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deleted file mode 100644
index 0e76c783b..000000000
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diff --git a/Assets/CoRE/OutdoorsScene.unity b/Assets/CoRE/OutdoorsScene.unity
index a3bd047af..54bcf8de9 100644
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diff --git a/Assets/CoRE/OutdoorsScene/ReflectionProbe-0.exr b/Assets/CoRE/OutdoorsScene/ReflectionProbe-0.exr
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diff --git a/Assets/CoRE/OutdoorsScene/ReflectionProbe-2.exr b/Assets/CoRE/OutdoorsScene/ReflectionProbe-2.exr
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diff --git a/Assets/CoRE/OutdoorsScene/ReflectionProbe-3.exr b/Assets/CoRE/OutdoorsScene/ReflectionProbe-3.exr
index 57f216b83..c611ce804 100644
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diff --git a/Assets/CoRE/OutdoorsScene/ReflectionProbe-4.exr b/Assets/CoRE/OutdoorsScene/ReflectionProbe-4.exr
index e78768933..da8fc9a45 100644
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diff --git a/Assets/CoRE/Prefab/ColorBall-Green.prefab b/Assets/CoRE/Prefab/ColorBall-Green.prefab
index fabc6815f..27ceec366 100644
--- a/Assets/CoRE/Prefab/ColorBall-Green.prefab
+++ b/Assets/CoRE/Prefab/ColorBall-Green.prefab
@@ -16,6 +16,19 @@ Rigidbody:
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diff --git a/Assets/CoRE/Prefab/ColorBall-Orange.prefab b/Assets/CoRE/Prefab/ColorBall-Orange.prefab
index d596404fd..b485a60c9 100644
--- a/Assets/CoRE/Prefab/ColorBall-Orange.prefab
+++ b/Assets/CoRE/Prefab/ColorBall-Orange.prefab
@@ -1,5 +1,18 @@
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diff --git a/Assets/CoRE/Prefab/disk.prefab b/Assets/CoRE/Prefab/disk.prefab
index 9b547f205..91cdea028 100644
--- a/Assets/CoRE/Prefab/disk.prefab
+++ b/Assets/CoRE/Prefab/disk.prefab
@@ -106,6 +106,7 @@ GameObject:
   m_Component:
   - component: {fileID: 7681853084804847554}
   - component: {fileID: 3296411475198232087}
+  - component: {fileID: 825979496092862452}
   m_Layer: 0
   m_Name: disk
   m_TagString: Untagged
@@ -144,3 +145,16 @@ Rigidbody:
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diff --git a/Assets/CoRE/Scrips/AutoBot.cs b/Assets/CoRE/Scrips/AutoBot.cs
index 4eb30c4d7..fdd501fe0 100644
--- a/Assets/CoRE/Scrips/AutoBot.cs
+++ b/Assets/CoRE/Scrips/AutoBot.cs
@@ -100,21 +100,26 @@ void FixedUpdate()
         // Robot State Pub
         geometry_msgs.msg.Pose msg_pose = new geometry_msgs.msg.Pose();
         msg_pose.Position.X = (float)(this.transform.position.x);
-        msg_pose.Position.Y = (float)(this.transform.position.y);
-        msg_pose.Position.Z = (float)(this.transform.position.z);
-        msg_pose.Orientation.X = (float)(this.transform.rotation.x);
-        msg_pose.Orientation.Y = (float)(this.transform.rotation.y);
-        msg_pose.Orientation.W = (float)(this.transform.rotation.w);
-        msg_pose.Orientation.Z = (float)(this.transform.rotation.z);
+        msg_pose.Position.Y = (float)(this.transform.position.z);
+        msg_pose.Position.Z = (float)(this.transform.position.y);
+
+        Quaternion unityQuat = new Quaternion(this.transform.rotation.x, this.transform.rotation.y, this.transform.rotation.z, this.transform.rotation.w);
+        Quaternion rosQuat = Quaternion.Euler(-90, 0, 0) * unityQuat;
+        msg_pose.Orientation.X = (float)(rosQuat.x);
+        msg_pose.Orientation.Y = (float)(rosQuat.z);
+        msg_pose.Orientation.W = (float)(rosQuat.w);
+        msg_pose.Orientation.Z = (float)(rosQuat.y);
         robo_pose_pub.Publish(msg_pose);
 
         msg_pose.Position.X = (float)(gun_gameobj.transform.localPosition.x);
-        msg_pose.Position.Y = (float)(gun_gameobj.transform.localPosition.y);
-        msg_pose.Position.Z = (float)(gun_gameobj.transform.localPosition.z);
-        msg_pose.Orientation.X = (float)(gun_gameobj.transform.localRotation.x);
-        msg_pose.Orientation.Y = (float)(gun_gameobj.transform.localRotation.y);
-        msg_pose.Orientation.W = (float)(gun_gameobj.transform.localRotation.w);
-        msg_pose.Orientation.Z = (float)(gun_gameobj.transform.localRotation.z);
+        msg_pose.Position.Y = (float)(gun_gameobj.transform.localPosition.z);
+        msg_pose.Position.Z = (float)(gun_gameobj.transform.localPosition.y);
+        unityQuat = new Quaternion(gun_gameobj.transform.localRotation.x, gun_gameobj.transform.localRotation.y, gun_gameobj.transform.localRotation.z, gun_gameobj.transform.localRotation.w);
+        rosQuat = Quaternion.Euler(-90, 0, 0) * unityQuat;
+        msg_pose.Orientation.X = (float)(rosQuat.x);
+        msg_pose.Orientation.Y = (float)(rosQuat.z);
+        msg_pose.Orientation.W = (float)(rosQuat.w);
+        msg_pose.Orientation.Z = (float)(rosQuat.y);
         gun_pose_pub.Publish(msg_pose);
       }
     }  
diff --git a/Assets/CoRE/Scrips/GameObjDestryer.cs b/Assets/CoRE/Scrips/GameObjDestryer.cs
new file mode 100644
index 000000000..0a4a7a51d
--- /dev/null
+++ b/Assets/CoRE/Scrips/GameObjDestryer.cs
@@ -0,0 +1,20 @@
+using System.Collections;
+using System.Collections.Generic;
+using JetBrains.Annotations;
+using UnityEngine;
+
+public class GameObjDestryer : MonoBehaviour
+{
+    public float lifetime = 10f;
+    // Start is called before the first frame update
+    void Start()
+    {
+        Destroy(this.gameObject, lifetime);
+    }
+
+    // Update is called once per frame
+    void Update()
+    {
+        
+    }
+}
diff --git a/Assets/CoRE/Scrips/GameObjDestryer.cs.meta b/Assets/CoRE/Scrips/GameObjDestryer.cs.meta
new file mode 100644
index 000000000..eda5c27ea
--- /dev/null
+++ b/Assets/CoRE/Scrips/GameObjDestryer.cs.meta
@@ -0,0 +1,11 @@
+fileFormatVersion: 2
+guid: 61cf0f5dedacb9df99847911afe8a965
+MonoImporter:
+  externalObjects: {}
+  serializedVersion: 2
+  defaultReferences: []
+  executionOrder: 0
+  icon: {instanceID: 0}
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
diff --git a/Packages/manifest.json b/Packages/manifest.json
index 9f01edcb9..5e8789f77 100644
--- a/Packages/manifest.json
+++ b/Packages/manifest.json
@@ -10,6 +10,7 @@
     "com.unity.test-framework": "1.1.24",
     "com.unity.textmeshpro": "3.0.4",
     "com.unity.timeline": "1.5.4",
+    "com.unity.toolchain.linux-x86_64": "2.0.6",
     "com.unity.toolchain.win-x86_64-linux-x86_64": "2.0.2",
     "com.unity.ugui": "1.0.0",
     "com.unity.visualscripting": "1.6.1",
diff --git a/Packages/packages-lock.json b/Packages/packages-lock.json
index d3e6464b4..64dc75f69 100644
--- a/Packages/packages-lock.json
+++ b/Packages/packages-lock.json
@@ -101,18 +101,18 @@
       }
     },
     "com.unity.sysroot": {
-      "version": "2.0.3",
+      "version": "2.0.7",
       "depth": 1,
       "source": "registry",
       "dependencies": {},
       "url": "https://packages.unity.com"
     },
     "com.unity.sysroot.linux-x86_64": {
-      "version": "2.0.2",
+      "version": "2.0.6",
       "depth": 1,
       "source": "registry",
       "dependencies": {
-        "com.unity.sysroot": "2.0.3"
+        "com.unity.sysroot": "2.0.7"
       },
       "url": "https://packages.unity.com"
     },
@@ -148,6 +148,16 @@
       },
       "url": "https://packages.unity.com"
     },
+    "com.unity.toolchain.linux-x86_64": {
+      "version": "2.0.6",
+      "depth": 0,
+      "source": "registry",
+      "dependencies": {
+        "com.unity.sysroot": "2.0.7",
+        "com.unity.sysroot.linux-x86_64": "2.0.6"
+      },
+      "url": "https://packages.unity.com"
+    },
     "com.unity.toolchain.win-x86_64-linux-x86_64": {
       "version": "2.0.2",
       "depth": 0,
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 1441b459d..6c5fe67cd 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -12,8 +12,8 @@ PlayerSettings:
   targetDevice: 2
   useOnDemandResources: 0
   accelerometerFrequency: 60
-  companyName: TIERIV
-  productName: AWSIM
+  companyName: StrayedCats
+  productName: CoRE.SIM
   defaultCursor: {fileID: 0}
   cursorHotspot: {x: 0, y: 0}
   m_SplashScreenBackgroundColor: {r: 0, g: 0, b: 0, a: 1}
@@ -39,13 +39,11 @@ PlayerSettings:
     y: 0
     width: 1
     height: 1
-  m_SplashScreenLogos:
-  - logo: {fileID: 21300000, guid: 4da817fbe135e6c48829478700b369be, type: 3}
-    duration: 2
+  m_SplashScreenLogos: []
   m_VirtualRealitySplashScreen: {fileID: 0}
   m_HolographicTrackingLossScreen: {fileID: 0}
-  defaultScreenWidth: 1024
-  defaultScreenHeight: 768
+  defaultScreenWidth: 1920
+  defaultScreenHeight: 1080
   defaultScreenWidthWeb: 960
   defaultScreenHeightWeb: 600
   m_StereoRenderingPath: 0
@@ -148,7 +146,7 @@ PlayerSettings:
   androidSupportedAspectRatio: 1
   androidMaxAspectRatio: 2.1
   applicationIdentifier:
-    Standalone: com.TIERIV.AWSIM
+    Standalone: com.StrayedCats.CoRE.SIM
   buildNumber:
     Standalone: 0
     iPhone: 0
diff --git a/UserSettings/Search.settings b/UserSettings/Search.settings
new file mode 100644
index 000000000..9e26dfeeb
--- /dev/null
+++ b/UserSettings/Search.settings
@@ -0,0 +1 @@
+{}
\ No newline at end of file