diff --git a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
index d16dc18..b11e25c 100755
--- a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
+++ b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
@@ -19,7 +19,7 @@ __version__ = "1.0"
 
 class Object_detect(Movement):
 
-    def __init__(self, camera_x = 160, camera_y = -10):
+    def __init__(self, camera_x = 160, camera_y = -5):
         # inherit the parent class
         super(Object_detect, self).__init__()
         # get path of file
@@ -162,7 +162,7 @@ class Object_detect(Movement):
         # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0)
         # time.sleep(3)
 
-        self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 10, 0)
+        self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 25, 0)
         time.sleep(3)
 
         # open pump
@@ -197,7 +197,8 @@ class Object_detect(Movement):
             self.pump_off()
         elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
             self.gpio_status(False)
-        time.sleep(6)
+        time.sleep(4)
+        
         if color == 1:
             self.pub_marker(
                 self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02)
diff --git a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
index bfd6025..ee5ca7d 100644
--- a/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
+++ b/mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
@@ -179,7 +179,9 @@ class Object_detect(Movement):
         # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0)
         # time.sleep(3)
 
-        self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 10, 0)
+        # self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 25, 0)
+        self.mc.send_coords([x, y, 60, 179.87, -3.78, -62.75], 25, 0)
+        
         time.sleep(3)
 
         # open pump
@@ -199,21 +201,21 @@ class Object_detect(Movement):
 
          # print(tmp)
         self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
-        time.sleep(3)
+        time.sleep(5)
 
 
 
         self.mc.send_coords(self.move_coords[color], 25, 1)
         self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color]
                         [1]/1000.0, self.move_coords[color][2]/1000.0)
-        time.sleep(3)
+        time.sleep(4)
 
         # close pump
         if "dev" in self.robot_m5 or "dev" in self.robot_wio:
             self.pump_off()
         elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
             self.gpio_status(False)
-        time.sleep(6)
+        time.sleep(4)
 
         self.mc.send_angles(self.move_angles[0], 25)
         time.sleep(3)
@@ -433,7 +435,7 @@ def parse_folder(folder):
     elif os.path.exists(path2):
         path = path2
 
-    print("path:",path)
+    # print("path:",path)
 
     for i, j, k in os.walk(path):
         for l in k:
diff --git a/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf b/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
index 816b554..6551fdf 100755
--- a/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
+++ b/mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
@@ -6,7 +6,7 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04  1.5708 3.14159-->
-        <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
+        <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae" scale="1.2 1.2 1.2"/>
       </geometry>
       <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
     </visual>