diff --git a/Assets/Scenes/main.unity b/Assets/Scenes/main.unity
index f618cb6..ec1e3ef 100644
--- a/Assets/Scenes/main.unity
+++ b/Assets/Scenes/main.unity
@@ -7968,7 +7968,7 @@ Transform:
   m_GameObject: {fileID: 75796153}
   serializedVersion: 2
   m_LocalRotation: {x: 0.052335896, y: 0, z: 0, w: 0.9986295}
-  m_LocalPosition: {x: -0.1, y: 0, z: 0.273}
+  m_LocalPosition: {x: -0.1, y: 0.007000029, z: 0.39700007}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -8067,7 +8067,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 0.1
-  m_ParentAnchorPosition: {x: -0.1, y: 0, z: 0.273}
+  m_ParentAnchorPosition: {x: -0.1, y: 0.007000029, z: 0.39700007}
   m_ParentAnchorRotation: {x: 0.052335896, y: 0, z: 0, w: 0.9986295}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -17955,6 +17955,137 @@ Transform:
   m_CorrespondingSourceObject: {fileID: 1940575245503179376, guid: bbcb4f69c5b4e37429feea44d7112638, type: 3}
   m_PrefabInstance: {fileID: 174638273}
   m_PrefabAsset: {fileID: 0}
+--- !u!1 &175181121
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 175181122}
+  - component: {fileID: 175181125}
+  - component: {fileID: 175181124}
+  - component: {fileID: 175181123}
+  m_Layer: 0
+  m_Name: camera_optical_link
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &175181122
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 175181121}
+  serializedVersion: 2
+  m_LocalRotation: {x: 0.5, y: 0.5, z: -0.5, w: 0.5}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children:
+  - {fileID: 1744945241}
+  - {fileID: 1270771030}
+  m_Father: {fileID: 1529185470}
+  m_LocalEulerAnglesHint: {x: 90, y: 90, z: 0}
+--- !u!114 &175181123
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 175181121}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 074632cab556f5b408839af8574308df, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  xAxis: 0
+  jointName: camera_optical_link_joint
+  EffortLimit: 1000
+  VelocityLimit: 1000
+--- !u!171741748 &175181124
+ArticulationBody:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 175181121}
+  m_Enabled: 0
+  serializedVersion: 6
+  m_Mass: 0.0000001
+  m_ParentAnchorPosition: {x: 0, y: 0.000000029802322, z: -0.00000008940697}
+  m_ParentAnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_AnchorPosition: {x: 0, y: 0, z: 0}
+  m_AnchorRotation: {x: 0, y: 0, z: 0.7071068, w: 0.7071068}
+  m_MatchAnchors: 1
+  m_ArticulationJointType: 0
+  m_LinearX: 2
+  m_LinearY: 2
+  m_LinearZ: 2
+  m_SwingY: 2
+  m_SwingZ: 2
+  m_Twist: 2
+  m_XDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+    driveType: 0
+  m_YDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+    driveType: 0
+  m_ZDrive:
+    lowerLimit: 0
+    upperLimit: 0
+    stiffness: 0
+    damping: 0
+    forceLimit: 3.4028235e+38
+    target: 0
+    targetVelocity: 0
+    driveType: 0
+  m_LinearDamping: 0.05
+  m_AngularDamping: 0.05
+  m_JointFriction: 0.05
+  m_CenterOfMass: {x: 0, y: 0, z: 0}
+  m_InertiaTensor: {x: 1, y: 1, z: 1}
+  m_InertiaRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_IncludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ExcludeLayers:
+    serializedVersion: 2
+    m_Bits: 0
+  m_ImplicitCom: 0
+  m_ImplicitTensor: 0
+  m_Immovable: 0
+  m_UseGravity: 0
+  m_CollisionDetectionMode: 0
+--- !u!114 &175181125
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 175181121}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: fba5fd74d37a6cf4284698624eb8f6aa, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
+  IsBaseLink: 0
 --- !u!1001 &175380445
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -80800,7 +80931,7 @@ Transform:
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
-  m_LocalScale: {x: 0.42, y: 0.22, z: 0.54}
+  m_LocalScale: {x: 0.45, y: 0.25, z: 0.8}
   m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 1180385589}
@@ -81176,7 +81307,7 @@ MonoBehaviour:
   wheelRadius: 0.22
   trackWidth: 0.47
   _frequency: 1
-  use_namespace: 1
+  use_namespace: 0
 --- !u!1001 &794370220
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -83651,7 +83782,7 @@ Transform:
   m_GameObject: {fileID: 814849839}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0.26, y: -0.11, z: -0.27}
+  m_LocalPosition: {x: 0.28, y: -0.135, z: -0.3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -83685,7 +83816,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 5
-  m_ParentAnchorPosition: {x: 0.26, y: -0.110000014, z: -0.26999998}
+  m_ParentAnchorPosition: {x: 0.28, y: -0.13499999, z: -0.29999995}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -83702,7 +83833,7 @@ ArticulationBody:
     upperLimit: 0
     stiffness: 0
     damping: 0
-    forceLimit: 100
+    forceLimit: 1000
     target: 0
     targetVelocity: 0
     driveType: 3
@@ -104549,7 +104680,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 993688088}
   serializedVersion: 2
-  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -121068,7 +121199,7 @@ Transform:
   m_GameObject: {fileID: 1160352880}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -0.26, y: -0.11, z: -0.27}
+  m_LocalPosition: {x: -0.28, y: -0.135, z: -0.3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -121102,7 +121233,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 5
-  m_ParentAnchorPosition: {x: -0.26, y: -0.110000014, z: -0.26999998}
+  m_ParentAnchorPosition: {x: -0.28, y: -0.13499999, z: -0.29999995}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -121119,7 +121250,7 @@ ArticulationBody:
     upperLimit: 0
     stiffness: 0
     damping: 0
-    forceLimit: 100
+    forceLimit: 1000
     target: 0
     targetVelocity: 0
     driveType: 3
@@ -131685,6 +131816,50 @@ Transform:
   m_CorrespondingSourceObject: {fileID: 5031453872569468969, guid: 7bbef8ff6dbb10d48b94ff119a6bf0f4, type: 3}
   m_PrefabInstance: {fileID: 1269146561}
   m_PrefabAsset: {fileID: 0}
+--- !u!1 &1270771029
+GameObject:
+  m_ObjectHideFlags: 8
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1270771030}
+  - component: {fileID: 1270771031}
+  m_Layer: 0
+  m_Name: Visuals
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1270771030
+Transform:
+  m_ObjectHideFlags: 8
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1270771029}
+  serializedVersion: 2
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 175181122}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1270771031
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1270771029}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: e9090ae501ff9cd459bec5271d40249c, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1001 &1273107603
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -140776,7 +140951,7 @@ Transform:
   m_GameObject: {fileID: 1349958472}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: -0.26, y: -0.11, z: 0.27}
+  m_LocalPosition: {x: -0.28, y: -0.135, z: 0.3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -140810,7 +140985,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 5
-  m_ParentAnchorPosition: {x: -0.26, y: -0.110000014, z: 0.26999998}
+  m_ParentAnchorPosition: {x: -0.28, y: -0.13499999, z: 0.29999995}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -140827,7 +141002,7 @@ ArticulationBody:
     upperLimit: 0
     stiffness: 0
     damping: 0
-    forceLimit: 100
+    forceLimit: 1000
     target: 0
     targetVelocity: 0
     driveType: 3
@@ -157322,12 +157497,13 @@ Transform:
   m_GameObject: {fileID: 1529185469}
   serializedVersion: 2
   m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
-  m_LocalPosition: {x: 0, y: 0.127, z: 0.266}
+  m_LocalPosition: {x: 0, y: 0.127, z: 0.304}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 1736627183}
   - {fileID: 194403288}
+  - {fileID: 175181122}
   m_Father: {fileID: 915175386}
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!114 &1529185471
@@ -157356,7 +157532,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 0.1
-  m_ParentAnchorPosition: {x: 0, y: 0.12700003, z: 0.26600003}
+  m_ParentAnchorPosition: {x: 0, y: 0.12700003, z: 0.3039999}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -169667,7 +169843,7 @@ Transform:
   m_GameObject: {fileID: 1643870768}
   serializedVersion: 2
   m_LocalRotation: {x: 0.052335896, y: 0, z: 0, w: 0.9986295}
-  m_LocalPosition: {x: 0.1, y: 0, z: 0.273}
+  m_LocalPosition: {x: 0.1, y: 0.007, z: 0.397}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -169766,7 +169942,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 0.1
-  m_ParentAnchorPosition: {x: 0.1, y: 0, z: 0.273}
+  m_ParentAnchorPosition: {x: 0.1, y: 0.007000029, z: 0.39700007}
   m_ParentAnchorRotation: {x: 0.052335896, y: 0, z: 0, w: 0.9986295}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -180078,6 +180254,50 @@ Transform:
   m_CorrespondingSourceObject: {fileID: 38087246325766662, guid: a2e54d74448190b4c8ac56bb38326dc0, type: 3}
   m_PrefabInstance: {fileID: 1744789829}
   m_PrefabAsset: {fileID: 0}
+--- !u!1 &1744945240
+GameObject:
+  m_ObjectHideFlags: 8
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 1744945241}
+  - component: {fileID: 1744945242}
+  m_Layer: 0
+  m_Name: Collisions
+  m_TagString: Untagged
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &1744945241
+Transform:
+  m_ObjectHideFlags: 8
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1744945240}
+  serializedVersion: 2
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: 0, y: 0, z: 0}
+  m_LocalScale: {x: 1, y: 1, z: 1}
+  m_ConstrainProportionsScale: 0
+  m_Children: []
+  m_Father: {fileID: 175181122}
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!114 &1744945242
+MonoBehaviour:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 1744945240}
+  m_Enabled: 1
+  m_EditorHideFlags: 0
+  m_Script: {fileID: 11500000, guid: 46398bc5d6905ad429a6d2d973afe002, type: 3}
+  m_Name: 
+  m_EditorClassIdentifier: 
 --- !u!1001 &1745184590
 PrefabInstance:
   m_ObjectHideFlags: 0
@@ -212365,7 +212585,7 @@ MonoBehaviour:
     _source: {fileID: 1529185474}
     _header:
       _source: {fileID: 1529185474}
-      _frame_id: /camera_info
+      _frame_id: /camera_optical_link
   use_namespace: 1
 --- !u!114 &2061160358
 MonoBehaviour:
@@ -213994,7 +214214,7 @@ Transform:
   m_GameObject: {fileID: 2082835346}
   serializedVersion: 2
   m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
-  m_LocalPosition: {x: 0.26, y: -0.11, z: 0.27}
+  m_LocalPosition: {x: 0.28, y: -0.135, z: 0.3}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
   m_Children:
@@ -214028,7 +214248,7 @@ ArticulationBody:
   m_Enabled: 1
   serializedVersion: 6
   m_Mass: 5
-  m_ParentAnchorPosition: {x: 0.26, y: -0.110000014, z: 0.26999998}
+  m_ParentAnchorPosition: {x: 0.28, y: -0.13499999, z: 0.29999995}
   m_ParentAnchorRotation: {x: 0, y: 0, z: 0, w: 1}
   m_AnchorPosition: {x: 0, y: 0, z: 0}
   m_AnchorRotation: {x: 0, y: 0, z: 0, w: 1}
@@ -214045,7 +214265,7 @@ ArticulationBody:
     upperLimit: 0
     stiffness: 0
     damping: 0
-    forceLimit: 100
+    forceLimit: 1000
     target: 0
     targetVelocity: 0
     driveType: 3
@@ -219692,9 +219912,9 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 2134304703}
   serializedVersion: 2
-  m_LocalRotation: {x: 0, y: 0, z: 0, w: 1}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
   m_LocalPosition: {x: 0, y: 0, z: 0}
-  m_LocalScale: {x: 0.42, y: 0.22, z: 0.54}
+  m_LocalScale: {x: 0.45, y: 0.25, z: 0.8}
   m_ConstrainProportionsScale: 0
   m_Children:
   - {fileID: 993688089}