diff --git a/package.json b/package.json
index e7168d80..f98cf491 100644
--- a/package.json
+++ b/package.json
@@ -1,6 +1,6 @@
 {
   "name": "ui",
-  "version": "0.30.3",
+  "version": "0.30.4",
   "private": true,
   "scripts": {
     "dev": "react-scripts start",
diff --git a/src/components/Floor3D/Floor3D.tsx b/src/components/Floor3D/Floor3D.tsx
index d0d087e0..792a1ea1 100644
--- a/src/components/Floor3D/Floor3D.tsx
+++ b/src/components/Floor3D/Floor3D.tsx
@@ -1,6 +1,6 @@
 import React, { Fragment } from "react";
 
-export default function Floor3D(props: any) {
+export default function Floor3D() {
   return (
     <Fragment>
       <color attach="background" args={["#FFFFF0"]} />
diff --git a/src/components/Machine3D/Machine3D.tsx b/src/components/Machine3D/Machine3D.tsx
index f0ba4ffa..427d3762 100644
--- a/src/components/Machine3D/Machine3D.tsx
+++ b/src/components/Machine3D/Machine3D.tsx
@@ -75,17 +75,13 @@ export default function Machine3D({ item }: IMachine3D) {
       <meshNormalMaterial
         transparent={
           findBarcodeInput
-            ? item.barcode.includes(findBarcodeInput)
+            ? item.barcode === findBarcodeInput
               ? false
               : true
             : false
         }
         opacity={
-          findBarcodeInput
-            ? item.barcode.includes(findBarcodeInput)
-              ? 1
-              : 0.1
-            : 1
+          findBarcodeInput ? (item.barcode === findBarcodeInput ? 1 : 0.1) : 1
         }
       />
       {hovered && (
diff --git a/src/components/Scene3D/Scene3D.tsx b/src/components/Scene3D/Scene3D.tsx
index c9f01359..53cb8e55 100644
--- a/src/components/Scene3D/Scene3D.tsx
+++ b/src/components/Scene3D/Scene3D.tsx
@@ -1,24 +1,22 @@
 import Control3D from "../Control3D/Control3D";
 import { Canvas } from "@react-three/fiber";
-import React, { ReactElement } from "react";
+import { Fragment, ReactElement } from "react";
 import Light3D from "../Light3D/Light3D";
 import Floor3D from "../Floor3D/Floor3D";
 
 interface IScene3D {
   children?: ReactElement | ReactElement[];
-  ros?: any;
 }
 
 export default function Scene3D({
   children,
-  ros,
 }: IScene3D): ReactElement<IScene3D> {
   return (
     <Canvas dpr={[1, 1]} gl={{ powerPreference: "high-performance" }}>
-      {children}
+      <Fragment>{children}</Fragment>
       <Light3D />
       <Control3D />
-      <Floor3D ros={ros} />
+      <Floor3D />
     </Canvas>
   );
 }
diff --git a/src/contexts/RobotContext.tsx b/src/contexts/RobotContext.tsx
index 4d920993..97a5f4b7 100644
--- a/src/contexts/RobotContext.tsx
+++ b/src/contexts/RobotContext.tsx
@@ -310,7 +310,9 @@ export default ({ children }: any) => {
   // VDI - vIDE Test Connection
   useEffect(() => {
     const vdiClient: WebSocket | null =
-      isSettedCookie && connectionsReducer?.vdi === null
+      isSettedCookie &&
+      robotData.step1.services.vdi.socketEndpoint &&
+      connectionsReducer?.vdi === null
         ? new WebSocket(
             (urls?.vdi || responseRobot?.vdiIngressEndpoint) +
               "ws?password=admin",
diff --git a/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement.tsx b/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement.tsx
index 48db64dd..b9f27af5 100644
--- a/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement.tsx
+++ b/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement.tsx
@@ -7,7 +7,6 @@ import Card from "../../../components/Card/Card";
 
 export default function BarcodeManagement({ ros }: any): ReactElement {
   const [activeTab, setActiveTab] = useState<"2D" | "3D">("3D");
-
   const handleFullScreen = useFullScreenHandle();
 
   return (
@@ -17,7 +16,7 @@ export default function BarcodeManagement({ ros }: any): ReactElement {
           {activeTab === "2D" ? (
             <BarcodeManagement2D />
           ) : (
-            <BarcodeManagement3D ros={ros} />
+            <BarcodeManagement3D />
           )}
         </Fragment>
         <BarcodeManagementControls
diff --git a/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement3D.tsx b/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement3D.tsx
index d4727a8d..52bdb698 100644
--- a/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement3D.tsx
+++ b/src/pages/EnvironmentPage/TaskManagement/BarcodeManagement3D.tsx
@@ -3,12 +3,12 @@ import Machine3D from "../../../components/Machine3D/Machine3D";
 import Robot3D from "../../../components/Robot3D/Robot3D";
 import Scene3D from "../../../components/Scene3D/Scene3D";
 
-export default function App({ ros }: any) {
+export default function BarcodeManagement3D() {
   const { barcodeItems } = useBarcode();
 
   return (
     <div className="animate-fadeIn absolute inset-0">
-      <Scene3D ros={ros}>
+      <Scene3D>
         {barcodeItems?.map((barcodeItem: any, barcodeItemIndex: number) => {
           return <Machine3D key={barcodeItemIndex} item={barcodeItem} />;
         })}
diff --git a/src/pages/EnvironmentPage/TaskManagement/MissionManagement.tsx b/src/pages/EnvironmentPage/TaskManagement/MissionManagement.tsx
index 79de5a2a..7dfc3c6b 100644
--- a/src/pages/EnvironmentPage/TaskManagement/MissionManagement.tsx
+++ b/src/pages/EnvironmentPage/TaskManagement/MissionManagement.tsx
@@ -102,7 +102,7 @@ export default function MissionManagement({ ros }: ITask): ReactElement {
             <div className="flex h-full flex-col gap-2 py-2">
               <div className="flex flex-col items-center justify-center gap-1 pb-1 font-medium ">
                 <span>Missions</span>
-                <span className="bg-primary-500 h-[2px] w-20" />
+                <span className="h-[2px] w-20 bg-primary-500" />
               </div>
               {missions?.length ? (
                 missions?.map((mission: any, missionIndex: number) => {
@@ -196,13 +196,15 @@ export default function MissionManagement({ ros }: ITask): ReactElement {
             >
               <TransformComponent>
                 <div
-                  style={{
-                    backgroundImage: `url(/images/bg-transparent.png)`,
-                  }}
+                  style={
+                    {
+                      // backgroundImage: `url(/images/bg-transparent.png)`,
+                    }
+                  }
                   className="flex w-full items-center justify-center"
                 >
                   <div
-                    className="border-light-600 relative border-4"
+                    className="relative border-4 border-light-600"
                     style={{
                       width: `${rosMapDetails?.resolution?.x}px`,
                       height: `${rosMapDetails?.resolution?.y}px`,