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1/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 1,
+  "timestamp": "2026-08-18T00:17:29Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.590069783
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.590069783,
+        16.294731313
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.294731313,
+        22.107147382
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        22.107147382,
+        39.749158238999996
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

1/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 39991982869
+  starting_time:
+    nanoseconds_since_epoch: 1787012209664474575
+  message_count: 35583
+  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: 3978
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3977
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3977
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3977
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3977
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3977
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3977
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7743
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 1_0.mcap
+  - 1_1.mcap
+  - 1_2.mcap
+  - 1_3.mcap
+  files:
+  - path: 1_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012209664474575
+    duration:
+      nanoseconds: 6590069783
+    message_count: 5898
+  - path: 1_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012216343028878
+    duration:
+      nanoseconds: 9704661530
+    message_count: 8690
+  - path: 1_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012226124453242
+    duration:
+      nanoseconds: 5812416069
+    message_count: 5206
+  - path: 1_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012232014446587
+    duration:
+      nanoseconds: 17642010857
+    message_count: 15789
+  custom_data: null
+  ros_distro: jazzy

1/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

10/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 10,
+  "timestamp": "2026-08-18T00:42:25Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        8.002035537
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        8.002035537,
+        16.711982288999998
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.711982288999998,
+        24.012116474
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        24.012116474,
+        39.625064592
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

10/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 39896767499
+  starting_time:
+    nanoseconds_since_epoch: 1787013705854448117
+  message_count: 35454
+  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: 3964
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3962
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3964
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3964
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3963
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3963
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3962
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7712
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 10_0.mcap
+  - 10_1.mcap
+  - 10_2.mcap
+  - 10_3.mcap
+  files:
+  - path: 10_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013705854448117
+    duration:
+      nanoseconds: 8002035537
+    message_count: 7159
+  - path: 10_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013713954662147
+    duration:
+      nanoseconds: 8709946752
+    message_count: 7795
+  - path: 10_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013722754477465
+    duration:
+      nanoseconds: 7300134185
+    message_count: 6535
+  - path: 10_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013730138267498
+    duration:
+      nanoseconds: 15612948118
+    message_count: 13965
+  custom_data: null
+  ros_distro: jazzy

10/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

11/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 11,
+  "timestamp": "2026-08-18T00:43:36Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.507001743
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.507001743,
+        16.290964521
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.290964521,
+        22.545194969999997
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        22.545194969999997,
+        40.597220461999996
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

11/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 40882032507
+  starting_time:
+    nanoseconds_since_epoch: 1787013775044461509
+  message_count: 36339
+  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: 4062
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4061
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4062
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4061
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4062
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4062
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4061
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7908
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 11_0.mcap
+  - 11_1.mcap
+  - 11_2.mcap
+  - 11_3.mcap
+  files:
+  - path: 11_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013775044461509
+    duration:
+      nanoseconds: 7507001743
+    message_count: 6721
+  - path: 11_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013782664483330
+    duration:
+      nanoseconds: 8783962778
+    message_count: 7864
+  - path: 11_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013791544532217
+    duration:
+      nanoseconds: 6254230449
+    message_count: 5602
+  - path: 11_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013797874468524
+    duration:
+      nanoseconds: 18052025492
+    message_count: 16152
+  custom_data: null
+  ros_distro: jazzy

11/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

14/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 14,
+  "timestamp": "2026-08-18T01:03:04Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.063717018
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.063717018,
+        15.64599344
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        15.64599344,
+        22.271501468
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        22.271501468,
+        38.187317624
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

14/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 38466272539
+  starting_time:
+    nanoseconds_since_epoch: 1787014945481472851
+  message_count: 34177
+  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: 3821
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3820
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3821
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3821
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3821
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3821
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3820
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7432
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 14_0.mcap
+  - 14_1.mcap
+  - 14_2.mcap
+  - 14_3.mcap
+  files:
+  - path: 14_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787014945481472851
+    duration:
+      nanoseconds: 7063717018
+    message_count: 6325
+  - path: 14_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787014952644460072
+    duration:
+      nanoseconds: 8582276422
+    message_count: 7681
+  - path: 14_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787014961321471727
+    duration:
+      nanoseconds: 6625508028
+    message_count: 5932
+  - path: 14_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787014968031929234
+    duration:
+      nanoseconds: 15915816156
+    message_count: 14239
+  custom_data: null
+  ros_distro: jazzy

14/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

16/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 16,
+  "timestamp": "2026-08-18T01:09:45Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.553375695
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.553375695,
+        17.458075090999998
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        17.458075090999998,
+        24.715271982999997
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        24.715271982999997,
+        43.658264734999996
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

16/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 43993024823
+  starting_time:
+    nanoseconds_since_epoch: 1787015341531460943
+  message_count: 38918
+  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: 4367
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4367
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4294
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4293
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4367
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4367
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4369
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8494
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 16_0.mcap
+  - 16_1.mcap
+  - 16_2.mcap
+  - 16_3.mcap
+  files:
+  - path: 16_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015341531460943
+    duration:
+      nanoseconds: 7553375695
+    message_count: 6757
+  - path: 16_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015349211435428
+    duration:
+      nanoseconds: 9904699396
+    message_count: 8866
+  - path: 16_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015359234453504
+    duration:
+      nanoseconds: 7257196892
+    message_count: 6494
+  - path: 16_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015366581493014
+    duration:
+      nanoseconds: 18942992752
+    message_count: 16801
+  custom_data: null
+  ros_distro: jazzy

16/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

17/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 17,
+  "timestamp": "2026-08-18T01:15:40Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.221645163
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.221645163,
+        16.471471516999998
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.471471516999998,
+        23.012885564999998
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        23.012885564999998,
+        39.396993345
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

17/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 39634078746
+  starting_time:
+    nanoseconds_since_epoch: 1787015700210302068
+  message_count: 35261
+  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: 3942
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3943
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3943
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3942
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3942
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3942
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3943
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7664
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 17_0.mcap
+  - 17_1.mcap
+  - 17_2.mcap
+  - 17_3.mcap
+  files:
+  - path: 17_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015700210302068
+    duration:
+      nanoseconds: 6221645163
+    message_count: 5569
+  - path: 17_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015706513984217
+    duration:
+      nanoseconds: 10249826354
+    message_count: 9170
+  - path: 17_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015716840300138
+    duration:
+      nanoseconds: 6541414048
+    message_count: 5859
+  - path: 17_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015723460273034
+    duration:
+      nanoseconds: 16384107780
+    message_count: 14663
+  custom_data: null
+  ros_distro: jazzy

17/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

20/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 20,
+  "timestamp": "2026-08-18T01:20:25Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.26701211
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.26701211,
+        15.329539899
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        15.329539899,
+        21.31505122
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        21.31505122,
+        39.868325078
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

20/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 40134431691
+  starting_time:
+    nanoseconds_since_epoch: 1787015985310279347
+  message_count: 35671
+  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: 3988
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3988
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3988
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3988
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3988
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3988
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3987
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7756
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 20_0.mcap
+  - 20_1.mcap
+  - 20_2.mcap
+  - 20_3.mcap
+  files:
+  - path: 20_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015985310279347
+    duration:
+      nanoseconds: 6267012110
+    message_count: 5608
+  - path: 20_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787015991650295409
+    duration:
+      nanoseconds: 9062527789
+    message_count: 8109
+  - path: 20_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016000800161609
+    duration:
+      nanoseconds: 5985511321
+    message_count: 5361
+  - path: 20_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016006891437180
+    duration:
+      nanoseconds: 18553273858
+    message_count: 16593
+  custom_data: null
+  ros_distro: jazzy

20/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

22/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 22,
+  "timestamp": "2026-08-18T01:22:31Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.971594196
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.971594196,
+        16.405569444999998
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.405569444999998,
+        22.568965954
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        22.568965954,
+        37.133691655999996
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

22/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 37401376659
+  starting_time:
+    nanoseconds_since_epoch: 1787016114280281212
+  message_count: 33238
+  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: 3716
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3716
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3714
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3715
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3716
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3716
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3716
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7229
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 22_0.mcap
+  - 22_1.mcap
+  - 22_2.mcap
+  - 22_3.mcap
+  files:
+  - path: 22_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016114280281212
+    duration:
+      nanoseconds: 6971594196
+    message_count: 6242
+  - path: 22_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016121369462200
+    duration:
+      nanoseconds: 9433975249
+    message_count: 8445
+  - path: 22_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016130890287628
+    duration:
+      nanoseconds: 6163396509
+    message_count: 5521
+  - path: 22_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016137116932169
+    duration:
+      nanoseconds: 14564725702
+    message_count: 13030
+  custom_data: null
+  ros_distro: jazzy

22/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

23/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 23,
+  "timestamp": "2026-08-18T01:27:15Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.606314799
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.606314799,
+        16.810148171
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.810148171,
+        23.038914049000002
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        23.038914049000002,
+        37.579040441000004
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

23/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 37826278056
+  starting_time:
+    nanoseconds_since_epoch: 1787016397554138430
+  message_count: 33630
+  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: 3760
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3758
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3759
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3759
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3760
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3759
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3758
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7317
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 23_0.mcap
+  - 23_1.mcap
+  - 23_2.mcap
+  - 23_3.mcap
+  files:
+  - path: 23_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016397554138430
+    duration:
+      nanoseconds: 7606314799
+    message_count: 6807
+  - path: 23_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016405270280577
+    duration:
+      nanoseconds: 9203833372
+    message_count: 8237
+  - path: 23_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016414531650671
+    duration:
+      nanoseconds: 6228765878
+    message_count: 5574
+  - path: 23_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016420840290094
+    duration:
+      nanoseconds: 14540126392
+    message_count: 13012
+  custom_data: null
+  ros_distro: jazzy

23/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

24/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 24,
+  "timestamp": "2026-08-18T01:28:21Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.655981082
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.655981082,
+        16.216306940000003
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.216306940000003,
+        23.670386363000002
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        23.670386363000002,
+        39.475707363
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

24/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 39745318670
+  starting_time:
+    nanoseconds_since_epoch: 1787016461590284557
+  message_count: 35319
+  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: 3949
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3949
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3949
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3949
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3949
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3949
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3949
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7676
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 24_0.mcap
+  - 24_1.mcap
+  - 24_2.mcap
+  - 24_3.mcap
+  files:
+  - path: 24_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016461590284557
+    duration:
+      nanoseconds: 6655981082
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+  - path: 24_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016468351446897
+    duration:
+      nanoseconds: 9560325858
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+  - path: 24_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016477990291809
+    duration:
+      nanoseconds: 7454079423
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+  - path: 24_3.mcap
+    starting_time:
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+    duration:
+      nanoseconds: 15805321000
+    message_count: 14141
+  custom_data: null
+  ros_distro: jazzy

24/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

25/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 25,
+  "timestamp": "2026-08-18T01:29:27Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.009269088
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.009269088,
+        16.85145585
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.85145585,
+        24.222866303
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        24.222866303,
+        41.276740232
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

25/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 41603896416
+  starting_time:
+    nanoseconds_since_epoch: 1787016525360293500
+  message_count: 36944
+  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: 4129
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4130
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4129
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4129
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4129
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4129
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4130
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8039
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 25_0.mcap
+  - 25_1.mcap
+  - 25_2.mcap
+  - 25_3.mcap
+  files:
+  - path: 25_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016525360293500
+    duration:
+      nanoseconds: 7009269088
+    message_count: 6275
+  - path: 25_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016532470290769
+    duration:
+      nanoseconds: 9842186762
+    message_count: 8813
+  - path: 25_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016542441439365
+    duration:
+      nanoseconds: 7371410453
+    message_count: 6596
+  - path: 25_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016549910315987
+    duration:
+      nanoseconds: 17053873929
+    message_count: 15260
+  custom_data: null
+  ros_distro: jazzy

25/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

26/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

29/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 29,
+  "timestamp": "2026-08-18T01:34:38Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.151356671
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.151356671,
+        16.836507592
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.836507592,
+        24.047937
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        24.047937,
+        41.471790006000006
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

29/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 41753849511
+  starting_time:
+    nanoseconds_since_epoch: 1787016836300295436
+  message_count: 37119
+  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: 4150
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4150
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4150
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4150
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4150
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4150
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4150
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8069
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 29_0.mcap
+  - 29_1.mcap
+  - 29_2.mcap
+  - 29_3.mcap
+  files:
+  - path: 29_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016836300295436
+    duration:
+      nanoseconds: 7151356671
+    message_count: 6398
+  - path: 29_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016843547105042
+    duration:
+      nanoseconds: 9685150921
+    message_count: 8671
+  - path: 29_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016853330275825
+    duration:
+      nanoseconds: 7211429408
+    message_count: 6457
+  - path: 29_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787016860630291941
+    duration:
+      nanoseconds: 17423853006
+    message_count: 15593
+  custom_data: null
+  ros_distro: jazzy

29/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

30/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 30,
+  "timestamp": "2026-08-18T01:37:24Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.045503516
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.045503516,
+        18.179794839
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        18.179794839,
+        24.632288586
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        24.632288586,
+        40.834199276
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

30/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 41066059270
+  starting_time:
+    nanoseconds_since_epoch: 1787017003626138304
+  message_count: 36539
+  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: 4085
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4085
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4085
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4085
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4085
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4085
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4086
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7943
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 30_0.mcap
+  - 30_1.mcap
+  - 30_2.mcap
+  - 30_3.mcap
+  files:
+  - path: 30_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787017003626138304
+    duration:
+      nanoseconds: 7045503516
+    message_count: 6306
+  - path: 30_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787017010747372980
+    duration:
+      nanoseconds: 11134291323
+    message_count: 9962
+  - path: 30_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787017021980286397
+    duration:
+      nanoseconds: 6452493747
+    message_count: 5772
+  - path: 30_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787017028490286884
+    duration:
+      nanoseconds: 16201910690
+    message_count: 14499
+  custom_data: null
+  ros_distro: jazzy

30/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

4/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 4,
+  "timestamp": "2026-08-18T00:24:12Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.862081476
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.862081476,
+        16.297076882
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.297076882,
+        22.371123610999998
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        22.371123610999998,
+        38.272907853999996
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

4/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 38550165914
+  starting_time:
+    nanoseconds_since_epoch: 1787012613994464946
+  message_count: 34254
+  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: 3829
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3827
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3828
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3828
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3829
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3829
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 3828
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7456
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 4_0.mcap
+  - 4_1.mcap
+  - 4_2.mcap
+  - 4_3.mcap
+  files:
+  - path: 4_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012613994464946
+    duration:
+      nanoseconds: 6862081476
+    message_count: 6143
+  - path: 4_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012620936410898
+    duration:
+      nanoseconds: 9434995406
+    message_count: 8439
+  - path: 4_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012630442617840
+    duration:
+      nanoseconds: 6074046729
+    message_count: 5441
+  - path: 4_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012636642846617
+    duration:
+      nanoseconds: 15901784243
+    message_count: 14231
+  custom_data: null
+  ros_distro: jazzy

4/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

5/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 5,
+  "timestamp": "2026-08-18T00:30:00Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        6.802205519
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        6.802205519,
+        16.490008442
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        16.490008442,
+        22.193773869
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        22.193773869,
+        40.154840308000004
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

5/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 40402977001
+  starting_time:
+    nanoseconds_since_epoch: 1787012959924677684
+  message_count: 35929
+  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: 4016
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4019
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4016
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4016
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4016
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4016
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4018
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 7812
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 5_0.mcap
+  - 5_1.mcap
+  - 5_2.mcap
+  - 5_3.mcap
+  files:
+  - path: 5_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012959924677684
+    duration:
+      nanoseconds: 6802205519
+    message_count: 6088
+  - path: 5_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012966806714703
+    duration:
+      nanoseconds: 9687802923
+    message_count: 8667
+  - path: 5_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012976593116486
+    duration:
+      nanoseconds: 5703765427
+    message_count: 5107
+  - path: 5_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787012982366588246
+    duration:
+      nanoseconds: 17961066439
+    message_count: 16067
+  custom_data: null
+  ros_distro: jazzy

5/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

8/episode_info.json

@@ -0,0 +1,43 @@
+{
+  "task_instruction": "Grab the orange screw first, place it into the hole, then use the driver to screw it.",
+  "task_num": "1",
+  "task_name": "screwing",
+  "robot_type": "ffw_sg2_rev1",
+  "device_serial": "ffw-SNPR48A1106",
+  "episode_index": 8,
+  "timestamp": "2026-08-18T00:38:56Z",
+  "format_version": "robotis_v2",
+  "segments": [
+    {
+      "sub_task_instruction": "Grab the orange screw",
+      "frame_duration": [
+        0.0,
+        7.184412268
+      ]
+    },
+    {
+      "sub_task_instruction": "Place the orange screw into the hole",
+      "frame_duration": [
+        7.184412268,
+        18.734603081
+      ]
+    },
+    {
+      "sub_task_instruction": "Grab the driver",
+      "frame_duration": [
+        18.734603081,
+        26.322833303
+      ]
+    },
+    {
+      "sub_task_instruction": "Screw it",
+      "frame_duration": [
+        26.322833303,
+        43.779723591
+      ]
+    }
+  ],
+  "transcoding_status": "done",
+  "video_remux_status": "done",
+  "transcoding_cameras_failed": {}
+}

8/metadata.yaml

@@ -0,0 +1,99 @@
+rosbag2_bagfile_information:
+  version: 9
+  storage_identifier: mcap
+  duration:
+    nanoseconds: 44015086517
+  starting_time:
+    nanoseconds_since_epoch: 1787013492586420031
+  message_count: 39172
+  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: 4378
+  - topic_metadata:
+      name: /joint_states
+      type: sensor_msgs/msg/JointState
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4378
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4379
+  - topic_metadata:
+      name: /leader/joint_trajectory_command_broadcaster_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4378
+  - topic_metadata:
+      name: /leader/joystick_controller_left/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4378
+  - topic_metadata:
+      name: /leader/joystick_controller_right/joint_trajectory
+      type: trajectory_msgs/msg/JointTrajectory
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4378
+  - topic_metadata:
+      name: /odom
+      type: nav_msgs/msg/Odometry
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 4379
+  - topic_metadata:
+      name: /tf
+      type: tf2_msgs/msg/TFMessage
+      serialization_format: cdr
+      offered_qos_profiles: []
+      type_description_hash: ''
+    message_count: 8524
+  compression_format: ''
+  compression_mode: ''
+  relative_file_paths:
+  - 8_0.mcap
+  - 8_1.mcap
+  - 8_2.mcap
+  - 8_3.mcap
+  files:
+  - path: 8_0.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013492586420031
+    duration:
+      nanoseconds: 7184412268
+    message_count: 6429
+  - path: 8_1.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013499844453193
+    duration:
+      nanoseconds: 11550190813
+    message_count: 10336
+  - path: 8_2.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013511466390508
+    duration:
+      nanoseconds: 7588230222
+    message_count: 6788
+  - path: 8_3.mcap
+    starting_time:
+      nanoseconds_since_epoch: 1787013519144616260
+    duration:
+      nanoseconds: 17456890288
+    message_count: 15619
+  custom_data: null
+  ros_distro: jazzy

8/robot.urdf

@@ -0,0 +1,1237 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from ffw_sg2_follower.urdf.xacro    | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="ffw_sg2_follower">
+  <link name="base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/base_mobile_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-4.574796400e-02 6.581058800e-03 1.943184200e-01"/>
+      <mass value="3.598943900e+01"/>
+      <inertia ixx="1.725473500e+04" ixy="6.471795500e-02" ixz="1.890204600e-01" iyy="3.983747500e+04" iyz="1.716567300e-01" izz="2.846139500e+04"/>
+    </inertial>
+  </link>
+  <joint name="lidar_l_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_l_link"/>
+    <origin rpy="0 0 1.57079632679" xyz="-0.111881 0.240 0.34432"/>
+  </joint>
+  <link name="lidar_l_link">
+  </link>
+  <joint name="lidar_r_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lidar_r_link"/>
+    <origin rpy="0 0 -1.57079632679" xyz="-0.111881 -0.240 0.34432"/>
+  </joint>
+  <link name="lidar_r_link">
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="imu_link"/>
+    <origin rpy="0 0 0" xyz="-0.1464 0.0 0.26"/>
+  </joint>
+  <link name="imu_link">
+  </link>
+  <link name="lift_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/lift_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.286987800e-01 -1.604580800e-05 8.945601700e-01"/>
+      <mass value="1.790000000e+01"/>
+      <inertia ixx="1.009479700e+04" ixy="-3.568141800e-02" ixz="1.213165300e+03" iyy="1.027057300e+04" iyz="7.021994000e-02" izz="1.971602000e+02"/>
+    </inertial>
+  </link>
+  <joint name="lift_fixed_joint" type="fixed">
+    <parent link="base_link"/>
+    <child link="lift_link"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+  </joint>
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <joint name="lift_joint" type="prismatic">
+    <parent link="base_link"/>
+    <child link="arm_base_link"/>
+    <origin rpy="0 0 0" xyz="-0.0199 0 1.4316"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.5" upper="0.0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/body_arm_assy.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-1.492287800e-02 2.731522500e-03 -4.342526400e-02"/>
+      <mass value="6.193955900e+00"/>
+      <inertia ixx="1.082886600e-01" ixy="2.929692500e-06" ixz="-1.572750800e-03" iyy="5.432369700e-02" iyz="1.698970600e-03" izz="7.960084300e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="head_link1"/>
+    <origin rpy="0 0 0" xyz="0.049483 0 0.102130"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-0.2317" upper="0.6951" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.533965600e-02 0.000000000e+00 4.774514600e-02"/>
+      <mass value="1.235180200e-01"/>
+      <inertia ixx="6.870965700e-03" ixy="8.592260200e-07" ixz="-3.002664500e-04" iyy="1.771510200e-02" iyz="-4.447973700e-07" izz="1.631113500e-02"/>
+    </inertial>
+  </link>
+  <joint name="head_joint2" type="revolute">
+    <parent link="head_link1"/>
+    <child link="head_link2"/>
+    <origin rpy="0 0 0" xyz="0.040 0 0.054"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-0.35" upper="0.35" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="head_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/head_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.052563400e-03 1.180475700e-03 -1.593280400e-02"/>
+      <mass value="3.254213000e-01"/>
+      <inertia ixx="8.907301100e-04" ixy="-5.211330800e-06" ixz="1.758054200e-05" iyy="7.631788100e-04" iyz="-1.022156300e-06" izz="1.339403400e-03"/>
+    </inertial>
+  </link>
+  <link name="zedm_camera_link"/>
+  <link name="zedm_camera_center">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="zedm_mat">
+        <color rgba="0.25 0.25 0.25 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/ffw_description/share/ffw_description/meshes/common/follower/zedm.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="zedm_camera_center_joint" type="fixed">
+    <parent link="zedm_camera_link"/>
+    <child link="zedm_camera_center"/>
+    <origin rpy="0 0 0" xyz="0 0 0.01325"/>
+  </joint>
+  <link name="zedm_left_camera_frame"/>
+  <joint name="zedm_left_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_left_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 0.0315 0"/>
+  </joint>
+  <link name="zedm_left_camera_optical_frame"/>
+  <joint name="zedm_left_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_left_camera_frame"/>
+    <child link="zedm_left_camera_optical_frame"/>
+  </joint>
+  <link name="zedm_right_camera_frame"/>
+  <joint name="zedm_right_camera_joint" type="fixed">
+    <parent link="zedm_camera_center"/>
+    <child link="zedm_right_camera_frame"/>
+    <origin rpy="0 0 0" xyz="0 -0.0315 0"/>
+  </joint>
+  <link name="zedm_right_camera_optical_frame"/>
+  <joint name="zedm_right_camera_optical_joint" type="fixed">
+    <origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0 0 0"/>
+    <parent link="zedm_right_camera_frame"/>
+    <child link="zedm_right_camera_optical_frame"/>
+  </joint>
+  <joint name="zedm_joint" type="fixed">
+    <parent link="head_link2"/>
+    <child link="zedm_camera_link"/>
+    <origin rpy="0 0 0" xyz="0.0238122 -0.00651797 -0.0242094"/>
+  </joint>
+  <joint name="arm_l_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_l_link1"/>
+    <origin rpy="0 0 0" xyz="0 0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 1.155371800e-01 1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="-2.196355800e-04" ixz="1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint2" type="revolute">
+    <parent link="arm_l_link1"/>
+    <child link="arm_l_link2"/>
+    <origin rpy="0 0 0" xyz="0 0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint3" type="revolute">
+    <parent link="arm_l_link2"/>
+    <child link="arm_l_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.987537300e-02 1.391394900e-02 -1.210139000e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.878077200e-03" ixy="-2.615265200e-04" ixz="6.679408300e-04" iyy="2.707096100e-03" iyz="3.296252200e-04" izz="2.566350600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint4" type="revolute">
+    <parent link="arm_l_link3"/>
+    <child link="arm_l_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.853865300e-02 9.807228600e-03 -1.313122800e-01"/>
+      <mass value="1.508214400e+00"/>
+      <inertia ixx="6.252303800e-03" ixy="-2.162798200e-04" ixz="-5.113660100e-04" iyy="5.705086400e-03" iyz="-1.597759100e-03" izz="2.098027800e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint5" type="revolute">
+    <parent link="arm_l_link4"/>
+    <child link="arm_l_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.122616100e-05 1.681922700e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.885672100e-03" ixy="1.326915800e-06" ixz="2.418484800e-07" iyy="1.285272900e-03" iyz="1.287761700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint6" type="revolute">
+    <parent link="arm_l_link5"/>
+    <child link="arm_l_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.243891700e-03 1.876410500e-02 -6.480557600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.416138700e-03" ixy="2.839010300e-05" ixz="3.582229500e-05" iyy="1.142334400e-03" iyz="-5.356836800e-04" izz="1.017517600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_l_joint7" type="revolute">
+    <parent link="arm_l_link6"/>
+    <child link="arm_l_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.8201" upper="1.5804" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_l_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_l_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.550659300e-02 0.000000000e+00 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.035867900e-04" ixy="0.000000000e+00" ixz="1.098870100e-05" iyy="4.524528700e-04" iyz="0.000000000e+00" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_l_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_l_link7"/>
+    <child link="camera_l_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_l_bottom_screw_frame"/>
+  <joint name="camera_l_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_l_bottom_screw_frame"/>
+    <child link="camera_l_link"/>
+  </joint>
+  <link name="camera_l_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint1" type="revolute">
+    <parent link="arm_base_link"/>
+    <child link="arm_r_link1"/>
+    <origin rpy="0 0 0" xyz="0 -0.1045 0"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link1">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="1.421037300e-02 -1.155371800e-01 -1.120644000e-04"/>
+      <mass value="2.001332200e+00"/>
+      <inertia ixx="2.507557700e-03" ixy="2.196355800e-04" ixz="-1.151251900e-05" iyy="2.865299700e-03" iyz="-2.311007900e-06" izz="3.365371600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint2" type="revolute">
+    <parent link="arm_r_link1"/>
+    <child link="arm_r_link2"/>
+    <origin rpy="0 0 0" xyz="0 -0.123 0"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-3.14" upper="0" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link2">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.109841300e-03 -1.053016500e-04 -1.438640700e-01"/>
+      <mass value="2.128261000e+00"/>
+      <inertia ixx="9.976166600e-03" ixy="-1.420641600e-06" ixz="-2.370609000e-03" iyy="1.088835300e-02" iyz="4.832141500e-06" izz="3.168582700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint3" type="revolute">
+    <parent link="arm_r_link2"/>
+    <child link="arm_r_link3"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.165"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link3">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link3.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.984576500e-02 -1.392295900e-02 -1.210435100e-01"/>
+      <mass value="1.684755100e+00"/>
+      <inertia ixx="2.877971200e-03" ixy="2.632159900e-04" ixz="6.677998500e-04" iyy="2.707378400e-03" iyz="-3.275929900e-04" izz="2.563528600e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint4" type="revolute">
+    <parent link="arm_r_link3"/>
+    <child link="arm_r_link4"/>
+    <origin rpy="0 0 0" xyz="0.041004 0 -0.135"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-2.9361" upper="1.0786" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link4">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link4.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="-3.867746800e-02 -9.308009900e-03 -1.322971300e-01"/>
+      <mass value="1.494251100e+00"/>
+      <inertia ixx="6.032357900e-03" ixy="2.028997300e-04" ixz="-4.854051900e-04" iyy="5.536423500e-03" iyz="1.507124600e-03" izz="2.032999700e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint5" type="revolute">
+    <parent link="arm_r_link4"/>
+    <child link="arm_r_link5"/>
+    <origin rpy="0 0 0" xyz="-0.041004 0 -0.1489"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="1000" lower="-3.14" upper="3.14" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link5">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link5.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="8.387686000e-04 -1.679849900e-02 -9.873815600e-02"/>
+      <mass value="1.391783100e+00"/>
+      <inertia ixx="1.882492800e-03" ixy="3.480391000e-05" ixz="6.806743100e-06" iyy="1.288452200e-03" iyz="-1.285963700e-04" izz="1.689335300e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint6" type="revolute">
+    <parent link="arm_r_link5"/>
+    <child link="arm_r_link6"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.1041"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="1000" lower="-1.57" upper="1.57" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link6">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link6.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="3.267491200e-03 -1.861259000e-02 -6.479261600e-02"/>
+      <mass value="6.577074100e-01"/>
+      <inertia ixx="1.417976200e-03" ixy="-1.325841000e-05" ixz="6.534407900e-06" iyy="1.139647400e-03" iyz="5.366707300e-04" izz="1.017476200e-03"/>
+    </inertial>
+  </link>
+  <joint name="arm_r_joint7" type="revolute">
+    <parent link="arm_r_link6"/>
+    <child link="arm_r_link7"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.0885"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="-1.5804" upper="1.8201" velocity="4.8"/>
+    <dynamics damping="0.1"/>
+  </joint>
+  <link name="arm_r_link7">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/follower/arm_r_link7.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="2.546836200e-02 1.396001200e-03 -5.539533100e-02"/>
+      <mass value="1.668563000e-01"/>
+      <inertia ixx="1.046318100e-04" ixy="-1.906515900e-05" ixz="1.097223300e-05" iyy="4.514078500e-04" iyz="6.013716400e-07" izz="4.156884400e-04"/>
+    </inertial>
+  </link>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_r_joint" type="fixed">
+    <origin rpy="-1.57079632679 1.66678943569 0" xyz="0.108236 -0.021 -0.062552"/>
+    <parent link="arm_r_link7"/>
+    <child link="camera_r_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_r_bottom_screw_frame"/>
+  <joint name="camera_r_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.01085 0.009 0.021"/>
+    <parent link="camera_r_bottom_screw_frame"/>
+    <child link="camera_r_link"/>
+  </joint>
+  <link name="camera_r_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0038 -0.009 0"/>
+      <geometry>
+        <mesh filename="file:///root/ros2_ws/install/realsense2_description/share/realsense2_description/meshes/d405.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="aluminum"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="-0.0078 -0.009 0"/>
+      <geometry>
+        <box size="0.023 0.042 0.042"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <joint name="gripper_l_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_l_link7"/>
+    <child link="gripper_l_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_l_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_l_joint1" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_l_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_l_joint2" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_r1"/>
+    <child link="gripper_l_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_l_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_l_joint3" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_base"/>
+    <child link="gripper_l_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_l_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_l_joint4" type="revolute">
+    <parent link="gripper_l_rh_p12_rn_l1"/>
+    <child link="gripper_l_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_l_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_l_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_l_joint" type="fixed">
+    <parent link="arm_l_link7"/>
+    <child link="end_effector_l_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_l_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="gripper_r_joint" type="fixed">
+    <origin rpy="0 3.14159265359 3.14159265359" xyz="0 0 -0.078"/>
+    <parent link="arm_r_link7"/>
+    <child link="gripper_r_rh_p12_rn_base"/>
+  </joint>
+  <!-- base -->
+  <link name="gripper_r_rh_p12_rn_base">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/base.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.000 0.032"/>
+      <mass value="0.236"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Joint -->
+  <joint name="gripper_r_joint1" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_r1"/>
+    <origin rpy="0 0 0" xyz="0.0 0.008 0.048"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+  </joint>
+  <!-- rh_p12_rn_r1 -->
+  <link name="gripper_r_rh_p12_rn_r1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Right Joint 2 -->
+  <joint name="gripper_r_joint2" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_r1"/>
+    <child link="gripper_r_rh_p12_rn_r2"/>
+    <origin rpy="0 0 0" xyz="0.0 0.0493634 0.0285"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_r2 -->
+  <link name="gripper_r_rh_p12_rn_r2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/r2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 1 -->
+  <joint name="gripper_r_joint3" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_base"/>
+    <child link="gripper_r_rh_p12_rn_l1"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.008 0.048"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.1" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l1 -->
+  <link name="gripper_r_rh_p12_rn_l1">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l1.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.034 0.004"/>
+      <mass value="0.068"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <!-- Left Joint 2 -->
+  <joint name="gripper_r_joint4" type="revolute">
+    <parent link="gripper_r_rh_p12_rn_l1"/>
+    <child link="gripper_r_rh_p12_rn_l2"/>
+    <origin rpy="0 0 0" xyz="0.0 -0.0493634 0.0285"/>
+    <axis xyz="1 0 0"/>
+    <limit effort="1000" lower="0.0" upper="1.0" velocity="6.5"/>
+    <dynamics damping="0.7"/>
+    <mimic joint="gripper_r_joint1" multiplier="1"/>
+  </joint>
+  <!-- rh_p12_rn_l2 -->
+  <link name="gripper_r_rh_p12_rn_l2">
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/common/rh_p12_rn_a/l2.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="grey">
+        <color rgba="0.2 0.2 0.2 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000 -0.006 0.011"/>
+      <mass value="0.022"/>
+      <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.000001"/>
+    </inertial>
+  </link>
+  <joint name="end_effector_r_joint" type="fixed">
+    <parent link="arm_r_link7"/>
+    <child link="end_effector_r_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.215"/>
+  </joint>
+  <link name="end_effector_r_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <material name="red">
+        <color rgba="1.0 0.0 0.0 1"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="left_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="left_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802769300e-03 -5.471240900e-02 -1.376533800e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797326600e-03" ixy="-3.290807800e-05" ixz="-1.950671800e-04" iyy="3.582264900e-03" iyz="-2.853290700e-04" izz="1.683594000e-03"/>
+    </inertial>
+  </link>
+  <joint name="left_wheel_drive" type="continuous">
+    <parent link="left_wheel_steer_link"/>
+    <child link="left_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="left_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/left_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 -1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="right_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="0.1371 -0.2554 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="9.802728600e-03 5.471240900e-02 -1.376533400e-01"/>
+      <mass value="7.550951000e-01"/>
+      <inertia ixx="2.797322900e-03" ixy="3.290833300e-05" ixz="-1.950642500e-04" iyy="3.582262300e-03" iyz="2.853288400e-04" izz="1.683595100e-03"/>
+    </inertial>
+  </link>
+  <joint name="right_wheel_drive" type="continuous">
+    <parent link="right_wheel_steer_link"/>
+    <child link="right_wheel_drive_link"/>
+    <origin rpy="0 0 0" xyz="0 0 -0.18905"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="9999.0" velocity="9999.0"/>
+  </joint>
+  <link name="right_wheel_drive_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/right_wheel_drive_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin xyz="0.000000000e+00 1.499601700e-03 0.000000000e+00"/>
+      <mass value="3.795460500e+00"/>
+      <inertia ixx="7.187881500e-03" ixy="0.000000000e+00" ixz="0.000000000e+00" iyy="1.156399900e-02" iyz="0.000000000e+00" izz="7.187977000e-03"/>
+    </inertial>
+  </link>
+  <joint name="rear_wheel_steer" type="revolute">
+    <parent link="base_link"/>
+    <child link="rear_wheel_steer_link"/>
+    <origin rpy="0 0 0" xyz="-0.2899 0 0.27555"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9999.0" lower="-18.84955592153876" upper="18.84955592153876" velocity="9999.0"/>
+  </joint>
+  <link name="rear_wheel_steer_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://ffw_description/meshes/ffw_sg2_rev1_follower/rear_wheel_steer_link.stl" scale="0.001 0.001 0.001"/>
+      </geometry>
+      <material name="silver">
+        <color rgba="0.75 0.75 0.75 1"/>
+      </material>
+    </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>

README.md

@@ -0,0 +1,27 @@
+---
+license: apache-2.0
+tags:
+  - robotis
+  - cyclo_intelligence
+  - robotics
+---
+
+# Task_1_screwing_MCAP
+
+Copyright 2026 ROBOTIS CO., LTD.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+---
+
+Created with [Cyclo Intelligence](https://github.com/ROBOTIS-GIT/cyclo_intelligence) by ROBOTIS.