diff --git a/.gitignore b/.gitignore
index eb89864a..aaf2f7a3 100644
--- a/.gitignore
+++ b/.gitignore
@@ -13,6 +13,14 @@
 */[Ll]ogs/
 */[Mm]emoryCaptures/
 
+[Ll]ibrary/
+[Tt]emp/
+[Oo]bj/
+[Bb]uild/
+[Bb]uilds/
+[Ll]ogs/
+[Mm]emoryCaptures/
+
 # Never ignore Asset meta data
 !*/[Aa]ssets/**/*.meta
 
@@ -22,6 +30,9 @@
 # TextMesh Pro files
 */[Aa]ssets/TextMesh*Pro/
 */[Aa]ssets/TextMesh*Pro.meta
+[Aa]ssets/TextMesh*Pro/
+[Aa]ssets/TextMesh*Pro.meta
+
 
 # Autogenerated Jetbrains Rider plugin
 */[Aa]ssets/Plugins/Editor/JetBrains*
@@ -58,6 +69,8 @@
 *.pdb.meta
 *.mdb.meta
 
+README.md.meta
+
 # Unity3D generated file on crash reports
 sysinfo.txt
 
diff --git a/Assets/Scenes/MainScene.unity b/Assets/Scenes/MainScene.unity
index 0c41f171..78cd37ba 100644
--- a/Assets/Scenes/MainScene.unity
+++ b/Assets/Scenes/MainScene.unity
@@ -860,7 +860,7 @@ RectTransform:
   m_AnchorMin: {x: 0, y: 0.5}
   m_AnchorMax: {x: 1, y: 0.5}
   m_AnchoredPosition: {x: -7.5, y: -0.5}
-  m_SizeDelta: {x: -35, y: 15}
+  m_SizeDelta: {x: 200, y: 50}
   m_Pivot: {x: 0.5, y: 0.5}
 --- !u!114 &387521880
 MonoBehaviour:
@@ -877,6 +877,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -915,14 +916,14 @@ MonoBehaviour:
   m_fontSizeMin: 18
   m_fontSizeMax: 72
   m_fontStyle: 1
-  m_textAlignment: 513
+  m_textAlignment: 514
   m_characterSpacing: 0
   m_wordSpacing: 0
   m_lineSpacing: 0
   m_lineSpacingMax: 0
   m_paragraphSpacing: 0
   m_charWidthMaxAdj: 0
-  m_enableWordWrapping: 0
+  m_enableWordWrapping: 1
   m_wordWrappingRatios: 0.4
   m_overflowMode: 1
   m_firstOverflowCharacterIndex: -1
@@ -1376,12 +1377,13 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
   m_text: Option A
   m_isRightToLeft: 0
-  m_fontAsset: {fileID: 11400000, guid: 8f586378b4e144a9851e7b34d9b748ee, type: 2}
+  m_fontAsset: {fileID: 0}
   m_sharedMaterial: {fileID: 2180264, guid: 8f586378b4e144a9851e7b34d9b748ee, type: 2}
   m_fontSharedMaterials: []
   m_fontMaterial: {fileID: 0}
@@ -1531,6 +1533,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -1940,6 +1943,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -2377,6 +2381,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -3671,6 +3676,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -3807,6 +3813,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -5537,6 +5544,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -5643,6 +5651,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -5922,6 +5931,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -6782,6 +6792,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 0.9607843, g: 0.9607843, b: 0.9607843, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
@@ -6855,6 +6866,7 @@ MonoBehaviour:
   m_Material: {fileID: 0}
   m_Color: {r: 1, g: 1, b: 1, a: 1}
   m_RaycastTarget: 1
+  m_Maskable: 1
   m_OnCullStateChanged:
     m_PersistentCalls:
       m_Calls: []
diff --git a/Assets/Scripts/CustomPlugins/ElevatorSystem.Elevator.cs b/Assets/Scripts/CustomPlugins/ElevatorSystem.Elevator.cs
index 3248b81b..5c829796 100644
--- a/Assets/Scripts/CustomPlugins/ElevatorSystem.Elevator.cs
+++ b/Assets/Scripts/CustomPlugins/ElevatorSystem.Elevator.cs
@@ -138,16 +138,6 @@ private bool GetCalledElevator(in string currentFloor, in string targetFloor, ou
 	{
 		elevatorIndex = NON_ELEVATOR_INDEX;
 
-		// Try to find in task queue
-		foreach (var task in elevatorTaskQueue)
-		{
-			if (task.toFloor.Equals(currentFloor) && task.state.Equals(ElevatorTaskState.PROCESSING))
-			{
-				elevatorIndex = task.elevatorIndex;
-				return true;
-			}
-		}
-
 		var currentFloorHeight = GetFloorHeight(currentFloor);
 		// If not, try to find in stopped elevator
 		foreach (var elevatorItem in elevatorList)
@@ -156,6 +146,18 @@ private bool GetCalledElevator(in string currentFloor, in string targetFloor, ou
 			if (elevator.State.Equals(ElevatorState.STOP) && elevator.IsArrived(currentFloorHeight))
 			{
 				elevatorIndex = elevatorItem.Key;
+				Debug.Log("Already elevator is stopped " + elevatorIndex);
+				return true;
+			}
+		}
+
+		// Try to find in task queue
+		foreach (var task in elevatorTaskQueue)
+		{
+			if (task.toFloor.Equals(currentFloor) && task.state.Equals(ElevatorTaskState.PROCESSING))
+			{
+				elevatorIndex = task.elevatorIndex;
+				Debug.Log("Calling elevator " + elevatorIndex);
 				return true;
 			}
 		}
diff --git a/Assets/Scripts/CustomPlugins/README.md b/Assets/Scripts/CustomPlugins/README.md
new file mode 100644
index 00000000..567c92ee
--- /dev/null
+++ b/Assets/Scripts/CustomPlugins/README.md
@@ -0,0 +1,34 @@
+# CustomPlugins
+
+These plugin scripts are for sensor connection.
+
+Each class name is important to load plugin in SDF.
+
+For example, if it describes a name with 'RobotControl' in `<plugin>` attributesm, SDF Parser will start to find a plugin named 'RobotControl' in Unity project.
+
+Unlink gazebo, 'filename' attribute shall not be used anywhere on current project.
+
+```
+<model>
+  ...
+  ...
+  <plugin name='RobotControl' filename=''>
+    <PID>
+      <kp>3.0</kp>
+      <ki>0.2</ki>
+      <kd>0.0</kd>
+    </PID>
+    <wheel>
+      <base>449</base>
+      <radius>95.5</radius>
+      <location type="left">LeftWheel</location>
+      <location type="right">RightWheel</location>
+      <friction>
+        <motor>0.06</motor>
+        <brake>13.0</brake>
+      </friction>
+    </wheel>
+    <update_rate>20</update_rate>
+  </plugin>
+</model>
+```
diff --git a/Assets/Scripts/ModelLoader.cs b/Assets/Scripts/ModelLoader.cs
index 38a763ca..b5ca20c1 100644
--- a/Assets/Scripts/ModelLoader.cs
+++ b/Assets/Scripts/ModelLoader.cs
@@ -71,9 +71,9 @@ private void ResetTransform()
 	void Awake()
 	{
 #if UNITY_EDITOR
- 		filesRootDirectory = "../../../SimulatorInstance/gazebo/gazebo/build/Installed/Release/share/gazebo-9/";
-		modelRootDirectories.Add("../../../lgrs_resource/assets/models/");
-		worldRootDirectories.Add("../../../lgrs_resource/worlds");
+ 		filesRootDirectory = "/usr/share/gazebo-9/";
+		modelRootDirectories.Add("../sample-resources/models/");
+		worldRootDirectories.Add("../sample-resources/worlds/");
 #else
 		var separator = new char[] {':'};
 		filesRootDirectory = Environment.GetEnvironmentVariable("CLOISIM_FILES_PATH");
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 7be11ed8..aaaec1f0 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -119,7 +119,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 1.2.2
+  bundleVersion: 1.0.1
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0
diff --git a/README.md b/README.md
index f501f03d..5f3d1474 100644
--- a/README.md
+++ b/README.md
@@ -1,11 +1,187 @@
 # CLOiSim : Multi-Robot Simulator
 
+Happy to announce CLOiSim. It is a new multi-robot simulator to bring-up SDF(www.sdformat.org) file which contains 3d world environemnt and multi-robot descriptions. 
 
-SDF Parser for C#
+It may looks similar to Gazebo simulator, but we had a problems to load multi-robot which equipped multi-sensors in Gazebo.
+So that is why we initiated to utilize a 'Unity 3D'.
+I believe 'Unity' can provide a powerful resource handling and can see many possiblity in industrial area by Unity.
 
-SDF Implementation for Unity
+So, this project consist of 
+- [SDF](http://sdformat.org/spec?ver=1.7) Parser for C#
+- [SDF](http://sdformat.org/spec?ver=1.7) Implementation for Unity -> **Visual / Collision / Sensor / Physics for joints**
+- [SDF](http://sdformat.org/spec?ver=1.7) Plugins for Unity
+- UI modules -> On screen information
+- Network modules -> transporting sensor data or control data
+- Web service -> control and manipulate simulation
 
-SDF Plugins for Unity
 
+## Features
+Unfortunately, all sensor models are not fully developed yet.
+Because first target for simulation was 2-wheeled mobile robot with 2D lidar sensor.
 
-'simdevice' ros2 packages for sensor are required.
\ No newline at end of file
+Here are sensor models that already implemented or ongoing.
+- [X] 2D Lidar Sensor
+- [X] 2-Wheeled Motor
+- [X] Sonar sensor
+- [X] IMU
+- [ ] Camera
+- [ ] Multi Camera
+- [ ] Depth Camera
+- [ ] 3D Lidar Sensor
+- [ ] Sensor noise model
+
+Plus, [SDF](http://sdformat.org/spec?ver=1.7) implementation only works on essenstial elements like `<model>`, `<link>`, `<visual>`, `<collision>`, `<joint>`,  etc.
+For example, kind of optional elmenets `<lights>`, `<audio>`, `<actor>`, `<state>` and so on are not implemented yet.
+
+
+## How it works
+It's simple. Refer to core codes in 'Assets/Scripts'.
+* Load SDF file -> Parse SDF(simulation description) -> Implement and realize description
+
+Shaders are also used to get depth buffer information in a few sensor model.
+
+Default physics engine 'Nvidia PhysX' is used for physics. and retrieve physics parameters from `<ode>` in sdf.
+And 'SDFPlugins' help physics tricky handling for jointing `<link>` ojbects by `<joint>` element. Because there are quite big constraints in terms of 'mass' relationship between rigidbody in PhysX engine.
+
+- You could find details about these struggling issue with PhysX in unity forums. -> [this thread](https://forum.unity.com/threads/ape-deepmotion-avatar-physics-engine-for-robust-joints-and-powerful-motors.259889/)
+    - Mass ratio between two joined rigid bodies is limited to less than 1:10 in order to maintain joint stability
+    - Motors are soft and cannot deliver enough power to drive multi-level articulated robotics
+    - Wheels wobble around their joint axis under heavy load
+    - Simulation step size (time interval) has to be reduced to too small to provide the needed accuracy which kills the performance
+
+Inertia factors which retrieved from SDF are NOT USED for rigidbody in Unity. Because it cause unexpected behavior with physX engine.
+
+
+## Build and Run
+
+#### Tested environement:
+  - Linux - Ubuntu 18.04
+  - Current editor version is *'2019.3.11f1'*.
+    - We are heading to *Unity Editor 2019 LTS* as a final version.
+
+#### Release version
+If you don't want to build a project, just USE a release binary([Download linux version](https://github.com/lge-ros2/multi-robot-simulator/releases)). And go to 'Usage'
+
+
+#### Build guide
+
+1. First, You need a Unity Editor to build a project. Download and install [Unity Editor](https://unity3d.com/get-unity/download)
+
+1. Open the project folder where you clone the git repository.
+
+1. You will see popup window if you open it at first time.
+    - ***Don't forget to import 'Import TMP Essentials'  when TMP Importer windows popuped.***
+
+1. Select menu, **[File]** -> **[Build Settings]**
+
+1. Choose *'PC, Mac & Linux Standalone'* in Platform list
+    - Target Platform: Linux
+    - Architeture: x86_64
+    - Uncheck all options below
+    - (Optional) Compression Method: LZ4HC
+    
+1. Press the **'Build'** button.
+
+1. **Last important things!** Due to 'protobuf-net' plugin issue after build, we need a copy plugin into build output.
+   (We are investigating the issue)
+   * Change directory to root project path
+      * cd multi-robot-simulator;
+      
+   * Copy 'protobuf-net' library to output directory. Assume '/cloisim_release'.
+      * cp Assets/Plugins/protobuf-net.2.4.6/lib/net40/protobuf-net.dll /cloisim_release/CLOiSim_Data/Managed
+
+
+## Usage
+
+#### Run 'CLOiSim'
+
+Set environment path like below.
+
+> *export CLOISIM_MODEL_PATH="/home/Unity/cloisim/sample-resources/models"*          
+> *export CLOISIM_WORLD_PATH="/home/Unity/cloisim/sample-resources/worlds"*
+
+* ***./CLOiSim.x86_64 -worldFile cloisim.world***
+
+or you can execute '***./run.sh***' script in release [binary](https://github.com/lge-ros2/multi-robot-simulator/releases) version.
+
+* ***./run.sh cloisim.world***
+
+
+#### After run 'CLOiSim'
+
+  * *'[simdevice](https://github.com/lge-ros2/sim-device)' ros2 packages for transporting sensor data are required.*
+  
+  * *Run bringup node in '[simdevice](https://github.com/lge-ros2/sim-device)' ros2 packages*
+
+  * *And have fun!!!*
+
+
+#### Control service 
+
+CLOiSim supports web-based simulation control service through websocket as an external interface.
+
+websocket service path: ***ws://127.0.0.1:8080/{service-name}***
+
+Just send a request data as a JSON format.
+
+##### Supporting Service Name
++ control  => *url: ws://127.0.0.1:8080/control*
+    + Reset simulation
+        +   `{"command": "reset"}`
+    
++ markers  => *url: ws://127.0.0.1:8080/markers*
+    + Markers are consist of 'group', 'id', 'type', 'color'.
+        + 'id' must be unique in 'group'.
+        + Check supporing color type in below
+            + Red, Green, Blue, Gray, Orange, Lime, Pink, Purple, Navy, Aqua, Cyan, Magenta, Yellow, Black
+        + There are four type of 'type'. Must describe type properties for each type.
+            + line
+                + `"line":{"size":0.03, "point":{"x":1.1, "y":1.1, "z":3.3}, "endpoint":{"x":1.1, "y":1.1, "z":10.0}}}`
+            + text
+                + `"text":{"size": 5, "align": "center", "following": null, "text": "Hello!!!!\nCLOiSim!!", "point": {"x": 1.0, "y": 1.0, "z": 4.0}}`
+            + sphere
+                + ` "sphere":{"size":0.1, "point":{"x": 1.1, "y": 2.2, "z": 4.1}}`
+            + box
+                + `"box":{"size": 0.2, "point":{"x": 2.1, "y": 3.2, "z": 4.1}}`
+    
+    + Add markers
+        + `{"command":"add", "markers":[{"group":"sample","id":4,"type":"line","color":"red", (type_properties_here)},]}`
+        + `{"command":"add", "markers":[{"group":"sample","id":4,"type":"line","color":"red", "line":{"size":0.03, "point":{"x":1.1, "y":1.1, "z":3.3}, "endpoint":{"x":1.1, "y":1.1, "z":10.0}}},]}`
+    + Modify markers
+        + `{"command":"modify", "markers":[{"group":"sample", "id":4, "type":"line", "color":"blue", "line":{"size":0.05, "point":{"x":1.1, "y":1.1, "z":3.3}, "endpoint":{"x":1.1,"y":1.1,"z":5.0}}},]}`
+    + Remove markers
+        + `{"command": "remove", "markers":[{"group":"sample","id":5,"type":"line"},]}`
+    + Get markers list
+        + `{"command": "list"}`
+        + `{"command": "list", "filter":{"group": "sample"}}`
+
+###### Following object feature in 'Text' marker
++ Enable following function
+    + Input target object name in simulation on "following" field.
+    + `"text":{"size": 5, "align": "center", "following": "CLOI_Porter_Robot", "text": "Hello, CLOiSim!!", "point": {"x": 1.0, "y": 3.0, "z": 4.0}}`
++ Disable following function 
+    + `"text":{"size": 5, "align": "center", "following": "", "text": "Hello, CLOiSim", "point": {"x": 1.0, "y": 3.0, "z": 4.0}}`
+    + `"text":{"size": 5, "align": "center", "following": null, "text": "Hello, CLOiSim", "point": {"x": 1.0, "y": 3.0, "z": 4.0}}`
+
+
+
+## Future Plan
+New features or functions shall be developed on demand.
+
+- Fully support to keep up with 'SDF specifiaction version 1.7'
+
+- Add new sensor models and enhance sensor performance
+
+- Noise models for sensor model
+
+- Performance optimization for sensor(Use DOTS by unity?)
+
+- Upgrade quality of graphical elements
+
+- Change physics engine (havok or something else...) to find a stable one.
+
+- **If you have any troubles or issues, please don't hesitate to create a new issue on 'Issues'.**
+  https://github.com/lge-ros2/multi-robot-simulator/issues
+
+
+#### 감사합니다. Thank you.