diff --git a/README.md b/README.md
index 8534112..6f269b5 100644
--- a/README.md
+++ b/README.md
@@ -3,14 +3,6 @@
 - **Project member**: Chanyoung Ahn, [Taeyeoung lee](https://github.com/sen-lee)
 - **Project Result** : [[Video]](https://youtu.be/xjTqSPl0Xxc), [[Image]](https://github.com/cold-young/CS492_Intelligence_Contest/tree/chanyoung/contact_grasp/imgs) 
 
-<<<<<<< HEAD
-# CS492_Intelligence_Contest
-#### forked from Deep Grasping ROS (Seunghyeok Back)
-
-- ROS wrapper for DNN based robotic grasping algorithms
-- Support Contact-GraspNet [[paper]](https://arxiv.org/abs/2103.14127) [[code]](https://github.com/NVlabs/contact_graspnet)
-
-=======
 
 ROS wrapper for DNN based robotic grasping algorithms \
 Support Contact-GraspNet [[paper]](https://arxiv.org/abs/2103.14127) [[code]](https://github.com/NVlabs/contact_graspnet)
@@ -18,7 +10,6 @@ Support Contact-GraspNet [[paper]](https://arxiv.org/abs/2103.14127) [[code]](ht
 
 
 
->>>>>>> chanyoung/contact_grasp
 ## Contact-GraspNet Framework
 ```
 Deep_grasping/src
@@ -28,19 +19,6 @@ Contact_Graspnet_server.py (for ROS)
  - Contact_graspnet_client.py (for ROS)
 /uoais
  - launch/uoais_rs_d435.launch (need to modify name space)
-<<<<<<< HEAD
- 
-```
-## Env setup
-### 1. Install Repository (CS492_Intelligence_contest/src) 
-1. git clone 'CS_492_intelligence_contest' or 'gist-ailab/deep-grasping' 
-2. 'cd src', git clone 'contact_graspnet','uoais'
-```
-git clone https://github.com/SeungBack/contact_graspnet.git
-git clone https://github.com/gist-ailab/uoais.git
-```
-  + Enviroment setup(1~7) + Test ROS nodes 1.Realsense D-435 ..(나중에 namespace 변경 필요할듯)
-=======
  -(TOBO) uoais_client.py
 (TODO)namespace 
 ```
@@ -53,7 +31,6 @@ git clone https://github.com/cold-young/contact_graspnet.git
 git clone https://github.com/cold-young/uoais.git
 ```
   + Enviroment setup(1~7) + Test "ROS nodes 1.Realsense D-435" ..(나중에 namespace 변경 필요할듯)
->>>>>>> chanyoung/contact_grasp
 - (https://github.com/gist-ailab/uoais#environment-setup)
 3. Install `easy_tcp_python2_3`, `open3d-ros-helper` (Use conda env!!!)
 - https://github.com/SeungBack/open3d-ros-helper (env py2.7, pip2 install~)
@@ -64,11 +41,7 @@ git clone https://github.com/cold-young/uoais.git
 1. contact_graspnet_env(for contact_graspnet_client.py)
 - python 3.7, tensorflow 2.2, CUDA 10.1, CUCNN 7.6.0
 - yml file location: https://github.com/SeungBack/contact_graspnet 
-<<<<<<< HEAD
-- Install : easy_tcp_python2_3, 
-=======
 - Install : easy_tcp_python2_3
->>>>>>> chanyoung/contact_grasp
 
 ```
 conda env create -f contact_graspnet_env.yml
@@ -78,44 +51,6 @@ pip install easy-tcp-python2-3
 ```
 
 
-<<<<<<< HEAD
-2. uoais(for uoais.py)
- - python 3.7, pytorch 1.9.0, torchvision 0.9.0, CUDA 11.1(or 10.1), detectron2 v0.5 or v0.6
-```
-conda create -n uoais python=3.7
-conda activate uoais
-pip install torch torchvision
-pip install shapely torchfile opencv-python pyfastnoisesimd rapidfuzz
-``` 
-
-- install detectron2...
- (https://detectron2.readthedocs.io/en/latest/tutorials/install.html#requirements)
-
-```
-python -m pip install 'git+https://github.com/facebookresearch/detectron2.git'
-``` 
-(add --user if you don't have permission)
-
-Or, to install it from a local clone:
-```git clone https://github.com/facebookresearch/detectron2.git
-python -m pip install -e detectron2
-```
-
-## RUN
-### Robot
-- Use Haetae2025. If you use RViz another machine, you have to run 'pick_and_place_demo/demo.launch' on haetae2025
-``` 
-export ROS_MASTER_URI=http://192.168.0.100:11311
-export ROS_HOST_URI=http://192.168.0.24 ??????
-sudo route add -net 192.168.10.10 netmask 255.255.255.255 gw 192.168.0.100
-
-source ./robot.sh real manip (or source ./robot_zsh.sh real manip)
-roslaunch pick_and_place_demo demo.launch sim:=false perception_src:=none
-```
-
-### RViz
-- If you want to use 'wrist_camera' topics, have to run 'demo.launch'
-=======
 2. uoais(for uoais.py : 작동 O)
  - Enviroment: python 3.7, pytorch 1.8.0+cu111, torchvision 0.9.0+cu111, CUDA 11.1, detectron2 v0.6+cu111+torch 1.8.0
 ```
@@ -162,7 +97,6 @@ bash file ....
 
 ### RViz(Haetae ROS 연결 확인 후)
 -  If you want to use 'wrist_camera' topics, have to run 'demo.launch'
->>>>>>> chanyoung/contact_grasp
 ```
 export ROS_MASTER_URI=http://192.168.0.100:11311
 source navigation_ws/devel/setup.bash
@@ -175,19 +109,12 @@ rosrun rviz rviz
 roscd deep_grasping && python src/contact_grasp_server.py
 ```
 
-<<<<<<< HEAD
-
-### Contact graspnet client
-1. contact graps client.py
-- python == 3.7 please create conda env
-=======
 ### Contact graspnet client
 #### **1. contact graps client.py**
 - python == 3.7 please create conda env(OK)
->>>>>>> chanyoung/contact_grasp
 ```
 conda activate contact_graspnet_env \
-    && roscd deep_grasping/src/contact_graspnet \
+    && roscd deep_grasping_ros/src/contact_graspnet \
     && CUDA_VISIBLE_DEVICES=0 python contact_graspnet/contact_grasp_client.py --local_regions --filter_grasps
 ```
 - Check grasp pose, orientation
@@ -195,18 +122,11 @@ conda activate contact_graspnet_env \
 rosservice call /get_target_grasp_pose      
 ```
 
-<<<<<<< HEAD
-2. uoais client.py
-=======
 #### **2. uoais client.py (예제는 작동 됨)**
->>>>>>> chanyoung/contact_grasp
 ```
 conda activate uoais \
     && roscd deep_grasping/src/uoais \
     && CUDA_VISIBLE_DEVICES=1 python demo/uoais_client.py
-<<<<<<< HEAD
-```
-=======
 ```
 We must make 'uoais_client.py' or other files \
 
@@ -261,4 +181,3 @@ exit()
 conda activate uoais
 roslaunch uoais uoais_rs_d435.launch 
 ```
->>>>>>> chanyoung/contact_grasp