diff --git a/workspaces/COLCON_WS/build/ur_description/colcon_command_prefix_build.sh.env b/workspaces/COLCON_WS/build/ur_description/colcon_command_prefix_build.sh.env
index 4c4d9b6c5cb6045c5ae12905ac02ad3ee93f5d64..2726b9842b6208595a927eeb2f0d81a1d635ccc7 100644
--- a/workspaces/COLCON_WS/build/ur_description/colcon_command_prefix_build.sh.env
+++ b/workspaces/COLCON_WS/build/ur_description/colcon_command_prefix_build.sh.env
@@ -7,7 +7,7 @@ DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1001/bus
 DESKTOP_SESSION=ubuntu
 DISPLAY=:0
 GDMSESSION=ubuntu
-GIO_LAUNCHED_DESKTOP_FILE_PID=3244
+GIO_LAUNCHED_DESKTOP_FILE_PID=4700
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
@@ -15,8 +15,8 @@ GTK_MODULES=gail:atk-bridge
 HOME=/home/sochi
 IBUS_DISABLE_SNOOPER=1
 IM_CONFIG_PHASE=1
-INVOCATION_ID=60d0110ee935431c93d5f62f6e04ad37
-JOURNAL_STREAM=8:16182
+INVOCATION_ID=f9b30beaed244a3d992ad453bbfb922a
+JOURNAL_STREAM=8:18941
 LANG=en_US.UTF-8
 LC_ADDRESS=de_DE.UTF-8
 LC_ALL=en_US.UTF-8
@@ -33,7 +33,7 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=sochi
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=2074
+MANAGERPID=1950
 OLDPWD=/home/sochi/robot-sensor/workspaces
 PATH=/opt/ros/humble/bin:/home/sochi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_description
@@ -44,21 +44,21 @@ ROS_DISTRO=humble
 ROS_LOCALHOST_ONLY=0
 ROS_PYTHON_VERSION=3
 ROS_VERSION=2
-SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2220,unix/rossochi-2204:/tmp/.ICE-unix/2220
+SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2097,unix/rossochi-2204:/tmp/.ICE-unix/2097
 SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1001/keyring/ssh
-SYSTEMD_EXEC_PID=2423
+SYSTEMD_EXEC_PID=2303
 TERM=xterm-256color
 TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
 TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
-TERMINATOR_UUID=urn:uuid:ace54c79-b699-45ef-9cd2-9d9edbc7cf73
+TERMINATOR_UUID=urn:uuid:f66dc0a6-2e79-4540-a812-ea6f5004dcbd
 USER=sochi
 USERNAME=sochi
 VTE_VERSION=6800
 WAYLAND_DISPLAY=wayland-0
-XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.OV7202
+XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.XIIX02
 XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
 XDG_CURRENT_DESKTOP=ubuntu:GNOME
 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
diff --git a/workspaces/COLCON_WS/build/ur_simulation_gazebo/colcon_command_prefix_build.sh.env b/workspaces/COLCON_WS/build/ur_simulation_gazebo/colcon_command_prefix_build.sh.env
index 473c2b7fd997660057dd5666ebe53465cd96cf8a..187d2dd103cf4d2bf5bf4db31a73e297882a3a3a 100644
--- a/workspaces/COLCON_WS/build/ur_simulation_gazebo/colcon_command_prefix_build.sh.env
+++ b/workspaces/COLCON_WS/build/ur_simulation_gazebo/colcon_command_prefix_build.sh.env
@@ -7,7 +7,7 @@ DBUS_SESSION_BUS_ADDRESS=unix:path=/run/user/1001/bus
 DESKTOP_SESSION=ubuntu
 DISPLAY=:0
 GDMSESSION=ubuntu
-GIO_LAUNCHED_DESKTOP_FILE_PID=3244
+GIO_LAUNCHED_DESKTOP_FILE_PID=4700
 GNOME_DESKTOP_SESSION_ID=this-is-deprecated
 GNOME_SETUP_DISPLAY=:1
 GNOME_SHELL_SESSION_MODE=ubuntu
@@ -15,8 +15,8 @@ GTK_MODULES=gail:atk-bridge
 HOME=/home/sochi
 IBUS_DISABLE_SNOOPER=1
 IM_CONFIG_PHASE=1
-INVOCATION_ID=60d0110ee935431c93d5f62f6e04ad37
-JOURNAL_STREAM=8:16182
+INVOCATION_ID=f9b30beaed244a3d992ad453bbfb922a
+JOURNAL_STREAM=8:18941
 LANG=en_US.UTF-8
 LC_ADDRESS=de_DE.UTF-8
 LC_ALL=en_US.UTF-8
@@ -33,7 +33,7 @@ LESSCLOSE=/usr/bin/lesspipe %s %s
 LESSOPEN=| /usr/bin/lesspipe %s
 LOGNAME=sochi
 LS_COLORS=rs=0:di=01;34:ln=01;36:mh=00:pi=40;33:so=01;35:do=01;35:bd=40;33;01:cd=40;33;01:or=40;31;01:mi=00:su=37;41:sg=30;43:ca=30;41:tw=30;42:ow=34;42:st=37;44:ex=01;32:*.tar=01;31:*.tgz=01;31:*.arc=01;31:*.arj=01;31:*.taz=01;31:*.lha=01;31:*.lz4=01;31:*.lzh=01;31:*.lzma=01;31:*.tlz=01;31:*.txz=01;31:*.tzo=01;31:*.t7z=01;31:*.zip=01;31:*.z=01;31:*.dz=01;31:*.gz=01;31:*.lrz=01;31:*.lz=01;31:*.lzo=01;31:*.xz=01;31:*.zst=01;31:*.tzst=01;31:*.bz2=01;31:*.bz=01;31:*.tbz=01;31:*.tbz2=01;31:*.tz=01;31:*.deb=01;31:*.rpm=01;31:*.jar=01;31:*.war=01;31:*.ear=01;31:*.sar=01;31:*.rar=01;31:*.alz=01;31:*.ace=01;31:*.zoo=01;31:*.cpio=01;31:*.7z=01;31:*.rz=01;31:*.cab=01;31:*.wim=01;31:*.swm=01;31:*.dwm=01;31:*.esd=01;31:*.jpg=01;35:*.jpeg=01;35:*.mjpg=01;35:*.mjpeg=01;35:*.gif=01;35:*.bmp=01;35:*.pbm=01;35:*.pgm=01;35:*.ppm=01;35:*.tga=01;35:*.xbm=01;35:*.xpm=01;35:*.tif=01;35:*.tiff=01;35:*.png=01;35:*.svg=01;35:*.svgz=01;35:*.mng=01;35:*.pcx=01;35:*.mov=01;35:*.mpg=01;35:*.mpeg=01;35:*.m2v=01;35:*.mkv=01;35:*.webm=01;35:*.webp=01;35:*.ogm=01;35:*.mp4=01;35:*.m4v=01;35:*.mp4v=01;35:*.vob=01;35:*.qt=01;35:*.nuv=01;35:*.wmv=01;35:*.asf=01;35:*.rm=01;35:*.rmvb=01;35:*.flc=01;35:*.avi=01;35:*.fli=01;35:*.flv=01;35:*.gl=01;35:*.dl=01;35:*.xcf=01;35:*.xwd=01;35:*.yuv=01;35:*.cgm=01;35:*.emf=01;35:*.ogv=01;35:*.ogx=01;35:*.aac=00;36:*.au=00;36:*.flac=00;36:*.m4a=00;36:*.mid=00;36:*.midi=00;36:*.mka=00;36:*.mp3=00;36:*.mpc=00;36:*.ogg=00;36:*.ra=00;36:*.wav=00;36:*.oga=00;36:*.opus=00;36:*.spx=00;36:*.xspf=00;36:
-MANAGERPID=2074
+MANAGERPID=1950
 OLDPWD=/home/sochi/robot-sensor/workspaces
 PATH=/opt/ros/humble/bin:/home/sochi/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin
 PWD=/home/sochi/robot-sensor/workspaces/COLCON_WS/build/ur_simulation_gazebo
@@ -44,21 +44,21 @@ ROS_DISTRO=humble
 ROS_LOCALHOST_ONLY=0
 ROS_PYTHON_VERSION=3
 ROS_VERSION=2
-SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2220,unix/rossochi-2204:/tmp/.ICE-unix/2220
+SESSION_MANAGER=local/rossochi-2204:@/tmp/.ICE-unix/2097,unix/rossochi-2204:/tmp/.ICE-unix/2097
 SHELL=/bin/bash
 SHLVL=1
 SSH_AGENT_LAUNCHER=gnome-keyring
 SSH_AUTH_SOCK=/run/user/1001/keyring/ssh
-SYSTEMD_EXEC_PID=2423
+SYSTEMD_EXEC_PID=2303
 TERM=xterm-256color
 TERMINATOR_DBUS_NAME=net.tenshu.Terminator25ef4b219e3b005583550f2b0f9f990c3
 TERMINATOR_DBUS_PATH=/net/tenshu/Terminator2
-TERMINATOR_UUID=urn:uuid:ace54c79-b699-45ef-9cd2-9d9edbc7cf73
+TERMINATOR_UUID=urn:uuid:f66dc0a6-2e79-4540-a812-ea6f5004dcbd
 USER=sochi
 USERNAME=sochi
 VTE_VERSION=6800
 WAYLAND_DISPLAY=wayland-0
-XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.OV7202
+XAUTHORITY=/run/user/1001/.mutter-Xwaylandauth.XIIX02
 XDG_CONFIG_DIRS=/etc/xdg/xdg-ubuntu:/etc/xdg
 XDG_CURRENT_DESKTOP=ubuntu:GNOME
 XDG_DATA_DIRS=/usr/share/ubuntu:/usr/local/share/:/usr/share/:/var/lib/snapd/desktop
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl b/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl
index 25e693fe915d28329a4502a89bbf711955d054b1..fdd48bab0718d007f0605c2db77e739fab8f00d3 100644
Binary files a/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl and b/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/collision/vl53l7cx.stl differ
diff --git a/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/visual/vl53l7cx.dae b/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/visual/vl53l7cx.dae
index 9fe026ccc84d91ec8e033366828367197f0c4333..6a346dd81c406a12764596cb25a8b80d473c1734 100644
Binary files a/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/visual/vl53l7cx.dae and b/workspaces/COLCON_WS/install/ur_description/share/ur_description/meshes/ur10e/visual/vl53l7cx.dae differ
diff --git a/workspaces/COLCON_WS/log/latest_build b/workspaces/COLCON_WS/log/latest_build
index 59c03def78f4e2e2abc4277af5d92d9d5ce3427e..e7d6befd65f0e02f918c038bc9b3eeed6f758f8e 120000
--- a/workspaces/COLCON_WS/log/latest_build
+++ b/workspaces/COLCON_WS/log/latest_build
@@ -1 +1 @@
-build_2025-01-22_17-44-13
\ No newline at end of file
+build_2025-01-23_13-19-43
\ No newline at end of file
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl b/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl
index 25e693fe915d28329a4502a89bbf711955d054b1..fdd48bab0718d007f0605c2db77e739fab8f00d3 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/collision/vl53l7cx.stl differ
diff --git a/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/visual/vl53l7cx.dae b/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/visual/vl53l7cx.dae
index 9fe026ccc84d91ec8e033366828367197f0c4333..6a346dd81c406a12764596cb25a8b80d473c1734 100644
Binary files a/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/visual/vl53l7cx.dae and b/workspaces/COLCON_WS/src/ur_description/meshes/ur10e/visual/vl53l7cx.dae differ
diff --git a/workspaces/rescale.py b/workspaces/rescale.py
new file mode 100644
index 0000000000000000000000000000000000000000..d35f0e5611ee31ca58bda6c0a718a205786536c4
--- /dev/null
+++ b/workspaces/rescale.py
@@ -0,0 +1,33 @@
+import trimesh
+import argparse
+import collada
+
+def rescale_mesh(input_file, output_file, scale_factor):
+    # Load the mesh from the input file
+    mesh = trimesh.load(input_file)
+    
+    # Apply the scaling transformation
+    mesh.apply_scale(scale_factor)
+    
+    # Export the rescaled mesh to a temporary file in a supported format
+    temp_file = "temp_rescaled.stl"
+    mesh.export(temp_file)
+    
+    # Load the temporary file with pycollada and save as .dae
+    mesh_collada = collada.Collada(temp_file)
+    mesh_collada.write(output_file)
+    
+    print(f"Mesh rescaled by a factor of {scale_factor} and saved to {output_file}")
+
+if __name__ == "__main__":
+
+    # Parse command line arguments
+    parser = argparse.ArgumentParser(description="Rescale a mesh using trimesh")
+    parser.add_argument("input_file", type=str, help="Path to the input mesh file")
+    parser.add_argument("output_file", type=str, help="Path to the output mesh file")
+    parser.add_argument("scale_factor", type=float, help="Scaling factor to apply to the mesh")
+    
+    args = parser.parse_args()
+    
+    # Rescale the mesh
+    rescale_mesh(args.input_file, args.output_file, args.scale_factor)
\ No newline at end of file
diff --git a/workspaces/temp_rescaled.stl b/workspaces/temp_rescaled.stl
new file mode 100644
index 0000000000000000000000000000000000000000..aa98996861fe1ea09e2030159b698ef458fcd4ff
Binary files /dev/null and b/workspaces/temp_rescaled.stl differ
diff --git a/workspaces/vl53l7cx.dae b/workspaces/vl53l7cx.dae
new file mode 100644
index 0000000000000000000000000000000000000000..7998516a4d61513b72be3a352459bd4668f6a1d2
Binary files /dev/null and b/workspaces/vl53l7cx.dae differ
diff --git a/workspaces/vl53l7cx.stl b/workspaces/vl53l7cx.stl
new file mode 100644
index 0000000000000000000000000000000000000000..25e693fe915d28329a4502a89bbf711955d054b1
Binary files /dev/null and b/workspaces/vl53l7cx.stl differ
diff --git a/workspaces/vl53l7cx1.dae b/workspaces/vl53l7cx1.dae
new file mode 100644
index 0000000000000000000000000000000000000000..7998516a4d61513b72be3a352459bd4668f6a1d2
Binary files /dev/null and b/workspaces/vl53l7cx1.dae differ
diff --git a/workspaces/vl53l7cx1.stl b/workspaces/vl53l7cx1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..fdd48bab0718d007f0605c2db77e739fab8f00d3
Binary files /dev/null and b/workspaces/vl53l7cx1.stl differ