diff --git a/README.md b/README.md
index 034466b..bda53e9 100644
--- a/README.md
+++ b/README.md
@@ -22,12 +22,20 @@ keyboards, and teaching pendants using these packages.
 
 # Quick start
 
-## Launch MoveIt!
-
 You can see the idea of jog_control package by demo with simulation
 and MoveIt!.
 
-You can use UR5:
+## UR5 
+
+Launch simulation and MoveIt!
+
+```
+$ roslaunch ur_gazebo ur5_joint_limited.launch
+$ roslaunch ur5_moveit_config ur5_moveit_planning_execution.launch sim:=true
+$ roslaunch ur5_moveit_config moveit_rviz.launch config:=true
+```
+
+And launch jog nodes.
 
 ```
 $ roslaunch jog_controller ur5.launch
@@ -35,7 +43,16 @@ $ roslaunch jog_controller ur5.launch
 
 ![UR5 jog control](image/ur5_jog.png)
 
-TRA1:
+## TRA1
+
+Launch simulation and MoveIt!
+
+```
+$ roslaunch tra1_bringup tra1_bringup.launch simulation:=true
+$ roslaunch tra1_bringup tra1_moveit.launch 
+```
+
+And launch jog nodes.
 
 ```
 $ roslaunch jog_controller tra1.launch
@@ -43,7 +60,15 @@ $ roslaunch jog_controller tra1.launch
 
 ![TRA1 jog control](image/tra1_jog.png)
 
-Denso VS060:
+## Denso VS060
+
+Launch simulation and MoveIt!
+
+```
+$ roslaunch denso_launch denso_vs060_moveit_demo_simulation.launch 
+```
+
+And launch jog nodes.
 
 ```
 $ roslaunch jog_controller vs060.launch
@@ -51,34 +76,77 @@ $ roslaunch jog_controller vs060.launch
 
 ![Denso VS060 jog control](image/vs060_jog.png)
 
-NEXTAGE Open:
+## NEXTAGE Open
+
+Launch simulation and MoveIt!
 
 ```
 $ rtmlaunch nextage_ros_bridge nextage_ros_bridge_simulation.launch
+$ roslaunch nextage_moveit_config moveit_planning_execution.launch 
+```
+
+And launch jog nodes.
+
+```
 $ roslaunch jog_controller nextage.launch
 ```
 
 ![NEXTAGE Open jog control](image/nextage_jog.png)
 
-You can use robots on ROS-I repositry.
+You can use robots on ROS-I repositry, if you build it from source
+code. See
+[ROS-Industrial repositry](https://github.com/ros-industrial).
 
-ABB IRB2400:
-(CAUTION: The model of this robot is a bit strange in joint limits. 
+## ABB IRB2400
+
+(CAUTION: The model of this robot is a bit strange in joint limits.
 The jog may not move because of joints flipping.)
 
+Launch simulation and MoveIt!
+
+```
+$ roslaunch abb_irb2400_moveit_config moveit_planning_execution.launch 
+```
+
+And launch jog nodes.
+
 ```
 $ roslaunch jog_controller abb_irb2400.launch 
 ```
 
 ![ABB IRB2400 jog control](image/abb_irb2400_jog.png)
 
-MOTOMAN SIA20D:
+## MOTOMAN SIA20D
+
+Launch simulation and MoveIt!
+
+```
+$ roslaunch motoman_sia20d_moveit_config moveit_planning_execution.launch sim:=true
+```
+
+And launch jog nodes.
 
 ```
 $ roslaunch jog_controller motoman_sia20d.launch
 ```
 
-![MOTOMAN SIA20D jog control](image/motoman_sia20d_jog.png)
+## MOTOMAN SDA10F
+
+This is another dual arm robot by Yaskawa MOTOMAN.
+
+![MOTOMAN SDA10F jog control](image/motoman_sda10f_jog.png)
+
+Launch simulation and MoveIt!
+
+```
+$ roslaunch motoman_sda10f_moveit_config moveit_planning_execution.launch sim:=true
+```
+
+And launch jog nodes.
+
+```
+$ roslaunch jog_controller motoman_sda10f.launch 
+```
 
 ## rviz JogFramePanel Pugin
 
diff --git a/image/motoman_sda10f_jog.png b/image/motoman_sda10f_jog.png
new file mode 100644
index 0000000..e379436
Binary files /dev/null and b/image/motoman_sda10f_jog.png differ
diff --git a/jog_controller/config/motoman_sda10f_jog.yaml b/jog_controller/config/motoman_sda10f_jog.yaml
new file mode 100644
index 0000000..a1d44e2
--- /dev/null
+++ b/jog_controller/config/motoman_sda10f_jog.yaml
@@ -0,0 +1,50 @@
+jog_joint_node:
+  joint_names:
+    - arm_left_joint_1_s
+    - arm_left_joint_2_l
+    - arm_left_joint_3_e
+    - arm_left_joint_4_u
+    - arm_left_joint_5_r
+    - arm_left_joint_6_b
+    - arm_left_joint_7_t
+    - arm_right_joint_1_s
+    - arm_right_joint_2_l
+    - arm_right_joint_3_e
+    - arm_right_joint_4_u
+    - arm_right_joint_5_r
+    - arm_right_joint_6_b
+    - arm_right_joint_7_t
+    - torso_joint_b1
+    - torso_joint_b2
+
+jog_frame_node:
+  group_names:
+    - arm_left
+    - arm_right
+  link_names:
+    - arm_left_link_tool0
+    - arm_right_link_tool0
+
+# motoman sda10f controller list seems to be broken
+move_group:
+  controller_list:
+    - name: ''
+      action_ns: ''
+      type: FollowJointTrajectory
+      joints:
+        - arm_left_joint_1_s
+        - arm_left_joint_2_l
+        - arm_left_joint_3_e
+        - arm_left_joint_4_u
+        - arm_left_joint_5_r
+        - arm_left_joint_6_b
+        - arm_left_joint_7_t
+        - arm_right_joint_1_s
+        - arm_right_joint_2_l
+        - arm_right_joint_3_e
+        - arm_right_joint_4_u
+        - arm_right_joint_5_r
+        - arm_right_joint_6_b
+        - arm_right_joint_7_t
+        - torso_joint_b1
+        - torso_joint_b2
diff --git a/jog_controller/config/ur5_jog.yaml b/jog_controller/config/ur5_jog.yaml
index a33b727..a2d2582 100644
--- a/jog_controller/config/ur5_jog.yaml
+++ b/jog_controller/config/ur5_jog.yaml
@@ -1,5 +1,4 @@
 jog_joint_node:
-  controller_name: arm_controller
   joint_names:
     - shoulder_pan_joint
     - shoulder_lift_joint
@@ -8,7 +7,13 @@ jog_joint_node:
     - wrist_2_joint
     - wrist_3_joint
 
-# UR5 moveit doesn't have controller name somehow    
+jog_frame_node:
+  group_names:
+    - manipulator
+  link_names:
+    - ee_link
+
+# Somehow, UR5 moveit doesn't have controller name, so specify here
 move_group:
   controller_list:
     - name: arm_controller
@@ -21,9 +26,3 @@ move_group:
         - wrist_1_joint
         - wrist_2_joint
         - wrist_3_joint
-
-jog_frame_node:
-  group_names:
-    - manipulator
-  link_names:
-    - ee_link
diff --git a/jog_controller/launch/abb_irb2400.launch b/jog_controller/launch/abb_irb2400.launch
index 48863a7..35c195f 100644
--- a/jog_controller/launch/abb_irb2400.launch
+++ b/jog_controller/launch/abb_irb2400.launch
@@ -1,9 +1,6 @@
 <launch>
-  <param name="pub_rate" value="100.0"/>
+  <arg name="use_joy" default="false"/>
   
-  <!-- Launch MoveIt! -->
-  <include file="$(find abb_irb2400_moveit_config)/launch/moveit_planning_execution.launch"/>
-
   <!-- Launch jog controllers -->
   <rosparam command="load"
 	    file="$(find jog_controller)/config/abb_irb2400_jog.yaml"/>
@@ -16,4 +13,11 @@
     <param name="time_from_start" value="1.0"/>
   </node>
 
+  <!-- Launch joypad -->
+  <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
+    <arg name="group_name" value="manipulator"/>
+    <arg name="frame_id" value="base_link"/>
+    <arg name="link_name" value="tool0"/>
+  </include>
+
 </launch>
diff --git a/jog_controller/launch/motoman_sda10f.launch b/jog_controller/launch/motoman_sda10f.launch
new file mode 100644
index 0000000..7ee86f6
--- /dev/null
+++ b/jog_controller/launch/motoman_sda10f.launch
@@ -0,0 +1,20 @@
+<launch>
+  <arg name="use_joy" default="false"/>
+
+  <!-- Launch jog controllers -->
+  <rosparam command="load"
+	    file="$(find jog_controller)/config/motoman_sda10f_jog.yaml"/>
+  <node name="jog_joint_node" pkg="jog_controller" type="jog_joint_node">
+    <remap from="command" to="joint_path_command"/>
+  </node>
+  <node name="jog_frame_node" pkg="jog_controller" type="jog_frame_node">
+    <remap from="command" to="joint_path_command"/>
+  </node>
+  <!-- Launch joypad -->
+  <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
+    <arg name="group_name" value="manipulator"/>
+    <arg name="frame_id" value="base_link"/>
+    <arg name="link_name" value="tool0"/>
+  </include>
+
+</launch>
diff --git a/jog_controller/launch/motoman_sia20d.launch b/jog_controller/launch/motoman_sia20d.launch
index 76a3c6b..7fa7041 100644
--- a/jog_controller/launch/motoman_sia20d.launch
+++ b/jog_controller/launch/motoman_sia20d.launch
@@ -1,10 +1,5 @@
 <launch>
-  <param name="pub_rate" value="100.0"/>
-  
-  <!-- Launch MoveIt! -->
-  <include file="$(find motoman_sia20d_moveit_config)/launch/moveit_planning_execution.launch">
-    <arg name="sim" value="true"/>
-  </include>
+  <arg name="use_joy" default="false"/>
 
   <!-- Launch jog controllers -->
   <rosparam command="load"
@@ -18,4 +13,11 @@
     <param name="time_from_start" value="0.01"/>
   </node>
 
+  <!-- Launch joypad -->
+  <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
+    <arg name="group_name" value="manipulator"/>
+    <arg name="frame_id" value="base_link"/>
+    <arg name="link_name" value="tool0"/>
+  </include>
+
 </launch>
diff --git a/jog_controller/launch/nextage.launch b/jog_controller/launch/nextage.launch
index 37f67ec..cf1c5f9 100644
--- a/jog_controller/launch/nextage.launch
+++ b/jog_controller/launch/nextage.launch
@@ -6,6 +6,7 @@
   <node name="jog_joint_node" pkg="jog_controller" type="jog_joint_node"/>
   <node name="jog_frame_node" pkg="jog_controller" type="jog_frame_node"/>
 
+  <!-- Launch joypad -->
   <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
     <arg name="group_name" value="left_arm"/>
     <arg name="frame_id" value="WAIST"/>
diff --git a/jog_controller/launch/tra1.launch b/jog_controller/launch/tra1.launch
index cb1142d..7bd7cbc 100644
--- a/jog_controller/launch/tra1.launch
+++ b/jog_controller/launch/tra1.launch
@@ -7,6 +7,7 @@
   <node name="jog_joint_node" pkg="jog_controller" type="jog_joint_node"/>
   <node name="jog_frame_node" pkg="jog_controller" type="jog_frame_node"/>
 
+  <!-- Launch joypad -->
   <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
     <arg name="group_name" value="manipulator"/>
     <arg name="frame_id" value="base_link"/>
diff --git a/jog_controller/launch/ur5.launch b/jog_controller/launch/ur5.launch
index 2d81e33..30980a4 100644
--- a/jog_controller/launch/ur5.launch
+++ b/jog_controller/launch/ur5.launch
@@ -1,18 +1,16 @@
 <launch>
-  <include file="$(find ur_gazebo)/launch/ur5_joint_limited.launch"/>
-
-  <include file="$(find ur5_moveit_config)/launch/ur5_moveit_planning_execution.launch">
-    <arg name="sim" value="true"/>
-    <arg name="limited" value="false"/>
-  </include>
-
-  <include file="$(find ur5_moveit_config)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
-  </include>
+  <arg name="use_joy" default="false"/>
   
   <rosparam command="load"
 	    file="$(find jog_controller)/config/ur5_jog.yaml"/>
   <node name="jog_joint_node" pkg="jog_controller" type="jog_joint_node"/>
   <node name="jog_frame_node" pkg="jog_controller" type="jog_frame_node"/>
 
+  <!-- Launch joypad -->
+  <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
+    <arg name="group_name" value="manipulator"/>
+    <arg name="frame_id" value="base_link"/>
+    <arg name="link_name" value="link_ee"/>
+  </include>
+
 </launch>
diff --git a/jog_controller/launch/vs060.launch b/jog_controller/launch/vs060.launch
index 1e6bfe4..cb6399a 100644
--- a/jog_controller/launch/vs060.launch
+++ b/jog_controller/launch/vs060.launch
@@ -1,7 +1,6 @@
 <launch>
-  <!-- Launch MoveIt! -->
-  <include file="$(find denso_launch)/launch/denso_vs060_moveit_demo_simulation.launch"/>
-  
+  <arg name="use_joy" default="false"/>
+
   <!-- Jog controllers -->
   <rosparam command="load"
 	    file="$(find jog_controller)/config/vs060_jog.yaml"/>
@@ -12,4 +11,11 @@
     <remap from="joint_states" to="arm_controller/joint_states"/>
   </node>
 
+  <!-- Launch joypad -->
+  <include if="$(arg use_joy)" file="$(find jog_controller)/launch/joypad.launch">
+    <arg name="group_name" value="manipulator"/>
+    <arg name="frame_id" value="base_link"/>
+    <arg name="link_name" value="Flange"/>
+  </include>
+
 </launch>