diff --git a/.gitignore b/.gitignore
index 088ba6b..d1c47d3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,173 @@ Cargo.lock
 
 # These are backup files generated by rustfmt
 **/*.rs.bk
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# FreeCAD urdf_file_settings
+build/urdf_file_settings
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+##library(ignore)
+
+ros2_easy/
+build/
+install/
+log/
diff --git a/assets/group_robot_ros2 b/assets/group_robot_ros2
index 4a40b18..be1cc6d 160000
--- a/assets/group_robot_ros2
+++ b/assets/group_robot_ros2
@@ -1 +1 @@
-Subproject commit 4a40b18114ca4c23b26a4810e8f424bdd1c2665b
+Subproject commit be1cc6ddb09e900706218588b4fbba0a4751318f
diff --git a/src/body/robot/urdf/urdf_spawner.rs b/src/body/robot/urdf/urdf_spawner.rs
index 879f188..6eefc54 100644
--- a/src/body/robot/urdf/urdf_spawner.rs
+++ b/src/body/robot/urdf/urdf_spawner.rs
@@ -124,7 +124,7 @@ pub fn spawn_unspawned_robots(
                                 let z = *joint.origin.xyz.get(2).unwrap() as f32;
                                 
                                 //let trans = Vec3::new(x, y, z);
-                                let trans = Vec3::new((x.abs()/ x) *2.0, 1.0, 0.5);
+                                let trans = Vec3::new((x.abs()/ x) *0.75, 0.50, 0.40);
                                 println!("{:#?}",trans);
                                 let rot = Vec3::from_array(joint.origin.rpy.map(|t| t as f32));
                                 let rot = RapierRotation::from_euler_angles(rot[0], rot[1], rot[2]);
@@ -133,7 +133,7 @@ pub fn spawn_unspawned_robots(
                                         let axis = Vec3::from_array(joint.axis.xyz.map(|t| t as f32));
                                         println!("axis is {:#?}", axis);
                                         let joint = RevoluteJointBuilder::new(axis)
-                                            .local_anchor1(trans)
+                                            .local_anchor2(trans)
                                             .limits([joint.limit.lower as f32, joint.limit.upper as f32]);
                                             ;
                                         ImpulseJoint::new(*parent, joint)