diff --git a/src/maintain/scripts/test.py b/src/maintain/scripts/test.py
index 214299a..e5a3ff4 100755
--- a/src/maintain/scripts/test.py
+++ b/src/maintain/scripts/test.py
@@ -90,9 +90,10 @@ def box_callback(box, depth, color_info):
         color_intrinsics = color_info.K
         depth_image = bridge.imgmsg_to_cv2(depth, '16UC1')
         # get the center of screw 
-        boundingBox = box.bounding_boxes[0]
-        screw_x = (boundingBox.xmax + boundingBox.xmin) / 2
-        screw_y = (boundingBox.ymax + boundingBox.ymin) / 2
+        if box.bounding_boxes[0] is not None:
+            boundingBox = box.bounding_boxes[0]
+            screw_x = (boundingBox.xmax + boundingBox.xmin) / 2
+            screw_y = (boundingBox.ymax + boundingBox.ymin) / 2
         # print(screw_x,screw_y)
 
         depth_array = np.array(depth_image, dtype=np.float32)
@@ -101,13 +102,24 @@ def box_callback(box, depth, color_info):
         z = np.mean(depth_roi) * 0.001
         x = (screw_x - color_intrinsics[2]) * z / color_intrinsics[0]
         y = (screw_y - color_intrinsics[5]) * z / color_intrinsics[4]
-        # rospy.loginfo("screw pose: x: %f, y: %f, z: %f", x, y, z)
+        rospy.loginfo("screw pose: x: %f, y: %f, z: %f", x, y, z)
         # calculate normal direction of screw area
         
         annulus_roi = depth_array[boundingBox.ymin-annulus_width:boundingBox.ymax+annulus_width, boundingBox.xmin-annulus_width:boundingBox.xmax+annulus_width]
         normal = calculate_image_edge_plane_normal(annulus_roi)
         # print(normal)
 
+
+        # X,Y = np.meshgrid(np.arange(annulus_roi.shape[1]), np.arange(annulus_roi.shape[0]))
+        # X = X.reshape(-1)
+        # Y = Y.reshape(-1)
+        # Z = annulus_roi.reshape(-1)
+        # points = np.vstack([X, Y, Z]).T
+        # center = np.mean(points, axis=0)
+        # points = points - center
+        # U, S, V = np.linalg.svd(points)
+        # normal = V[2]
+
         # publish screw pose
         # screw_pose = PoseStamped()
         # screw_pose.header.stamp = rospy.Time.now()
@@ -153,6 +165,7 @@ def box_callback(box, depth, color_info):
         screw_tf.transform.rotation.z = screw_quat_filtered[2]
         screw_tf.transform.rotation.w = screw_quat_filtered[3]
 
+
         tf_broadcaster.sendTransform(screw_tf)
 
 
diff --git a/src/yolov5_ros/launch/yolov5_d435.launch b/src/yolov5_ros/launch/yolov5_d435.launch
deleted file mode 100644
index 0bbb85e..0000000
--- a/src/yolov5_ros/launch/yolov5_d435.launch
+++ /dev/null
@@ -1,56 +0,0 @@
-<launch>
-    <!-- Detection configuration -->
-    <arg name="weights" default="$(find yolov5_ros)/best.pt"/>
-    <arg name="data" default="$(find yolov5_ros)/src/yolov5/data/coco128.yaml"/>
-    <arg name="confidence_threshold" default="0.5"/>
-    <arg name="iou_threshold" default="0.45"/>
-    <arg name="maximum_detections" default="1000"/>
-    <arg name="device" default="0"/>
-    <arg name="agnostic_nms" default="true"/>
-    <arg name="line_thickness" default="3"/>
-    <arg name="dnn" default="true"/>
-    <arg name="half" default="false"/>
-
-    <!-- replace imgsz -->
-    <arg name="inference_size_h" default="640"/>
-    <arg name="inference_size_w" default="640"/>
-
-    <!-- Visualize using OpenCV window -->
-    <arg name="view_image" default="true"/>
-
-    <!-- ROS topics -->
-    <arg name="input_image_topic" default="/clover0/main_camera/image_raw"/>
-    <arg name="output_topic" default="/yolov5/detections"/>
-
-    <!-- Optional topic (publishing annotated image) -->
-    <arg name="publish_image" default="false"/>
-    <arg name="output_image_topic" default="/yolov5/image_out"/>
-
-
-    <node pkg="yolov5_ros" name="detect" type="detect.py" output="screen">
-        <param name="weights" value="$(arg weights)"/>
-        <param name="data" value="$(arg data)"/>
-        <param name="confidence_threshold" value="$(arg confidence_threshold)"/>
-        <param name="iou_threshold" value="$(arg iou_threshold)" />
-        <param name="maximum_detections" value="$(arg maximum_detections)"/>
-        <param name="device" value="$(arg device)" />
-        <param name="agnostic_nms" value="$(arg agnostic_nms)" />
-        <param name="line_thickness" value="$(arg line_thickness)"/>
-        <param name="dnn" value="$(arg dnn)"/>
-        <param name="half" value="$(arg half)"/>
-
-        <param name="inference_size_h" value="$(arg inference_size_h)"/>
-        <param name="inference_size_w" value="$(arg inference_size_w)"/>
-
-        <param name="input_image_topic" value="$(arg input_image_topic)"/>
-        <param name="output_topic" value="$(arg output_topic)"/>
-
-        <param name="view_image" value="$(arg view_image)"/>
-
-        <param name="publish_image" value="$(arg publish_image)"/>
-        <param name="output_image_topic" value="$(arg output_image_topic)"/>
-    </node>
-    <include file="$(find camera_launch)/launch/d435.launch"/>
-
-
-</launch>