diff --git a/Assets/Resources/Shader/DepthBufferScaling.compute b/Assets/Resources/Shader/DepthBufferScaling.compute
index 87feb318..ab704910 100644
--- a/Assets/Resources/Shader/DepthBufferScaling.compute
+++ b/Assets/Resources/Shader/DepthBufferScaling.compute
@@ -2,8 +2,8 @@
 #pragma kernel CSDepthBufferScaling
 
 #define MaxValue16Bits 65535.0f;
-#define THREADS 16
-#define GROUPS 16
+#define THREADS 8
+#define GROUPS 4
 
 RWByteAddressBuffer _Buffer;
 
diff --git a/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs b/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
index 924ab458..dbb3712a 100644
--- a/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
+++ b/Assets/Scripts/CLOiSimPlugins/MicomPlugin.cs
@@ -6,7 +6,6 @@
 
 using System.Collections.Generic;
 using System.Text;
-using System;
 using Any = cloisim.msgs.Any;
 using messages = cloisim.msgs;
 using UnityEngine;
@@ -81,12 +80,12 @@ private void SetupMicom()
 		var motorFriction = GetPluginParameters().GetValue<float>("wheel/friction/motor", 0.1f);
 		var brakeFriction = GetPluginParameters().GetValue<float>("wheel/friction/brake", 0.1f);
 
-		var wheelLeftName = GetPluginParameters().GetValue<string>("wheel/location[@type='left']", String.Empty);
-		var wheelRightName = GetPluginParameters().GetValue<string>("wheel/location[@type='right']", String.Empty);
-		var rearWheelLeftName = GetPluginParameters().GetValue<string>("wheel/location[@type='rear_left']", String.Empty);
-		var rearWheelRightName = GetPluginParameters().GetValue<string>("wheel/location[@type='rear_right']", String.Empty);
+		var wheelLeftName = GetPluginParameters().GetValue<string>("wheel/location[@type='left']", string.Empty);
+		var wheelRightName = GetPluginParameters().GetValue<string>("wheel/location[@type='right']", string.Empty);
+		var rearWheelLeftName = GetPluginParameters().GetValue<string>("wheel/location[@type='rear_left']", string.Empty);
+		var rearWheelRightName = GetPluginParameters().GetValue<string>("wheel/location[@type='rear_right']", string.Empty);
 
-		if (!rearWheelLeftName.Equals(String.Empty) && !rearWheelRightName.Equals(String.Empty))
+		if (!rearWheelLeftName.Equals(string.Empty) && !rearWheelRightName.Equals(string.Empty))
 		{
 			micomSensor.SetWheel(wheelLeftName, wheelRightName, rearWheelLeftName, rearWheelRightName);
 		}
diff --git a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs
index 54a5d499..838e869a 100644
--- a/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs
+++ b/Assets/Scripts/CLOiSimPlugins/Modules/Base/CLOiSimPlugin.CommonMethod.cs
@@ -149,7 +149,8 @@ private void SetCustomHandleRequestMessage()
 			switch (requestType)
 			{
 				case "request_ros2":
-					var topic_name = GetPluginParameters().GetValue<string>("ros2/topic_name");
+
+					var topic_name = GetPluginParameters().GetValue<string>("ros2/topic_name", partsName);
 					GetPluginParameters().GetValues<string>("ros2/frame_id", out var frameIdList);
 					SetROS2CommonInfoResponse(ref response, topic_name, frameIdList);
 					break;
diff --git a/Assets/Scripts/Devices/DepthCamera.cs b/Assets/Scripts/Devices/DepthCamera.cs
index 2f1e6618..5c2b4580 100644
--- a/Assets/Scripts/Devices/DepthCamera.cs
+++ b/Assets/Scripts/Devices/DepthCamera.cs
@@ -119,6 +119,9 @@ protected override void SetupTexture()
 			cb.Release();
 		}
 
+		private int threadGroupsX = 8;
+		private int threadGroupsY = 4;
+
 		protected override void PostProcessing(ref byte[] buffer)
 		{
 			if (readbackDstFormat.Equals(TextureFormat.R16) && computeShader != null)
@@ -127,8 +130,8 @@ protected override void PostProcessing(ref byte[] buffer)
 				computeShader.SetBuffer(kernelIndex, "_Buffer", computeBuffer);
 				computeBuffer.SetData(buffer);
 
-				var threadGroupX = camParameter.image_width / 16;
-				var threadGroupY = camParameter.image_height / 8;
+				var threadGroupX = camParameter.image_width / threadGroupsX;
+				var threadGroupY = camParameter.image_height / threadGroupsY;
 				computeShader.Dispatch(kernelIndex, threadGroupX, threadGroupY, 1);
 				computeBuffer.GetData(buffer);
 				computeBuffer.Release();
diff --git a/Assets/Scripts/Devices/Lidar.cs b/Assets/Scripts/Devices/Lidar.cs
index ef794d09..9ab43d5e 100644
--- a/Assets/Scripts/Devices/Lidar.cs
+++ b/Assets/Scripts/Devices/Lidar.cs
@@ -485,7 +485,7 @@ protected override void GenerateMessage()
 							}
 							catch (Exception ex)
 							{
-								Debug.LogWarning("Error occured with Buffer.BlockCopy : " + ex.Message + ", " + srcBufferOffset + ", " + dstBufferOffset + ", " + copyLength);
+								Debug.LogWarning("Error occured with Buffer.BlockCopy : " + ex.Message + ", " + srcBufferOffset + ", " + dstBufferOffset + ", " + copyLength + ", Len: src "+ srcBuffer.Length + ", dst " + laserScan.Ranges.Length);
 							}
 						}
 					}
diff --git a/Assets/Scripts/Main.cs b/Assets/Scripts/Main.cs
index 3a9f4dda..0b6d5b79 100644
--- a/Assets/Scripts/Main.cs
+++ b/Assets/Scripts/Main.cs
@@ -304,6 +304,7 @@ private string GetClonedModelName(in string modelName)
 			if (childTransform.name.CompareTo(tmpModelName) == 0)
 			{
 				tmpModelName = modelName + "_clone_" + numbering++;
+				i = 0;
 			}
 		}
 		return tmpModelName;
@@ -323,7 +324,7 @@ private IEnumerator LoadModel(string modelPath, string modelFileName)
 			var addingModel = uiMainCanvasRoot.GetComponentInChildren<AddModel>();
 			addingModel.SetAddingModelForDeploy(targetObject);
 
-			yield return new WaitForSeconds(0.1f);
+			yield return new WaitForSeconds(0.01f);
 			yield return new WaitForEndOfFrame();
 
 			// for GUI
diff --git a/Assets/Scripts/Tools/SDF/Helper/PoseControl.cs b/Assets/Scripts/Tools/SDF/Helper/PoseControl.cs
index 7e080f75..68752bf7 100644
--- a/Assets/Scripts/Tools/SDF/Helper/PoseControl.cs
+++ b/Assets/Scripts/Tools/SDF/Helper/PoseControl.cs
@@ -132,10 +132,15 @@ private void ResetArticulationBody(in int targetFrame = 0)
 					articulationBody.jointVelocity = zeroSpace;
 					articulationBody.jointAcceleration = zeroSpace;
 					articulationBody.jointForce = zeroSpace;
+					var isPrismatic = articulationBody.jointType.Equals(UE.ArticulationJointType.PrismaticJoint);
 
 					GetJointTarget(out var targetJoint1, out var targetJoint2, targetFrame);
 
 					var xDrive = articulationBody.xDrive;
+					if (!isPrismatic)
+					{
+						xDrive.targetVelocity = 0;
+					}
 					if (!articulationBody.linearLockX.Equals(UE.ArticulationDofLock.LockedMotion) ||
 						!articulationBody.twistLock.Equals(UE.ArticulationDofLock.LockedMotion))
 					{
@@ -153,10 +158,13 @@ private void ResetArticulationBody(in int targetFrame = 0)
 					{
 						xDrive.target = 0;
 					}
-					xDrive.targetVelocity = 0;
 					articulationBody.xDrive = xDrive;
 
 					var yDrive = articulationBody.yDrive;
+					if (!isPrismatic)
+					{
+						yDrive.targetVelocity = 0;
+					}
 					if (!articulationBody.linearLockY.Equals(UE.ArticulationDofLock.LockedMotion) ||
 						!articulationBody.swingYLock.Equals(UE.ArticulationDofLock.LockedMotion))
 					{
@@ -174,10 +182,13 @@ private void ResetArticulationBody(in int targetFrame = 0)
 					{
 						yDrive.target = 0;
 					}
-					yDrive.targetVelocity = 0;
 					articulationBody.yDrive = yDrive;
 
 					var zDrive = articulationBody.zDrive;
+					if (!isPrismatic)
+					{
+						zDrive.targetVelocity = 0;
+					}
 					if (!articulationBody.linearLockY.Equals(UE.ArticulationDofLock.LockedMotion) ||
 						!articulationBody.swingZLock.Equals(UE.ArticulationDofLock.LockedMotion))
 					{
@@ -193,9 +204,8 @@ private void ResetArticulationBody(in int targetFrame = 0)
 					}
 					else
 					{
-						yDrive.target = 0;
+						zDrive.target = 0;
 					}
-					zDrive.targetVelocity = 0;
 					articulationBody.zDrive = zDrive;
 				}
 			}
diff --git a/Assets/Scripts/Tools/SDF/Implement/Implement.Joint.cs b/Assets/Scripts/Tools/SDF/Implement/Implement.Joint.cs
index b70d5b0a..8744a403 100644
--- a/Assets/Scripts/Tools/SDF/Implement/Implement.Joint.cs
+++ b/Assets/Scripts/Tools/SDF/Implement/Implement.Joint.cs
@@ -18,8 +18,13 @@ public static UE.Pose SetArticulationBodyRelationship(in SDF.Joint joint, UE.Tra
 				var modelTransformChild = linkChild.parent;
 				var modelHelperChild = modelTransformChild.GetComponent<SDF.Helper.Model>();
 
+				var linkHelperParent = linkParent.GetComponent<SDF.Helper.Link>();
+				var linkHelperChild = linkChild.GetComponent<SDF.Helper.Link>();
+
 				var anchorPose = new UE.Pose();
-				if (modelTransformChild.Equals(modelTransformParent) || modelHelperChild.IsFirstChild)
+				if (linkHelperChild.Model.Equals(linkHelperParent.Model) ||
+					modelTransformChild.Equals(modelTransformParent) ||
+					modelHelperChild.IsFirstChild)
 				{
 					linkChild.SetParent(linkParent);
 
@@ -205,6 +210,13 @@ public static void MakePrismatic(in UE.ArticulationBody body, in SDF.Axis axis,
 					drive.stiffness = (float)axis.dynamics.spring_stiffness;
 					drive.target = (float)axis.dynamics.spring_reference;
 					drive.damping = (float)axis.dynamics.damping;
+
+					// Check if spring
+					if (axis.limit.Use())
+					{
+						drive.targetVelocity = 1;
+					}
+
 					body.jointFriction = (float)axis.dynamics.friction;
 				}
 				else
diff --git a/Assets/Scripts/Tools/SDF/Import/Import.Joint.cs b/Assets/Scripts/Tools/SDF/Import/Import.Joint.cs
index eaddc55d..c84658ad 100644
--- a/Assets/Scripts/Tools/SDF/Import/Import.Joint.cs
+++ b/Assets/Scripts/Tools/SDF/Import/Import.Joint.cs
@@ -24,7 +24,8 @@ private static UE.Transform FindTransformByName(in string name, UE.Transform tar
 					rootTransform = rootTransform.parent;
 				}
 
-				(var modelName, var linkName) = SDF2Unity.GetModelLinkName(name);
+				(var modelName, var linkName) = SDF2Unity.GetModelLinkName(name, targetTransform.name);
+				// UE.Debug.Log("GetModelLinkName  => " + modelName + ", " + linkName);
 
 				if (string.IsNullOrEmpty(modelName))
 				{
@@ -53,10 +54,14 @@ private static UE.Transform FindTransformByName(in string name, UE.Transform tar
 
 					if (modelTransform != null)
 					{
-						var linkTransform = modelTransform.Find(linkName);
-						if (linkTransform != null)
+						foreach (var linkObject in modelTransform.GetComponentsInChildren<SDF.Helper.Link>())
 						{
-							foundLinkObject = linkTransform;
+							var linkTransform = linkObject.transform;
+							if (linkTransform.name.Equals(linkName))
+							{
+								foundLinkObject = linkTransform;
+								break;
+							}
 						}
 					}
 				}
diff --git a/Assets/Scripts/Tools/SDF/Import/Import.Link.cs b/Assets/Scripts/Tools/SDF/Import/Import.Link.cs
index 144c624b..3b6f24ad 100644
--- a/Assets/Scripts/Tools/SDF/Import/Import.Link.cs
+++ b/Assets/Scripts/Tools/SDF/Import/Import.Link.cs
@@ -95,9 +95,9 @@ private static UE.ArticulationBody CreateArticulationBody(in UE.GameObject linkO
 				articulationBody.angularVelocity = UE.Vector3.zero;
 				articulationBody.useGravity = (linkHelper == null) ? false : linkHelper.useGravity;
 				articulationBody.jointType = UE.ArticulationJointType.FixedJoint;
-				articulationBody.mass = (inertial == null) ? 1e-07f : (float)inertial.mass;
-				articulationBody.linearDamping = 0.05f;
-				articulationBody.angularDamping = 0.05f;
+				articulationBody.mass = (inertial == null) ? 1e-06f : (float)inertial.mass;
+				articulationBody.linearDamping = 0.01f;
+				articulationBody.angularDamping = 0.01f;
 				articulationBody.jointFriction = 0f;
 				articulationBody.velocity = UE.Vector3.zero;
 				articulationBody.angularVelocity = UE.Vector3.zero;
diff --git a/Assets/Scripts/Tools/SDF/Parser/Pose.cs b/Assets/Scripts/Tools/SDF/Parser/Pose.cs
index f57e2183..c478bc2a 100644
--- a/Assets/Scripts/Tools/SDF/Parser/Pose.cs
+++ b/Assets/Scripts/Tools/SDF/Parser/Pose.cs
@@ -51,8 +51,8 @@ public void Set(string x, string y)
 			var code = Type.GetTypeCode(typeof(T));
 			if (code != TypeCode.Empty)
 			{
-				x = regex_num.Replace(x, String.Empty);
-				y = regex_num.Replace(y, String.Empty);
+				x = regex_num.Replace(x, string.Empty);
+				y = regex_num.Replace(y, string.Empty);
 				Set((T)Convert.ChangeType(x, code), (T)Convert.ChangeType(y, code));
 			}
 		}
@@ -116,9 +116,9 @@ public void Set(string x, string y, string z)
 			var code = Type.GetTypeCode(typeof(T));
 			if (code != TypeCode.Empty)
 			{
-				x = Vector2<T>.regex_num.Replace(x, String.Empty);
-				y = Vector2<T>.regex_num.Replace(y, String.Empty);
-				z = Vector2<T>.regex_num.Replace(z, String.Empty);
+				x = Vector2<T>.regex_num.Replace(x, string.Empty);
+				y = Vector2<T>.regex_num.Replace(y, string.Empty);
+				z = Vector2<T>.regex_num.Replace(z, string.Empty);
 				Set((T)Convert.ChangeType(x, code), (T)Convert.ChangeType(y, code), (T)Convert.ChangeType(z, code));
 			}
 		}
diff --git a/Assets/Scripts/Tools/SDF/Util/SDF2Unity.Model.cs b/Assets/Scripts/Tools/SDF/Util/SDF2Unity.Model.cs
index 88030df0..71b59476 100644
--- a/Assets/Scripts/Tools/SDF/Util/SDF2Unity.Model.cs
+++ b/Assets/Scripts/Tools/SDF/Util/SDF2Unity.Model.cs
@@ -8,9 +8,9 @@
 
 public partial class SDF2Unity
 {
-	public static (string, string) GetModelLinkName(in string value)
+	public static (string, string) GetModelLinkName(in string value, in string defaultModelName = "")
 	{
-		var modelName = string.Empty;
+		var modelName = defaultModelName;
 		var linkName = value;
 
 		if (value.Contains("::"))
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index d0254718..54b88b4f 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -134,7 +134,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 2.7.3
+  bundleVersion: 2.7.4
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0