=lfs diff=lfs merge=lfs -text
+12/12_2.mcap filter=lfs diff=lfs merge=lfs -text
+13/13_0.mcap filter=lfs diff=lfs merge=lfs -text
+13/13_1.mcap filter=lfs diff=lfs merge=lfs -text
+13/13_2.mcap filter=lfs diff=lfs merge=lfs -text
+14/14_0.mcap filter=lfs diff=lfs merge=lfs -text
+14/14_1.mcap filter=lfs diff=lfs merge=lfs -text
+14/14_2.mcap filter=lfs diff=lfs merge=lfs -text
+15/15_0.mcap filter=lfs diff=lfs merge=lfs -text
+15/15_1.mcap filter=lfs diff=lfs merge=lfs -text
+15/15_2.mcap filter=lfs diff=lfs merge=lfs -text
+2/2_0.mcap filter=lfs diff=lfs merge=lfs -text
+2/2_1.mcap filter=lfs diff=lfs merge=lfs -text
+2/2_2.mcap filter=lfs diff=lfs merge=lfs -text
+3/3_0.mcap filter=lfs diff=lfs merge=lfs -text
+3/3_1.mcap filter=lfs diff=lfs merge=lfs -text
+3/3_2.mcap filter=lfs diff=lfs merge=lfs -text
+4/4_0.mcap filter=lfs diff=lfs merge=lfs -text
+4/4_1.mcap filter=lfs diff=lfs merge=lfs -text
+4/4_2.mcap filter=lfs diff=lfs merge=lfs -text
+5/5_0.mcap filter=lfs diff=lfs merge=lfs -text
+5/5_1.mcap filter=lfs diff=lfs merge=lfs -text
+5/5_2.mcap filter=lfs diff=lfs merge=lfs -text
+6/6_0.mcap filter=lfs diff=lfs merge=lfs -text
+6/6_1.mcap filter=lfs diff=lfs merge=lfs -text
+6/6_2.mcap filter=lfs diff=lfs merge=lfs -text
+7/7_0.mcap filter=lfs diff=lfs merge=lfs -text
+7/7_1.mcap filter=lfs diff=lfs merge=lfs -text
+7/7_2.mcap filter=lfs diff=lfs merge=lfs -text
+8/8_0.mcap filter=lfs diff=lfs merge=lfs -text
+8/8_1.mcap filter=lfs diff=lfs merge=lfs -text
+8/8_2.mcap filter=lfs diff=lfs merge=lfs -text
+9/9_0.mcap filter=lfs diff=lfs merge=lfs -text
+9/9_1.mcap filter=lfs diff=lfs merge=lfs -text
+9/9_2.mcap filter=lfs diff=lfs merge=lfs -text
diff --git a/0/0_0.mcap b/0/0_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..83fc4bbaf91077cd05a449f8f7391eac7ac609a7
--- /dev/null
+++ b/0/0_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa04ced54d91eb26cbad3acf45760ecf671efbfe0d11e27889e4c5b350bb96f2
+size 418224568
diff --git a/0/0_1.mcap b/0/0_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..c0928fd5e68afac0c9b7e9dd0b238c93cd173ed3
--- /dev/null
+++ b/0/0_1.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e76175fdc5891425e7fdf559ccecee65135c061bc41775e643d93d53883f9e3
+size 167363155
diff --git a/0/0_2.mcap b/0/0_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..78a30f61101d43a8b1d0bd0b7dcba0cad3c16c5b
--- /dev/null
+++ b/0/0_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea8ff74f9c46b849a0dbc6c1382533c516b9f98ff07460d2ec4ec427d5f90eda
+size 274420364
diff --git a/0/annotation_sensor.json b/0/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f9910623c18127615ec8fc06d2715a831a47108
--- /dev/null
+++ b/0/annotation_sensor.json
@@ -0,0 +1,298 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1346,
+    "valid_duration": [
+      0,
+      1346
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        45
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 1,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        45,
+        190
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        190,
+        251
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 3,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        251,
+        465
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 4,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        465,
+        526
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 5,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        526,
+        610
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 6,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        610,
+        618
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        618,
+        636
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 8,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        636,
+        849
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        849,
+        902
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 10,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        902,
+        925
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 11,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        925,
+        1043
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 12,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1043,
+        1236
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 13,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1236,
+        1304
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 14,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1304,
+        1346
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/0/annotation_sensor.mp4 b/0/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2f6c9d1a5e61edb426594fc1912da3dcc9cc4ab0
--- /dev/null
+++ b/0/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5930074fa594bb23fbb13b6837c08c7bafea59c65bf2971ff1ac93e84f0652c
+size 18382302
diff --git a/0/episode_info.json b/0/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..effd6be60a9551799dd1913ef100ddb1d5777882
--- /dev/null
+++ b/0/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 0,
+  "timestamp": "2026-04-29T07:02:20Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        618
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        618,
+        902
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        902,
+        1346
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/0/metadata.yaml b/0/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c379175624260c60cb493472c3b29434774ad7ba
--- /dev/null
+++ b/0/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 271969537718
+  starting_time:
+    nanoseconds_since_epoch: 1777445861281335869
+  message_count: 135717
+  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: 8964
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8962
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8962
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8963
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8963
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8963
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8962
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8963
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1337
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1337
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1345
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1346
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1335
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1336
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1347
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1347
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8962
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8906
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8963
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8964
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 17490
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 0_0.mcap
+  - 0_1.mcap
+  - 0_2.mcap
+  files:
+  - path: 0_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777445861281335869
+    duration:
+      nanoseconds: 41158755011
+    message_count: 62321
+  - path: 0_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777445910065449927
+    duration:
+      nanoseconds: 18906338655
+    message_count: 28638
+  - path: 0_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446103686397007
+    duration:
+      nanoseconds: 29564476580
+    message_count: 44758
+  custom_data: null
+  ros_distro: jazzy
diff --git a/0/robot.urdf b/0/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/0/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/1/1_0.mcap b/1/1_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..f3ad31808591a02330390c92bdd67088553cdef2
--- /dev/null
+++ b/1/1_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17f5b9a6aa096442be8d8fb5f47bc9ec8434234f728d132893d99f03e243274d
+size 478879186
diff --git a/1/1_1.mcap b/1/1_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..1d36b1ad12a4ce9bb88d6f8756c27502494339bd
--- /dev/null
+++ b/1/1_1.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bc800878b83644fa130bc3b908ef72bfdb6b72402daecbf3a31ef5709fdb527
+size 186518427
diff --git a/1/1_2.mcap b/1/1_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..87c3237928c11ed8f726d2dac4079c6766c0ec22
--- /dev/null
+++ b/1/1_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b775d4c0df30bde69f907cc2050fabfab8f51eec18d43161c00306b87d693cd
+size 326094855
diff --git a/1/annotation_sensor.json b/1/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..059d4d3736d07331358e99d4c4899219f2d79198
--- /dev/null
+++ b/1/annotation_sensor.json
@@ -0,0 +1,222 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1489,
+    "valid_duration": [
+      0,
+      1489
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        52
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 1,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        52,
+        668
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        668,
+        679
+      ],
+      "mp_ef": []
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+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        679,
+        716
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 4,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        716,
+        922
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 5,
+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        922,
+        983
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        983,
+        1006
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1006,
+        1118
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 8,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1118,
+        1350
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1350,
+        1437
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1437,
+        1489
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/1/annotation_sensor.mp4 b/1/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3cdfeaf32469cdf4a0662b8cb90acf2ab731b621
--- /dev/null
+++ b/1/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaac135819fd0962236afd9e993fb0c155af749badbe61c9f0eab93ef59aeaf0
+size 21471375
diff --git a/1/episode_info.json b/1/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9551f9a7992bd86c72c4f6f4694f863e4ad0a3d8
--- /dev/null
+++ b/1/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 1,
+  "timestamp": "2026-04-29T07:06:48Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        679
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        679,
+        982
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        982,
+        1489
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/1/metadata.yaml b/1/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..42a006ebd40cdf1fca1307754f9368fb92db7225
--- /dev/null
+++ b/1/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 113748523241
+  starting_time:
+    nanoseconds_since_epoch: 1777446290601172363
+  message_count: 150329
+  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: 9925
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9924
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9924
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9923
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9922
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9922
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9923
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9924
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1487
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1488
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1492
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1491
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1488
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1488
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1490
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1491
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9923
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9874
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9923
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9924
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 19383
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 1_0.mcap
+  - 1_1.mcap
+  - 1_2.mcap
+  files:
+  - path: 1_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446290601172363
+    duration:
+      nanoseconds: 45227172271
+    message_count: 68495
+  - path: 1_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446339381210446
+    duration:
+      nanoseconds: 20208833824
+    message_count: 30633
+  - path: 1_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446370543181519
+    duration:
+      nanoseconds: 33806514085
+    message_count: 51201
+  custom_data: null
+  ros_distro: jazzy
diff --git a/1/robot.urdf b/1/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/1/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
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+      <mass value="7.550951000e-01"/>
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+    </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"/>
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+      <mass value="3.795460500e+00"/>
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+    </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"/>
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+    </collision>
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+      <mass value="7.550951000e-01"/>
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+    </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>
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+      <mass value="3.795460500e+00"/>
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+  </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>
+    </visual>
+    <collision>
+      <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>
+    </collision>
+    <inertial>
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+      <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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
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+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
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+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
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+    </inertial>
+  </link>
+</robot>
diff --git a/10/10_0.mcap b/10/10_0.mcap
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diff --git a/10/10_1.mcap b/10/10_1.mcap
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diff --git a/10/10_2.mcap b/10/10_2.mcap
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diff --git a/10/annotation_sensor.json b/10/annotation_sensor.json
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--- /dev/null
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+{
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+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        628,
+        687
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 6,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        687,
+        706
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        706,
+        825
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 8,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        825,
+        1038
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1038,
+        1122
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 10,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1122,
+        1170
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/10/annotation_sensor.mp4 b/10/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8f30d38346536742eded8d712d2c5061de6b059
--- /dev/null
+++ b/10/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c551ff8900426161f0810291fdf8315f0cdc5289bc5c05261c94fc7e49ec5a10
+size 16109927
diff --git a/10/episode_info.json b/10/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..3632953ac24d599bb2e0e09fd0e53ebb58e2955d
--- /dev/null
+++ b/10/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 10,
+  "timestamp": "2026-04-29T07:31:24Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        424
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        424,
+        687
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        687,
+        1170
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/10/metadata.yaml b/10/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..3a4887592cf209848c590593af23671298f85c56
--- /dev/null
+++ b/10/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 84360290927
+  starting_time:
+    nanoseconds_since_epoch: 1777447797596115669
+  message_count: 117951
+  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: 7792
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7785
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7785
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7790
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7783
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7792
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7785
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7792
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1159
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1164
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1174
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1174
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1164
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1164
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1171
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1171
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7787
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7716
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7786
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7792
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 15225
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 10_0.mcap
+  - 10_1.mcap
+  - 10_2.mcap
+  files:
+  - path: 10_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447797596115669
+    duration:
+      nanoseconds: 28222081303
+    message_count: 42747
+  - path: 10_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447829672993358
+    duration:
+      nanoseconds: 17496212738
+    message_count: 26484
+  - path: 10_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447849764467571
+    duration:
+      nanoseconds: 32191939025
+    message_count: 48720
+  custom_data: null
+  ros_distro: jazzy
diff --git a/10/robot.urdf b/10/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/10/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/11/11_0.mcap b/11/11_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..3e27f407bf79ceab6c43fc1f6ab39b4a522319ab
--- /dev/null
+++ b/11/11_0.mcap
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+version https://git-lfs.github.com/spec/v1
+oid sha256:41a491b0d80c7c824109571bee96822eeae64dcb7d3f4bf48071169ff59579f6
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diff --git a/11/11_1.mcap b/11/11_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..5d42b579563fcffbb34cb38e6b96cc3af6c264ce
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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+size 183238353
diff --git a/11/11_2.mcap b/11/11_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..e7c87fc7998c683993756ee8a9e65a5552a655b6
--- /dev/null
+++ b/11/11_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 323490174
diff --git a/11/annotation_sensor.json b/11/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..00ab3714b6ec45b6fb90fab07ecb2686c59e3580
--- /dev/null
+++ b/11/annotation_sensor.json
@@ -0,0 +1,336 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1848,
+    "valid_duration": [
+      0,
+      1848
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        56
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+      "mp_ef": []
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        56,
+        228
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
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+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        228,
+        331
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+      "mp_ef": []
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+    {
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+      "skill_id": [
+        3
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+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        331,
+        478
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+      "mp_ef": []
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+      "skill_id": [
+        2
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+      "skill_description": [
+        "pick up from"
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+      "skill_type": [
+        "uncoordinated"
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+      "spatial_prefix": [],
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+        478,
+        586
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+      "mp_ef": []
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+      "skill_description": [
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+        "uncoordinated"
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+      "spatial_prefix": [],
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        1060,
+        1272
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+      "mp_ef": []
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+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        1272,
+        1330
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        1330,
+        1348
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1348,
+        1472
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1472,
+        1707
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1707,
+        1796
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1796,
+        1848
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/11/annotation_sensor.mp4 b/11/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab5a9f3295e3f8c2c8d00bddc01fc51cd039d4c2
--- /dev/null
+++ b/11/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b94e9d17393091268ce77affe97a04a1c027eadcb2d2238f3c8fe2084a24d206
+size 26675739
diff --git a/11/episode_info.json b/11/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..01a8136ccf29f64869334f106a4b023b4999d6a3
--- /dev/null
+++ b/11/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 11,
+  "timestamp": "2026-04-29T07:35:02Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        1026
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        1026,
+        1330
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        1330,
+        1848
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/11/metadata.yaml b/11/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e53be617a049b23356870a08024a88c77f4a6fbc
--- /dev/null
+++ b/11/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 131229832599
+  starting_time:
+    nanoseconds_since_epoch: 1777447967492812997
+  message_count: 186386
+  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: 12311
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12310
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12310
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12311
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12307
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12309
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12307
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12311
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1837
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1839
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1849
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1849
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1836
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1839
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1849
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1849
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12309
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12186
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12305
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 12311
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 24052
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 11_0.mcap
+  - 11_1.mcap
+  - 11_2.mcap
+  files:
+  - path: 11_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447967492812997
+    duration:
+      nanoseconds: 68355401151
+    message_count: 103495
+  - path: 11_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777448039522738744
+    duration:
+      nanoseconds: 20220668208
+    message_count: 30615
+  - path: 11_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777448064190975738
+    duration:
+      nanoseconds: 34531669858
+    message_count: 52276
+  custom_data: null
+  ros_distro: jazzy
diff --git a/11/robot.urdf b/11/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/11/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
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+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
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+      <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>
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+      <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>
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+      <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
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+    <inertial>
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+    </inertial>
+  </link>
+</robot>
diff --git a/12/12_0.mcap b/12/12_0.mcap
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
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diff --git a/12/12_1.mcap b/12/12_1.mcap
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:b2ccebe4b0c37ef0f3bf49a5d123a6cf7a19108963f6d2a5dd0fb319bad4f1e2
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diff --git a/12/12_2.mcap b/12/12_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..7ec28a2d8fafd1b8e4e350a3536e1e39070b14c2
--- /dev/null
+++ b/12/12_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 313561819
diff --git a/12/annotation_sensor.json b/12/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e082ca48c0823f7023d86b4d0044ad674e9fa89
--- /dev/null
+++ b/12/annotation_sensor.json
@@ -0,0 +1,298 @@
+{
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+  "data_folder": "",
+  "meta_data": {
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+    "valid_duration": [
+      0,
+      1761
+    ]
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+}
\ No newline at end of file
diff --git a/12/annotation_sensor.mp4 b/12/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad17b744d28dc70adcf857d05b070ebcf12f6858
--- /dev/null
+++ b/12/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bdb8aea95d98c08f366802865eb4e3ffc3104fab9eb57acb8201b13160d4ad4b
+size 25041142
diff --git a/12/episode_info.json b/12/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fb2792e761c0fbd667470063f85453817005b5
--- /dev/null
+++ b/12/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 12,
+  "timestamp": "2026-04-29T07:37:49Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
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+  "task_name": "clean_cafe_table",
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+        1249,
+        1761
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+    }
+  ]
+}
\ No newline at end of file
diff --git a/12/metadata.yaml b/12/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b398fd580d9eb84578e9e6a5048e711cdfe2286c
--- /dev/null
+++ b/12/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 123833538544
+  starting_time:
+    nanoseconds_since_epoch: 1777448142233109745
+  message_count: 177525
+  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: 11729
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11730
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11729
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11727
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11728
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11724
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11727
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11726
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1749
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1750
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1763
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1763
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1747
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1750
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1760
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1760
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11724
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11585
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11728
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 11729
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 22897
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 12_0.mcap
+  - 12_1.mcap
+  - 12_2.mcap
+  files:
+  - path: 12_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777448142233109745
+    duration:
+      nanoseconds: 66361970582
+    message_count: 100437
+  - path: 12_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777448212422404646
+    duration:
+      nanoseconds: 16830425202
+    message_count: 25469
+  - path: 12_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777448231956044618
+    duration:
+      nanoseconds: 34110603671
+    message_count: 51619
+  custom_data: null
+  ros_distro: jazzy
diff --git a/12/robot.urdf b/12/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/12/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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"/>
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+    </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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
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+      <mass value="3.795460500e+00"/>
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+    </inertial>
+  </link>
+</robot>
diff --git a/13/13_0.mcap b/13/13_0.mcap
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diff --git a/13/13_1.mcap b/13/13_1.mcap
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diff --git a/13/13_2.mcap b/13/13_2.mcap
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diff --git a/13/annotation_sensor.json b/13/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..4792b61ebd10d645358ce7bd2000a2e04ab7f9ed
--- /dev/null
+++ b/13/annotation_sensor.json
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+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1499,
+    "valid_duration": [
+      0,
+      1499
+    ]
+  },
+  "skill_annotation": [
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        53
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+      "mp_ef": []
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+    {
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+      "skill_id": [
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+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        53,
+        506
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
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+      "spatial_prefix": [],
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+        612
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        612,
+        707
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 4,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
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+      "spatial_prefix": [],
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+        719
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+      "mp_ef": []
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+    {
+      "skill_idx": 5,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        719,
+        740
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 6,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        740,
+        929
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        929,
+        983
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        983,
+        1002
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        1002,
+        1119
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        1119,
+        1361
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
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+        1361,
+        1452
+      ],
+      "mp_ef": []
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+    {
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+      "skill_id": [
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+      "skill_description": [
+        "idle"
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+        "uncoordinated"
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+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/13/annotation_sensor.mp4 b/13/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b417ac4ab5654732ffabeab250bbc6ba78f6092
--- /dev/null
+++ b/13/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83f24ac2dc1d744e5457f5dcd3ea9045f7501bb6a5a11a622ec71bcbd94073ca
+size 21386053
diff --git a/13/episode_info.json b/13/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ee04183cd871ebc815ab0662026b31b1501cb71
--- /dev/null
+++ b/13/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 13,
+  "timestamp": "2026-04-29T08:18:51Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        719
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        719,
+        983
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        983,
+        1499
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/13/metadata.yaml b/13/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..cc2266633f1f44e34004975273e45506386944c6
--- /dev/null
+++ b/13/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 1382617365485
+  starting_time:
+    nanoseconds_since_epoch: 1777449346071114651
+  message_count: 151160
+  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: 9985
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9985
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9985
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9979
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9983
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9983
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9978
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9983
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1494
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1495
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1499
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1499
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1495
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1495
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1501
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1500
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9982
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9906
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9982
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9985
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 19466
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 13_0.mcap
+  - 13_1.mcap
+  - 13_2.mcap
+  files:
+  - path: 13_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777449346071114651
+    duration:
+      nanoseconds: 47911828233
+    message_count: 72522
+  - path: 13_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777449414279062935
+    duration:
+      nanoseconds: 17548429447
+    message_count: 26559
+  - path: 13_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777450694297932319
+    duration:
+      nanoseconds: 34390547817
+    message_count: 52079
+  custom_data: null
+  ros_distro: jazzy
diff --git a/13/robot.urdf b/13/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/13/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
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+      <mass value="7.550951000e-01"/>
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+    </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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
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+      <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>
+</robot>
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new file mode 100644
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diff --git a/14/annotation_sensor.json b/14/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd448556e6b38921d409604c83d8b72918e3b0a0
--- /dev/null
+++ b/14/annotation_sensor.json
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+{
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+}
\ No newline at end of file
diff --git a/14/annotation_sensor.mp4 b/14/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..809492b743ab89d715cabed04912ca375dee1353
--- /dev/null
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+version https://git-lfs.github.com/spec/v1
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diff --git a/14/episode_info.json b/14/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2982e887cf7b81a334d3735dfc9ba9e69ea6edb2
--- /dev/null
+++ b/14/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 14,
+  "timestamp": "2026-04-29T08:21:58Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
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+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
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+    }
+  ]
+}
\ No newline at end of file
diff --git a/14/metadata.yaml b/14/metadata.yaml
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index 0000000000000000000000000000000000000000..9e2be7d0704451c7277b8985cbb98a588a4dc351
--- /dev/null
+++ b/14/metadata.yaml
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+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
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+      type: geometry_msgs/msg/Twist
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+      offered_qos_profiles: []
+      type_description_hash: ''
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+      type_description_hash: ''
+    message_count: 11743
+  - topic_metadata:
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+      offered_qos_profiles: []
+      type_description_hash: ''
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+  - topic_metadata:
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+      type: nav_msgs/msg/Odometry
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+  - topic_metadata:
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+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
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+      offered_qos_profiles: []
+      type_description_hash: ''
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diff --git a/14/robot.urdf b/14/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/14/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
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+      <mass value="3.795460500e+00"/>
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+    </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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/15/15_0.mcap b/15/15_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..ab45d6cd13f3750e6108c66f3cf171a105e0e08a
--- /dev/null
+++ b/15/15_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4133b91c3c1921153ebee42caf89c4bb41978fe2dd3c2aa7cd7ca1d684bf8922
+size 461613925
diff --git a/15/15_1.mcap b/15/15_1.mcap
new file mode 100644
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--- /dev/null
+++ b/15/15_1.mcap
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+version https://git-lfs.github.com/spec/v1
+oid sha256:1ffab66d718a03005a707e7a13141493c68922437f33e01780eaf661fbfc2733
+size 181752555
diff --git a/15/15_2.mcap b/15/15_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..e5622d4bae2bc585955c9ef2e5cc58651524eab0
--- /dev/null
+++ b/15/15_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:253982dd194700574c64df0885661a400e3b70f3ace2b9e8746e4fdb0766b4cd
+size 318439808
diff --git a/15/annotation_sensor.json b/15/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..deb0aaa2e456f567a6bad42030d0365c3bea4c03
--- /dev/null
+++ b/15/annotation_sensor.json
@@ -0,0 +1,260 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1464,
+    "valid_duration": [
+      0,
+      1464
+    ]
+  },
+  "skill_annotation": [
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        52
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
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+      "skill_type": [
+        "navigation"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        205
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+      "mp_ef": []
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+      "mp_ef": []
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+      "mp_ef": []
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+      "skill_description": [
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+      "spatial_prefix": [],
+      "frame_duration": [
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+      "mp_ef": []
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        699
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+      "mp_ef": []
+    },
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+      "skill_id": [
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+      "skill_description": [
+        "move to"
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+      "skill_type": [
+        "navigation"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        699,
+        894
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        894,
+        958
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+      "mp_ef": []
+    },
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        958,
+        978
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
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+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        1099
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
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+      "skill_description": [
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+      "spatial_prefix": [],
+      "frame_duration": [
+        1099,
+        1338
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1338,
+        1410
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1410,
+        1464
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/15/annotation_sensor.mp4 b/15/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..750f93f153e27ced6c17304c663e804aad8659a4
--- /dev/null
+++ b/15/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c348f49f697d6e2909dbea45fb0dc91d008427e5985ee15687610362d7fd613
+size 20929627
diff --git a/15/episode_info.json b/15/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8f3a3869b543a2d0c671b7422fefa077fdf7466
--- /dev/null
+++ b/15/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 15,
+  "timestamp": "2026-04-29T08:24:33Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        662
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        662,
+        958
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        958,
+        1464
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/15/metadata.yaml b/15/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..685f74df85e657d407c68ca744c6212c7a64aa2f
--- /dev/null
+++ b/15/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 102411827246
+  starting_time:
+    nanoseconds_since_epoch: 1777450967880102895
+  message_count: 147645
+  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: 9756
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9752
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9752
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9753
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9754
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9754
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9754
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9753
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1456
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1458
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1462
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1464
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1457
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1458
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1463
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1464
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9752
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9619
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9752
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9757
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 19055
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 15_0.mcap
+  - 15_1.mcap
+  - 15_2.mcap
+  files:
+  - path: 15_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777450967880102895
+    duration:
+      nanoseconds: 44115216691
+    message_count: 66752
+  - path: 15_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777451013959900804
+    duration:
+      nanoseconds: 19697526653
+    message_count: 29827
+  - path: 15_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777451036546592393
+    duration:
+      nanoseconds: 33745337748
+    message_count: 51066
+  custom_data: null
+  ros_distro: jazzy
diff --git a/15/robot.urdf b/15/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/15/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/2/2_0.mcap b/2/2_0.mcap
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diff --git a/2/2_1.mcap b/2/2_1.mcap
new file mode 100644
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+version https://git-lfs.github.com/spec/v1
+oid sha256:555c575f4261aa7408a9ac630a385e6b0a5a0c9deed7ef00736b4588aa02f501
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diff --git a/2/2_2.mcap b/2/2_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..890a8a89d4e6a9d74dffeb397badd9bb8a5624c9
--- /dev/null
+++ b/2/2_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f5b638b935fd8c08ae2ba31895a4ce1b82086ae3629fc1469814d3c5e0c1125
+size 308977252
diff --git a/2/annotation_sensor.json b/2/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..1948c808a5168984aec5b4cc64566ed5c67a32d8
--- /dev/null
+++ b/2/annotation_sensor.json
@@ -0,0 +1,222 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1422,
+    "valid_duration": [
+      0,
+      1422
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        61
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 1,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        61,
+        626
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        626,
+        643
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 3,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        643,
+        664
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 4,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        664,
+        850
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 5,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        850,
+        931
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 6,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        931,
+        951
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        951,
+        1074
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 8,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1074,
+        1301
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1301,
+        1385
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 10,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1385,
+        1422
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/2/annotation_sensor.mp4 b/2/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..515dce04b5ddd7962044739a8f37ee88d29750bb
--- /dev/null
+++ b/2/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:199b0efd6f80078e06d7eb4cb0cd58eed0e40d77e939238bbfe1c80e84bd0222
+size 19977834
diff --git a/2/episode_info.json b/2/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..6012ce48be643a4a439047ebbb8179fc14e3e9c8
--- /dev/null
+++ b/2/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 2,
+  "timestamp": "2026-04-29T07:09:20Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        643
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        643,
+        931
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        931,
+        1422
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/2/metadata.yaml b/2/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8df575ba3f6554fcf47d767f6bdebe9dfd5682ab
--- /dev/null
+++ b/2/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 100336173113
+  starting_time:
+    nanoseconds_since_epoch: 1777446457456837002
+  message_count: 143566
+  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: 9479
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9480
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9480
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9479
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9477
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9473
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9478
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9477
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1421
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1421
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1424
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1424
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1418
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1421
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1423
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1424
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9476
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9424
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9477
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9478
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 18512
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 2_0.mcap
+  - 2_1.mcap
+  - 2_2.mcap
+  files:
+  - path: 2_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446457456837002
+    duration:
+      nanoseconds: 42856901493
+    message_count: 64903
+  - path: 2_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446503314822427
+    duration:
+      nanoseconds: 19206592372
+    message_count: 29093
+  - path: 2_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446525057273828
+    duration:
+      nanoseconds: 32735736287
+    message_count: 49570
+  custom_data: null
+  ros_distro: jazzy
diff --git a/2/robot.urdf b/2/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/2/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/3/3_0.mcap b/3/3_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..0fa9251e6dd8e13f426257883d09d08286ff5014
--- /dev/null
+++ b/3/3_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7233a9324335f195b3f6ff9400b783ae92e1fa55de58ff58a563da8659aed70a
+size 413145609
diff --git a/3/3_1.mcap b/3/3_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..84e9f0645e534015f1191670187bce96fafdf82d
--- /dev/null
+++ b/3/3_1.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a10c11d9760172d83fe2af8a8fbee87cbe5a55967b9613ff920e269cb3c7af5
+size 158832562
diff --git a/3/3_2.mcap b/3/3_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..b7dd9eebeb988ae13c8e18a865253ab94cef5f8f
--- /dev/null
+++ b/3/3_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b44d18209e1d80f8dcce553a446599d96e0b25ccba84f958fecd2c3cb8ca052d
+size 313766484
diff --git a/3/annotation_sensor.json b/3/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ca9f41b0127e579204976d6556328c1412471d4
--- /dev/null
+++ b/3/annotation_sensor.json
@@ -0,0 +1,298 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1369,
+    "valid_duration": [
+      0,
+      1369
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        55
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 1,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        55,
+        197
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+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        197,
+        263
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        263,
+        398
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+      "mp_ef": []
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+      "skill_id": [
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+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        398,
+        488
+      ],
+      "mp_ef": []
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+        3
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+      "skill_description": [
+        "place on"
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+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        488,
+        574
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+      "skill_description": [
+        "idle"
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+      "spatial_prefix": [],
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+      "mp_ef": []
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+      "skill_id": [
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+      "spatial_prefix": [],
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+        608
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+      "mp_ef": []
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+        1
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+      "skill_description": [
+        "move to"
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+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        608,
+        797
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+      "mp_ef": []
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+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        860
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+      "mp_ef": []
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        860,
+        878
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+      "mp_ef": []
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
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+      "skill_type": [
+        "navigation"
+      ],
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+      "spatial_prefix": [],
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+        878,
+        991
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        991,
+        1230
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 13,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1230,
+        1315
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 14,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1315,
+        1369
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/3/annotation_sensor.mp4 b/3/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a3c5348bc2338b780b3e6a6428db1686a3b40cb8
--- /dev/null
+++ b/3/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa4ffd8b3e40af2d168128f79771e99b8846d6bbaea4738256b87eaa7c95540
+size 18467592
diff --git a/3/episode_info.json b/3/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e0c9883bed75022b857702c5b88151e7022dcd
--- /dev/null
+++ b/3/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 3,
+  "timestamp": "2026-04-29T07:12:22Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        591
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        591,
+        859
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        859,
+        1369
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/3/metadata.yaml b/3/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f3d8f00bdab9c2a16c114ed22a1c51d1d50849d3
--- /dev/null
+++ b/3/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 100449042286
+  starting_time:
+    nanoseconds_since_epoch: 1777446638351501654
+  message_count: 138115
+  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: 9125
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9124
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9124
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9118
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9122
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9121
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9121
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9121
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1360
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1363
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1372
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1372
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1361
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1364
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1370
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1370
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9122
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9021
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9122
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9125
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 17817
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 3_0.mcap
+  - 3_1.mcap
+  - 3_2.mcap
+  files:
+  - path: 3_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446638351501654
+    duration:
+      nanoseconds: 39392839254
+    message_count: 59615
+  - path: 3_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446683065032671
+    duration:
+      nanoseconds: 17883159457
+    message_count: 27078
+  - path: 3_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446704836036014
+    duration:
+      nanoseconds: 33964507926
+    message_count: 51422
+  custom_data: null
+  ros_distro: jazzy
diff --git a/3/robot.urdf b/3/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/3/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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"/>
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+    </visual>
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+      <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>
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+      <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>
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+    </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>
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+      <mass value="7.550951000e-01"/>
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+    </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"/>
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+  </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>
+    </visual>
+    <collision>
+      <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>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
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+    </inertial>
+  </link>
+  <joint name="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
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+  </link>
+</robot>
diff --git a/4/4_0.mcap b/4/4_0.mcap
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diff --git a/4/4_1.mcap b/4/4_1.mcap
new file mode 100644
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diff --git a/4/4_2.mcap b/4/4_2.mcap
new file mode 100644
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--- /dev/null
+++ b/4/4_2.mcap
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+version https://git-lfs.github.com/spec/v1
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diff --git a/4/annotation_sensor.json b/4/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..86430de6358b8d8bbb8b216b5ca406a699a7050c
--- /dev/null
+++ b/4/annotation_sensor.json
@@ -0,0 +1,260 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
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+    "valid_duration": [
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+      1386
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+  "skill_annotation": [
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        53
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+      "mp_ef": []
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+      "mp_ef": []
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+        "uncoordinated"
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+      "skill_description": [
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+      ],
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+        1269,
+        1345
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+      "mp_ef": []
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+      "skill_id": [
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+      "spatial_prefix": [],
+      "frame_duration": [
+        1345,
+        1386
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/4/annotation_sensor.mp4 b/4/annotation_sensor.mp4
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--- /dev/null
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diff --git a/4/episode_info.json b/4/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae87da67d4d6f7a81b428cc2329f459fbf408b5a
--- /dev/null
+++ b/4/episode_info.json
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+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 4,
+  "timestamp": "2026-04-29T07:14:59Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        667
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        667,
+        918
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        918,
+        1386
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/4/metadata.yaml b/4/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..93dbf6dddbe145d0b11b88a98fcd591376e3988a
--- /dev/null
+++ b/4/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 99911138568
+  starting_time:
+    nanoseconds_since_epoch: 1777446794140223998
+  message_count: 139741
+  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: 9234
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9231
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9231
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9232
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9229
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9233
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9229
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9233
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1369
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1369
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1386
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1386
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1368
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1369
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1386
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1387
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9229
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9132
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9229
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9234
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 18045
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 4_0.mcap
+  - 4_1.mcap
+  - 4_2.mcap
+  files:
+  - path: 4_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446794140223998
+    duration:
+      nanoseconds: 44440283296
+    message_count: 67251
+  - path: 4_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446842926812074
+    duration:
+      nanoseconds: 16692581820
+    message_count: 25261
+  - path: 4_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446862856254521
+    duration:
+      nanoseconds: 31195108045
+    message_count: 47229
+  custom_data: null
+  ros_distro: jazzy
diff --git a/4/robot.urdf b/4/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/4/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/5/5_0.mcap b/5/5_0.mcap
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+size 454710947
diff --git a/5/5_1.mcap b/5/5_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..abaf590d4c1076419142b8681d9a08279b33d08f
--- /dev/null
+++ b/5/5_1.mcap
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+version https://git-lfs.github.com/spec/v1
+oid sha256:f3c114c3cc0f89c4c0ffe45fab16961a09dc5876866ef534d42cd1512b0fc967
+size 161501045
diff --git a/5/5_2.mcap b/5/5_2.mcap
new file mode 100644
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--- /dev/null
+++ b/5/5_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a9554570826079ee49e3602ce86418fa602dc7ddfb1f8a9b0450ffbcfea16f
+size 295030257
diff --git a/5/annotation_sensor.json b/5/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b54f722ef236c68b026a0d523ebdabe322e9c1e
--- /dev/null
+++ b/5/annotation_sensor.json
@@ -0,0 +1,260 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1391,
+    "valid_duration": [
+      0,
+      1391
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        58
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 1,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        58,
+        243
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        243,
+        332
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 3,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        332,
+        640
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 4,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        640,
+        643
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 5,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        643,
+        680
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 6,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        680,
+        855
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        855,
+        910
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        910,
+        927
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        927,
+        1032
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 10,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1032,
+        1262
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 11,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1262,
+        1343
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 12,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1343,
+        1391
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/5/annotation_sensor.mp4 b/5/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21a159d1562a53b95a36108cc170b10423b9f125
--- /dev/null
+++ b/5/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d98fb4ce6fa4fdce360f6fb7e3399669ac6c1b576c21df0fe030e15c6b35b6bd
+size 19739421
diff --git a/5/episode_info.json b/5/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..280a8b8c230626e0b1bd83899d576526e1a913c8
--- /dev/null
+++ b/5/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 5,
+  "timestamp": "2026-04-29T07:17:21Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        644
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        644,
+        911
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        911,
+        1391
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/5/metadata.yaml b/5/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b7d95ce0a787142780fe008b0327d3f6b44e94bc
--- /dev/null
+++ b/5/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 98426678239
+  starting_time:
+    nanoseconds_since_epoch: 1777446940475316834
+  message_count: 140214
+  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: 9265
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9259
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9259
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9263
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9263
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9265
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9263
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9264
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1386
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1386
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1391
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1391
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1382
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1385
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1391
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1391
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9265
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9150
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9264
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9265
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 18066
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 5_0.mcap
+  - 5_1.mcap
+  - 5_2.mcap
+  files:
+  - path: 5_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446940475316834
+    duration:
+      nanoseconds: 42872987114
+    message_count: 64885
+  - path: 5_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777446985773336175
+    duration:
+      nanoseconds: 17791123815
+    message_count: 26927
+  - path: 5_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447006925535341
+    duration:
+      nanoseconds: 31976459732
+    message_count: 48402
+  custom_data: null
+  ros_distro: jazzy
diff --git a/5/robot.urdf b/5/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/5/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/6/6_0.mcap b/6/6_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..e16b051df17771ae64a26d5877902b9a05bd7c35
--- /dev/null
+++ b/6/6_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7fb1b0832fe1a36e877407b189a02a7956a4cb16917d2544cfef5c14e9bc67d5
+size 428217706
diff --git a/6/6_1.mcap b/6/6_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..eae120d1aee6f6597ed13f5ebb9ce94c1869bcf5
--- /dev/null
+++ b/6/6_1.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b285b948910f07f48c0f998b1c49d890382cd8ebff4248e49135dc5fc2de86d6
+size 150631557
diff --git a/6/6_2.mcap b/6/6_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..c1c89881920965f0581b781782d6479c5bd93ba9
--- /dev/null
+++ b/6/6_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:240bb470fef0ed553af159398069b693a5ff9e0f2e62fb95b429d6084c4aea7b
+size 331325423
diff --git a/6/annotation_sensor.json b/6/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..86be4a477a3c33d36c3aa65b2410d94c25a71b03
--- /dev/null
+++ b/6/annotation_sensor.json
@@ -0,0 +1,222 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1386,
+    "valid_duration": [
+      0,
+      1386
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        0,
+        56
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        56,
+        594
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        594,
+        610
+      ],
+      "mp_ef": []
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+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        610,
+        628
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 4,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        628,
+        816
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 5,
+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        816,
+        859
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        859,
+        880
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
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+      "spatial_prefix": [],
+      "frame_duration": [
+        880,
+        1003
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1003,
+        1250
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1250,
+        1327
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1327,
+        1386
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/6/annotation_sensor.mp4 b/6/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bddaeda0a1bf9aba0e20c1edbe11e1f6ba74467e
--- /dev/null
+++ b/6/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb92b434dfafe39d2033401d18c70bb660fc9fa4bb70a828384621ab515e58bd
+size 19523719
diff --git a/6/episode_info.json b/6/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d357659fbd98899f713031a8a93e14f83056f748
--- /dev/null
+++ b/6/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 6,
+  "timestamp": "2026-04-29T07:21:43Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        610
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        610,
+        858
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        858,
+        1386
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/6/metadata.yaml b/6/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c852315854457acc70a5c24992eb052f4192fa01
--- /dev/null
+++ b/6/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 102987826599
+  starting_time:
+    nanoseconds_since_epoch: 1777447198386059194
+  message_count: 139790
+  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: 9237
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9234
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9234
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9229
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9235
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9235
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9230
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9236
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1377
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1381
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1387
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1388
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1379
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1383
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1387
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1388
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9235
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9118
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9236
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9237
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 18024
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 6_0.mcap
+  - 6_1.mcap
+  - 6_2.mcap
+  files:
+  - path: 6_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447198386059194
+    duration:
+      nanoseconds: 40648792913
+    message_count: 61491
+  - path: 6_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447243923793987
+    duration:
+      nanoseconds: 16569833531
+    message_count: 25100
+  - path: 6_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447266218060197
+    duration:
+      nanoseconds: 35155825596
+    message_count: 53199
+  custom_data: null
+  ros_distro: jazzy
diff --git a/6/robot.urdf b/6/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/6/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/7/7_0.mcap b/7/7_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..ed9061cf5550a53765477e10f340c6010d86a67b
--- /dev/null
+++ b/7/7_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b11f80bc2f2afb3fb2dcbf1387741774b9c95813dd7405318a59897745bdd85
+size 443097725
diff --git a/7/7_1.mcap b/7/7_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..c41d33d6f9a5917794a7e19982da7b4df3b2d87c
--- /dev/null
+++ b/7/7_1.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24d820e975e89bad47532dcea6ba516cb78b46de29312698bc1a41fe977e3900
+size 162187771
diff --git a/7/7_2.mcap b/7/7_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..6a1f2df0b639ac7b95edf2a948e5bb5e54c40744
--- /dev/null
+++ b/7/7_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:186ff2ffacc32ae17e039b18fbfa16cd43537d9f130b8c9d62e96c8e9e369d60
+size 316382179
diff --git a/7/annotation_sensor.json b/7/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fddcff0186b5e54d77a70d825729e62d92c57a2
--- /dev/null
+++ b/7/annotation_sensor.json
@@ -0,0 +1,222 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1426,
+    "valid_duration": [
+      0,
+      1426
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        55
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        55,
+        624
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        624,
+        637
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+      "mp_ef": []
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+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        637,
+        656
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        656,
+        845
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
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+      "skill_type": [
+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        845,
+        909
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        909,
+        924
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
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+      "skill_type": [
+        "navigation"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        1043
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1043,
+        1284
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1284,
+        1367
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
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+      "skill_description": [
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+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1367,
+        1426
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/7/annotation_sensor.mp4 b/7/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3948305a8363f9ca8f74c8eaa8b2598be29e65b9
--- /dev/null
+++ b/7/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87271a74ddc700d6f4172c35d40e44e91a2beb55c7a5427e1ce3cf2472a2f5cf
+size 20086267
diff --git a/7/episode_info.json b/7/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..d42f88115fa5e9e0c38d4eed2cd2bb029a805133
--- /dev/null
+++ b/7/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 7,
+  "timestamp": "2026-04-29T07:24:01Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        637
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        637,
+        909
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        909,
+        1426
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/7/metadata.yaml b/7/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f1be1804142f5f92f19e4bc9deda442f19345021
--- /dev/null
+++ b/7/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 104236125911
+  starting_time:
+    nanoseconds_since_epoch: 1777447333412106375
+  message_count: 143793
+  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: 9501
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9498
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9498
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9500
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9500
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9500
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9497
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9501
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1416
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1417
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1425
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1426
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1414
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1417
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1425
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1426
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9500
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9376
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9500
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9501
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 18555
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 7_0.mcap
+  - 7_1.mcap
+  - 7_2.mcap
+  files:
+  - path: 7_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447333412106375
+    duration:
+      nanoseconds: 42442707410
+    message_count: 64202
+  - path: 7_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447379745803147
+    duration:
+      nanoseconds: 18123186174
+    message_count: 27446
+  - path: 7_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447403214624669
+    duration:
+      nanoseconds: 34433607617
+    message_count: 52145
+  custom_data: null
+  ros_distro: jazzy
diff --git a/7/robot.urdf b/7/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/7/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
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+      <mass value="3.795460500e+00"/>
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+    </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>
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+      <mass value="3.795460500e+00"/>
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+    </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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
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+    </collision>
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+    </inertial>
+  </link>
+</robot>
diff --git a/8/8_0.mcap b/8/8_0.mcap
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diff --git a/8/8_1.mcap b/8/8_1.mcap
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diff --git a/8/8_2.mcap b/8/8_2.mcap
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diff --git a/8/annotation_sensor.json b/8/annotation_sensor.json
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index 0000000000000000000000000000000000000000..1f0cef28059ad87c6fc34cd6d97c8a76c0c3e5cd
--- /dev/null
+++ b/8/annotation_sensor.json
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+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1531,
+    "valid_duration": [
+      0,
+      1531
+    ]
+  },
+  "skill_annotation": [
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+      "skill_id": [
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+      "skill_description": [
+        "idle"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+        53
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+      "skill_id": [
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+        "navigation"
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+      "spatial_prefix": [],
+      "frame_duration": [
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+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 2,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        205,
+        292
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 3,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        292,
+        523
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+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        523,
+        621
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 5,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        621,
+        720
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 6,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        720,
+        735
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 7,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        735,
+        758
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 8,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        758,
+        959
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 9,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        959,
+        1029
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 10,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1029,
+        1047
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 11,
+      "skill_id": [
+        1
+      ],
+      "skill_description": [
+        "move to"
+      ],
+      "skill_type": [
+        "navigation"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1047,
+        1158
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 12,
+      "skill_id": [
+        2
+      ],
+      "skill_description": [
+        "pick up from"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1158,
+        1399
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 13,
+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1399,
+        1486
+      ],
+      "mp_ef": []
+    },
+    {
+      "skill_idx": 14,
+      "skill_id": [
+        0
+      ],
+      "skill_description": [
+        "idle"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1486,
+        1531
+      ],
+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/8/annotation_sensor.mp4 b/8/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc1e12adb71134d21ef279bbf0ccf55b94c93385
--- /dev/null
+++ b/8/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4efa597974856304f462359b2260486bd978740eb5d63ab0e1fcabe6d475ec40
+size 22025540
diff --git a/8/episode_info.json b/8/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2082dfbbe0db90cdad1e2d1e5a0b43ed5a6b8cfe
--- /dev/null
+++ b/8/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 8,
+  "timestamp": "2026-04-29T07:26:41Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        735
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        735,
+        1029
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        1029,
+        1531
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/8/metadata.yaml b/8/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7601d503159df9bc586ca40d6582747ae7b9e698
--- /dev/null
+++ b/8/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 108790749558
+  starting_time:
+    nanoseconds_since_epoch: 1777447489742976827
+  message_count: 154304
+  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: 10199
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10199
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10199
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10198
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10191
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10195
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10193
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10195
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1516
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1517
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1531
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1531
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1512
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1517
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1537
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1539
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10192
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10049
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10193
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10199
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 19902
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 8_0.mcap
+  - 8_1.mcap
+  - 8_2.mcap
+  files:
+  - path: 8_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447489742976827
+    duration:
+      nanoseconds: 48985734547
+    message_count: 74126
+  - path: 8_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447541303255926
+    duration:
+      nanoseconds: 19566621296
+    message_count: 29642
+  - path: 8_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447565106276257
+    duration:
+      nanoseconds: 33427450128
+    message_count: 50536
+  custom_data: null
+  ros_distro: jazzy
diff --git a/8/robot.urdf b/8/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/8/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/9/9_0.mcap b/9/9_0.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..9e1443e6b6dc5f46727d33b7dfe5e6b02a758703
--- /dev/null
+++ b/9/9_0.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80260b3053998cf63afd9282b10edac431ab6f38fcd5151d5603f62477ef82f2
+size 485261445
diff --git a/9/9_1.mcap b/9/9_1.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..1a89b8a414c258f100c7829cabc9af7fe72c227f
--- /dev/null
+++ b/9/9_1.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f46cb51751fd6caf5369014e606ced7a48a12cdd0d865bd192dabdda215948d1
+size 164649661
diff --git a/9/9_2.mcap b/9/9_2.mcap
new file mode 100644
index 0000000000000000000000000000000000000000..d774bf203a05a49469a0aad4a163eb21ccfa67d5
--- /dev/null
+++ b/9/9_2.mcap
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ee893f7feb0331da8f8edffe0cae62d2833b545c61c0561adce0124d25bcb0
+size 348834077
diff --git a/9/annotation_sensor.json b/9/annotation_sensor.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c41632cce5067388858fd3a8c5ff5ed56714727
--- /dev/null
+++ b/9/annotation_sensor.json
@@ -0,0 +1,298 @@
+{
+  "task_name": "clean_cafe_table",
+  "data_folder": "",
+  "meta_data": {
+    "task_duration": 1518,
+    "valid_duration": [
+      0,
+      1518
+    ]
+  },
+  "skill_annotation": [
+    {
+      "skill_idx": 0,
+      "skill_id": [
+        0
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+      "skill_description": [
+        "idle"
+      ],
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+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
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+      "mp_ef": []
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+      "skill_id": [
+        1
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+      "skill_description": [
+        "move to"
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+      "skill_type": [
+        "navigation"
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+      "spatial_prefix": [],
+      "frame_duration": [
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+      "mp_ef": []
+    },
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+      "skill_id": [
+        2
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+        "pick up from"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+        234,
+        297
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+      "mp_ef": []
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+      "skill_id": [
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+        "place on"
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+        "uncoordinated"
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+      "memory_prefix": [],
+      "spatial_prefix": [],
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+      "mp_ef": []
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+      "spatial_prefix": [],
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+        589
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+        1120
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+      "mp_ef": []
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+        "pick up from"
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+        "uncoordinated"
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+      "spatial_prefix": [],
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+        1120,
+        1382
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
+        3
+      ],
+      "skill_description": [
+        "place on"
+      ],
+      "skill_type": [
+        "uncoordinated"
+      ],
+      "memory_prefix": [],
+      "spatial_prefix": [],
+      "frame_duration": [
+        1382,
+        1466
+      ],
+      "mp_ef": []
+    },
+    {
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+      "skill_id": [
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+      "skill_description": [
+        "idle"
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+        "uncoordinated"
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+      "spatial_prefix": [],
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+        1466,
+        1518
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+      "mp_ef": []
+    }
+  ]
+}
\ No newline at end of file
diff --git a/9/annotation_sensor.mp4 b/9/annotation_sensor.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9abbca6add72bda9ad4eee24e3394dac87529c78
--- /dev/null
+++ b/9/annotation_sensor.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154c02acd070aaacceeed49e27bd2128b119c5d4fa07f1aa77e4534f5f408623
+size 21651153
diff --git a/9/episode_info.json b/9/episode_info.json
new file mode 100644
index 0000000000000000000000000000000000000000..499bae9b0b9746695afd4a7d109e5b75fbebfc7a
--- /dev/null
+++ b/9/episode_info.json
@@ -0,0 +1,38 @@
+{
+  "task_instruction": "clean_cafe_table",
+  "robot_type": "ffw_sg2_rev1",
+  "episode_index": 9,
+  "timestamp": "2026-04-29T07:29:15Z",
+  "fps": 15,
+  "format_version": "robotis_v1",
+  "device_serial": "ffw-SNPR48A1050",
+  "needs_review": false,
+  "task_num": "0013",
+  "task_name": "clean_cafe_table",
+  "segments": [
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        0,
+        692
+      ]
+    },
+    {
+      "primitive_index": 0,
+      "primitive_description": "move_to",
+      "frame_duration": [
+        692,
+        964
+      ]
+    },
+    {
+      "primitive_index": 1,
+      "primitive_description": "pick_up",
+      "frame_duration": [
+        964,
+        1518
+      ]
+    }
+  ]
+}
\ No newline at end of file
diff --git a/9/metadata.yaml b/9/metadata.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b08988a94eea9374dd66c220277e303add5b6b89
--- /dev/null
+++ b/9/metadata.yaml
@@ -0,0 +1,183 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 109905461847
+  starting_time:
+    nanoseconds_since_epoch: 1777447642973061808
+  message_count: 153100
+  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: 10115
+  - topic_metadata:
+      name: /end_effector_pose/left
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10114
+  - topic_metadata:
+      name: /end_effector_pose/right
+      type: geometry_msgs/msg/PoseStamped
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10114
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10114
+  - topic_metadata:
+      name: /robot/arm_left_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10108
+  - topic_metadata:
+      name: /robot/arm_left_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10109
+  - topic_metadata:
+      name: /robot/arm_right_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10105
+  - topic_metadata:
+      name: /robot/arm_right_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10110
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1515
+  - topic_metadata:
+      name: /robot/camera/cam_left_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1514
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1518
+  - topic_metadata:
+      name: /robot/camera/cam_left_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1518
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1513
+  - topic_metadata:
+      name: /robot/camera/cam_right_head/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1515
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed
+      type: sensor_msgs/msg/CompressedImage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1519
+  - topic_metadata:
+      name: /robot/camera/cam_right_wrist/image_raw/compressed/camera_info
+      type: sensor_msgs/msg/CameraInfo
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 1519
+  - topic_metadata:
+      name: /robot/head_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10110
+  - topic_metadata:
+      name: /robot/head_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 9992
+  - topic_metadata:
+      name: /robot/lift_follower/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10110
+  - topic_metadata:
+      name: /robot/lift_leader/joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 10115
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 19753
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 9_0.mcap
+  - 9_1.mcap
+  - 9_2.mcap
+  files:
+  - path: 9_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447642973061808
+    duration:
+      nanoseconds: 46120779788
+    message_count: 69833
+  - path: 9_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447693148057638
+    duration:
+      nanoseconds: 18091489876
+    message_count: 27362
+  - path: 9_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1777447715945028448
+    duration:
+      nanoseconds: 36933495207
+    message_count: 55905
+  custom_data: null
+  ros_distro: jazzy
diff --git a/9/robot.urdf b/9/robot.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..89c188f7ddb0825c35744b8708638146ebba2df2
--- /dev/null
+++ b/9/robot.urdf
@@ -0,0 +1,1209 @@
+<?xml version="1.0" ?>
+<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>
+  <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>
+      <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>
+      <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>
+  <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>
+      <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>
+      <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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 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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+  <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>
+    </visual>
+    <collision>
+      <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>
+    </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="rear_wheel_drive" type="continuous">
+    <parent link="rear_wheel_steer_link"/>
+    <child link="rear_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="rear_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_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/rear_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>
+</robot>
diff --git a/README.md b/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c104cd7b983537eee4badab089a9a84d0df3a0f5
--- /dev/null
+++ b/README.md
@@ -0,0 +1,2 @@
+# dataset-temp-ffw-sg2-rev1-clean-cafe-table
+