diff --git a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml
index 52e843e..138cfd7 100644
--- a/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml
+++ b/individual_params/config/default/ftd_sensor_kit/sensor_kit_calibration.yaml
@@ -6,15 +6,29 @@ sensor_kit_base_link:
     roll: 0.0
     pitch: 0.0
     yaw: 0.0
-#  ydlidar_front_base_link:
+  ydlidar_front_base_link:  # Okinawa testbed 20240702
+    x:  0.29
+    y: -0.14
+    z: -0.73
+    roll: -3.14159
+    pitch: 0.0
+    yaw:  -1.5708
+#  ydlidar_front_base_link: # Okinawa testbed planned
 #    x:  0.22
 #    y:  0.0
 #    z: -0.50
 #    roll:  0.0
 #    pitch: 0.0
 #    yaw:   1.5708
-  tamagawa/imu_link:
-    x: -0.5q
+  ydlidar_rear_base_link:   # Okinawa testbed planned
+    x: -0.05
+    y:  0.0
+    z: -0.57
+    roll:  0.0
+    pitch: 0.0
+    yaw:   0.0
+  tamagawa/imu_link:        # Okinawa testbed center
+    x: -0.5
     y: 0.0
     z: -0.50
     roll: 0.0