diff --git a/Arduino/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino b/Arduino/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino
index 702163c0efe825e9a0269406f1c55a79094740fc..a88f22ecb51ecaa3109437e5df7fbf5d092e2f02 100644
--- a/Arduino/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino
+++ b/Arduino/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575/18_vl53l7cx_clean_both_I2C_with_STMlibrary_PCF8575.ino
@@ -199,7 +199,6 @@ void loop() {
   VL53L7CX_ResultsData Results16;
   VL53L7CX_ResultsData Results17;
 
-
   // Process each sensor data and save to respective JSON arrays
   processSensorData(sensor0, Results0, doc["sensor0"].to<JsonArray>(), "sensor0", LPN_PIN0);
   processSensorData(sensor1, Results1, doc["sensor1"].to<JsonArray>(), "sensor1", LPN_PIN1);
@@ -306,23 +305,23 @@ void processSensorData(VL53L7CX &sensor, VL53L7CX_ResultsData &results, const Js
   // Turn LED on to indicate data processing
   digitalWrite(LedPin, HIGH);
 
-  // If data is ready, get the ranging data and store it in the JSON array
   if ((!status) && (NewDataReady != 0)) {
     status = sensor.vl53l7cx_get_ranging_data(&results);
-    
+
     JsonArray sensorData = doc[sensorKey].to<JsonArray>();
 
-    // Process the results and add them to the JSON array
     for (int y = imageWidth * (imageWidth - 1); y >= 0; y -= imageWidth) {
       for (int x = 0; x <= imageWidth - 1; x++) {
-        if Results0.
-        sensorData.add(results.distance_mm[VL53L7CX_NB_TARGET_PER_ZONE * (x + y)]);
-        Results0.status
+        int index = VL53L7CX_NB_TARGET_PER_ZONE * (x + y);
+
+        // Neu: JsonArray via add<JsonArray>()
+        JsonArray measurement = sensorData.add<JsonArray>();
+        measurement.add(results.distance_mm[index]);
+        measurement.add(results.target_status[index]);
       }
     }
   }
 
-  // Turn LED off to indicate processing is done
   digitalWrite(LedPin, LOW);
 }
 
diff --git a/CAD_Designs/Fusion_Files/Final_UR10_Upperarm_vl53l7cx_bracket_v8.f3z b/CAD_Designs/Fusion_Files/Final_UR10_Upperarm_vl53l7cx_bracket_v8.f3z
new file mode 100644
index 0000000000000000000000000000000000000000..7b87d000a9325b74deb19a1676c1053ffe331ab5
Binary files /dev/null and b/CAD_Designs/Fusion_Files/Final_UR10_Upperarm_vl53l7cx_bracket_v8.f3z differ