diff --git a/Assets/Scripts/DevicePlugins/ElevatorSystem.cs b/Assets/Scripts/DevicePlugins/ElevatorSystem.cs
index 5b49c0af..e2b00a41 100644
--- a/Assets/Scripts/DevicePlugins/ElevatorSystem.cs
+++ b/Assets/Scripts/DevicePlugins/ElevatorSystem.cs
@@ -50,7 +50,7 @@ public ElevatorTask(in int index)
 	protected override void OnAwake()
 	{
 		type = Type.ELEVATOR;
-		partName = "ElevatorSystem";
+		partName = "elevator_system";
 	}
 
 	protected override void OnStart()
@@ -513,7 +513,7 @@ private void DoServiceInStandby(ref ElevatorTask task)
 			}
 			else
 			{
-				Debug.LogErrorFormat("Wrong:: elevator is not arrived yet Select floor: {0}, {1}, {2}", entity.Name, task.fromFloor, task.toFloor);
+				Debug.LogWarningFormat("Wrong:: elevator is not arrived yet Select floor: {0}, {1}, {2}", entity.Name, task.fromFloor, task.toFloor);
 				task.state = ElevatorTaskState.DONE;
 			}
 		}
diff --git a/Assets/Scripts/DevicePlugins/UnityRosWorld.cs b/Assets/Scripts/DevicePlugins/UnityRosWorld.cs
index ce68e02f..0f906a84 100644
--- a/Assets/Scripts/DevicePlugins/UnityRosWorld.cs
+++ b/Assets/Scripts/DevicePlugins/UnityRosWorld.cs
@@ -18,7 +18,7 @@ protected override void OnAwake()
 		clock = gameObject.AddComponent<Clock>();
 
 		modelName = "World";
-		partName = "UnityRos";
+		partName = "unity_ros";
 	}
 
 	protected override void OnStart()
diff --git a/Assets/Scripts/Devices/Modules/Actuator.cs b/Assets/Scripts/Devices/Modules/Actuator.cs
index 2d7d43eb..8f46533e 100644
--- a/Assets/Scripts/Devices/Modules/Actuator.cs
+++ b/Assets/Scripts/Devices/Modules/Actuator.cs
@@ -13,18 +13,57 @@ public enum MovingType {MoveTowards = 0, Lerp, SmoothDamp};
 	private const float lerpEpsilon = 0.009f;
 	private Vector3 currentVelocity = Vector3.zero; // only for SmoothDamp
 
+	private Vector3 initialPose = Vector3.zero;
 	private Transform targetTransform = null;
 
 	private MovingType movingType = MovingType.MoveTowards;
 
 	private Vector3 targetPosition = Vector3.zero;
 
+	#region Parameters
+	private Vector3 rodDirection = Vector3.zero;
+	private float minOffset = 0f;
+	private float maxOffset = 0f;
+	private Vector3 minPosition = Vector3.zero;
+	private Vector3 maxPosition = Vector3.zero;
+	#endregion
+
 	private float distanceEpsilon = Vector3.kEpsilon;
 	private float maxMovingSpeed = 1;
 	private bool isMoving = false;
 	public bool IsMoving => isMoving;
 
-	public Vector3 TargetPosition => targetPosition;
+	public void SetDirection(in Vector3 direction)
+	{
+		rodDirection = direction;
+		RecalculateInitialPoseByRodDirection();
+	}
+
+	public void SetMinOffset(in float offset)
+	{
+		if (minOffset > maxOffset)
+		{
+			Debug.LogWarningFormat("minOffset({0}) cannot be lower than maxOffset({1})", minOffset, maxOffset);
+		}
+		else
+		{
+			minOffset = offset;
+			minPosition = rodDirection * minOffset;
+		}
+	}
+
+	public void SetMaxOffset(in float offset)
+	{
+		if (maxOffset < minOffset)
+		{
+			Debug.LogWarningFormat("maxOffset({0}) cannot be lower than minOffset({1})", maxOffset, minOffset);
+		}
+		else
+		{
+			maxOffset = offset;
+			maxPosition = rodDirection * maxOffset;
+		}
+	}
 
 	public void SetTarget(in string name)
 	{
@@ -49,6 +88,19 @@ public void SetTarget(in Transform target)
 		targetTransform = target;
 	}
 
+	public void SetInitialPose(in Vector3 targetPosition)
+	{
+		initialPose = targetPosition;
+		RecalculateInitialPoseByRodDirection();
+	}
+
+	private void RecalculateInitialPoseByRodDirection()
+	{
+		initialPose.x -= (initialPose.x * rodDirection.x);
+		initialPose.y -= (initialPose.y * rodDirection.y);
+		initialPose.z -= (initialPose.z * rodDirection.z);
+	}
+
 	public void SetMaxSpeed(in float value)
 	{
 		maxMovingSpeed = value;
@@ -90,32 +142,20 @@ public Vector3 CurrentPosition(in bool worldPosition = false)
 	//     Set target position before drive.
 	//
 	// Parameters:
-	//   direction: Vector3.up/down/forwad/back/left/right
 	//   offset: target offset
-	//   relative: if true, target shall move from current position,
-	//             otherwise target shall be set absolute offset along with direction
 	//
-	public void SetTargetPosition(in Vector3 direction, in float offset, in bool relative = false)
+	public void SetTargetPosition(float offset)
 	{
-		var targetValue = (direction * offset);
-
-		if (relative)
+		if (offset < minOffset)
 		{
-			targetPosition = CurrentPosition() + targetValue;
+			offset = minOffset;
 		}
-		else
+		else if (offset > maxOffset)
 		{
-			targetPosition = CurrentPosition();
-			SetZeroOnDirection(ref targetPosition, direction);
-			targetPosition += targetValue;
+			offset = maxOffset;
 		}
 
-		// Debug.Log("SetTargetPosition: " + targetPosition.ToString("F5"));
-	}
-
-	public void SetTargetPosition(in Vector3 absolutePosition)
-	{
-		targetPosition = absolutePosition;
+		targetPosition = initialPose + (rodDirection * offset);
 	}
 
 	public void Drive()
@@ -149,7 +189,7 @@ public void Drive()
 		targetTransform.localPosition = nextPosition;
 
 		// check if it arrived
-		var distance = Vector3.SqrMagnitude(targetPosition - nextPosition);
+		var distance = Vector3.Distance(targetPosition, nextPosition);
  		if (distance < distanceEpsilon)
 		{
 			// final touch
@@ -160,32 +200,18 @@ public void Drive()
 		}
 	}
 
-	public bool IsSamePosition(in Vector3 checkPosition)
+	public bool IsReachedMin()
 	{
-		return DeviceHelper.IsSamePosition(CurrentPosition(), checkPosition);
+		return IsSamePosition(minPosition);
 	}
 
-	public bool IsSamePosition(in Vector3 checkDirection, in float checkOffset)
+	public bool IsReachedMax()
 	{
-		var tempTarget = CurrentPosition();
-		SetZeroOnDirection(ref tempTarget, checkDirection);
-		tempTarget += (checkDirection * checkOffset);
-		return DeviceHelper.IsSamePosition(CurrentPosition(), tempTarget);
+		return IsSamePosition(maxPosition);
 	}
 
-	public static void SetZeroOnDirection(ref Vector3 target, in Vector3 direction)
+	public bool IsSamePosition(in Vector3 checkPosition)
 	{
-		if (direction.Equals(Vector3.left) || direction.Equals(Vector3.right))
-		{
-			target.x = 0;
-		}
-		else if (direction.Equals(Vector3.up) || direction.Equals(Vector3.down))
-		{
-			target.y = 0;
-		}
-		else if (direction.Equals(Vector3.forward) || direction.Equals(Vector3.back))
-		{
-			target.z = 0;
-		}
+		return DeviceHelper.IsSamePosition(CurrentPosition(), checkPosition);
 	}
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Devices/Modules/DoorsControl.cs b/Assets/Scripts/Devices/Modules/DoorsControl.cs
index 88be4e27..37a84d6b 100644
--- a/Assets/Scripts/Devices/Modules/DoorsControl.cs
+++ b/Assets/Scripts/Devices/Modules/DoorsControl.cs
@@ -9,13 +9,10 @@
 
 public class DoorsControl : MonoBehaviour
 {
-	private Actuator doorLeft = null;
-	private Actuator doorRight = null;
+	private Actuator doorLeft = new Actuator();
+	private Actuator doorRight = new Actuator();
 
-	private Vector3 closedDoorPositionLeft = Vector3.zero;
-	private Vector3 closedDoorPositionRight = Vector3.zero;
-	private Vector3 openedDoorPositionLeft = Vector3.zero;
-	private Vector3 openedDoorPositionRight = Vector3.zero;
+	private Coroutine operatingDoor = null;
 
 	private Vector3 doorTargetPositionLeft = Vector3.zero;
 	private Vector3 doorTargetPositionRight = Vector3.zero;
@@ -23,50 +20,28 @@ public class DoorsControl : MonoBehaviour
 	public float speed = 0.1f;
 	public float openOffset = 1;
 
-	public DoorsControl()
-	{
-		doorLeft = new Actuator();
-		doorRight = new Actuator();
-	}
-
 	void Start()
 	{
 		doorLeft.SetMovingType(Actuator.MovingType.MoveTowards);
 		doorLeft.SetMaxSpeed(speed);
+		doorLeft.SetDirection(Vector3.forward);
+		doorLeft.SetMaxOffset(openOffset);
+		doorLeft.SetMinOffset(0);
 		doorRight.SetMovingType(Actuator.MovingType.MoveTowards);
 		doorRight.SetMaxSpeed(speed);
+		doorRight.SetDirection(Vector3.back);
+		doorRight.SetMaxOffset(openOffset);
+		doorRight.SetMinOffset(0);
 	}
 
 	public void SetLeftDoor(in Transform targetTransform)
 	{
 		doorLeft.SetTarget(targetTransform);
-
-		if (targetTransform == null)
-		{
-			closedDoorPositionLeft = Vector3.zero;
-			openedDoorPositionLeft = Vector3.zero;
-		}
-		else
-		{
-			closedDoorPositionLeft = doorLeft.CurrentPosition();
-			openedDoorPositionLeft = Vector3.right * openOffset;
-		}
 	}
 
 	public void SetRightDoor(in Transform targetTransform)
 	{
 		doorRight.SetTarget(targetTransform);
-
-		if (targetTransform == null)
-		{
-			closedDoorPositionRight = Vector3.zero;
-			openedDoorPositionRight = Vector3.zero;
-		}
-		else
-		{
-			closedDoorPositionRight = doorRight.CurrentPosition();
-			openedDoorPositionRight = Vector3.left * openOffset;
-		}
 	}
 
 	public Vector3 GetLeftDoorPosition()
@@ -81,30 +56,32 @@ public Vector3 GetRightDoorPosition()
 
 	public void Open()
 	{
-		doorLeft.SetTargetPosition(Vector3.right, openOffset);
-		doorRight.SetTargetPosition(Vector3.left, openOffset);
+		doorLeft.SetTargetPosition(openOffset);
+		doorRight.SetTargetPosition(openOffset);
 
-		if (IsClosed() && !IsMoving())
+		if (operatingDoor != null)
 		{
-			StartCoroutine(MoveTo());
+			StopCoroutine(operatingDoor);
 		}
+
+		operatingDoor = StartCoroutine(Operate());
 	}
 
 	public void Close()
 	{
-		doorLeft.SetTargetPosition(Vector3.left, openOffset, true);
-		doorRight.SetTargetPosition(Vector3.right, openOffset, true);
+		doorLeft.SetTargetPosition(-openOffset);
+		doorRight.SetTargetPosition(-openOffset);
 
-		if (IsOpened() && !IsMoving())
+		if (operatingDoor != null)
 		{
-			StartCoroutine(MoveTo());
+			StopCoroutine(operatingDoor);
 		}
+		operatingDoor = StartCoroutine(Operate());
 	}
 
-
 	public bool IsOpened()
 	{
-		if (doorLeft.IsSamePosition(openedDoorPositionLeft) && doorRight.IsSamePosition(openedDoorPositionRight))
+		if (doorLeft.IsReachedMax() && doorRight.IsReachedMax())
 		{
 			return true;
 		}
@@ -114,17 +91,7 @@ public bool IsOpened()
 
 	public bool IsClosed()
 	{
-		if (doorLeft.IsSamePosition(closedDoorPositionLeft) && doorRight.IsSamePosition(closedDoorPositionRight))
-		{
-			return true;
-		}
-
-		return false;
-	}
-
-	public bool IsMoving()
-	{
-		if (doorLeft.IsMoving || doorRight.IsMoving)
+		if (doorLeft.IsReachedMin() && doorRight.IsReachedMin())
 		{
 			return true;
 		}
@@ -132,7 +99,7 @@ public bool IsMoving()
 		return false;
 	}
 
-	private IEnumerator MoveTo()
+	private IEnumerator Operate()
 	{
 		var waitForFixedUpdate = new WaitForFixedUpdate();
 
diff --git a/Assets/Scripts/Devices/Modules/LiftControl.cs b/Assets/Scripts/Devices/Modules/LiftControl.cs
index 8c703e99..8aa8f58b 100644
--- a/Assets/Scripts/Devices/Modules/LiftControl.cs
+++ b/Assets/Scripts/Devices/Modules/LiftControl.cs
@@ -11,41 +11,40 @@
 
 public class LiftControl : MonoBehaviour
 {
-	private Actuator lift;
+	private const float MAX_HEIGHT = 1000f;
+	private const float MIN_HEIGHT = -1000f;
 
-	private HashSet<GameObject> hashsetAllTopModels;
-	private HashSet<GameObject> hashsetLiftingObjects;
+	private Actuator lift = new Actuator();
 
-	private UnityEvent finishedLiftingEvent;
+	private HashSet<GameObject> hashsetAllTopModels = new HashSet<GameObject>();
+	private HashSet<GameObject> hashsetLiftingObjects = new HashSet<GameObject>();
+
+	private UnityEvent finishedLiftingEvent = new UnityEvent();
 	private GameObject rootModel = null;
 	private Transform rootModelTransform = null;
 
 	public string floorColliderName = string.Empty;
 	private MeshCollider floorCollider = null;
-	private Vector3 targetPosition = Vector3.zero;
 
 	public float speed = 1;
 	public bool IsMoving => lift.IsMoving;
 
-	LiftControl()
-	{
-		lift = new Actuator();
-		hashsetAllTopModels = new HashSet<GameObject>();
-		hashsetLiftingObjects = new HashSet<GameObject>();
-	}
-
 	void Awake()
 	{
-		lift.SetTarget(transform);
 		rootModel = GameObject.Find("Models");
-		rootModelTransform = rootModel.transform;
-		finishedLiftingEvent = new UnityEvent();
 	}
 
 	void Start()
 	{
+		rootModelTransform = rootModel.transform;
+
+		lift.SetTarget(transform);
+		lift.SetInitialPose(transform.localPosition);
 		lift.SetMovingType(Actuator.MovingType.SmoothDamp);
 		lift.SetMaxSpeed(speed);
+		lift.SetDirection(Vector3.up);
+		lift.SetMaxOffset(MAX_HEIGHT);
+		lift.SetMinOffset(MIN_HEIGHT);
 		// Debug.Log(name + "::" + speed);
 
 		FindFloorRegionInLift();
@@ -132,12 +131,12 @@ public void MoveTo(in float targetHeight)
 		{
 			DetectObjectsToLiftAndLiftIt();
 
-			lift.SetTargetPosition(Vector3.up, targetHeight);
-			StartCoroutine(RunLifting());
+			lift.SetTargetPosition(targetHeight);
+			StartCoroutine(DoLifting());
 		}
 	}
 
-	private IEnumerator RunLifting()
+	private IEnumerator DoLifting()
 	{
 		var waitForFixedUpdate = new WaitForFixedUpdate();
 		yield return waitForFixedUpdate;
diff --git a/Assets/Scripts/Services/SimulationControlService.cs b/Assets/Scripts/Services/SimulationControlService.cs
index 0e7de7c5..73cea082 100644
--- a/Assets/Scripts/Services/SimulationControlService.cs
+++ b/Assets/Scripts/Services/SimulationControlService.cs
@@ -21,14 +21,12 @@ public class SimulationControlRequest
 	[JsonProperty(Order = 2)]
 	public string filter = string.Empty;
 
-
 	public void Print()
 	{
 		Debug.LogFormat("## {0}: {1}", this.GetType().Name, command);
 	}
 }
 
-
 public class SimulationControlResponseBase
 {
 	[JsonProperty(Order = 0)]
@@ -40,7 +38,6 @@ public virtual void Print()
 	}
 }
 
-
 public class SimulationControlResponseNormal : SimulationControlResponseBase
 {
 	[JsonProperty(Order = 1)]
@@ -63,7 +60,6 @@ public override void Print()
 	}
 }
 
-
 public class SimulationControlResponseTopicList : SimulationControlResponseBase
 {
 	[JsonProperty(Order = 1)]
diff --git a/Packages/manifest.json b/Packages/manifest.json
index 6176c961..124f638b 100644
--- a/Packages/manifest.json
+++ b/Packages/manifest.json
@@ -1,6 +1,6 @@
 {
   "dependencies": {
-    "com.unity.ide.vscode": "1.2.1",
+    "com.unity.ide.vscode": "1.2.2",
     "com.unity.mathematics": "1.2.1",
     "com.unity.render-pipelines.core": "7.3.1",
     "com.unity.searcher": "4.3.1",
diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json
index 66e1af01..991a787f 100644
--- a/Packages/packages-lock.json
+++ b/Packages/packages-lock.json
@@ -1,7 +1,7 @@
 {
   "dependencies": {
     "com.unity.ide.vscode": {
-      "version": "1.2.1",
+      "version": "1.2.2",
       "depth": 0,
       "source": "registry",
       "dependencies": {},
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 52d2a727..42738227 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -124,7 +124,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 1.7.5
+  bundleVersion: 1.7.6
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0