[Al Skierkiewicz]

I wouldn't recommend a tubing cutter, it works for coax but not for more fragile wire. If you take a sharp knife or a razor blade, bend the wire in half, and gently rock the blade over the outside jacket until the inner wire becomes visible. Rotate the wire and repeat until you have opened the jacket all the way around. Now gently grab the wire with a hand on both sides of the open jacket and pull while sliding one hand towards the end of the cable. If you repeat this operation, the entire outer jacket can be removed.
However, I highly recommend that you leave as much wire on the sensor as possible so that when you use it next year on a different robot you have enough length to install it. Simply coil the excess cable into a tight coil and tywrap it in place, out of the way.