From c4262cb03d7a2d2175f0065e32f0103df05a9bc7 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Mon, 29 Mar 2021 20:33:12 +0200
Subject: [PATCH 1/3] Absolem: Sync Xacro: Change IMU and friction parameters
 in Xacro to correspond to the desired values in SDF.

---
 .../urdf/nifti_robot.xacro                    | 74 ++++++++++---------
 1 file changed, 40 insertions(+), 34 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 18ed7c6b..7c6164d3 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -1185,9 +1185,9 @@
 			</contact>
 			<friction>
 				<ode>
-					<mu>1</mu>
+					<mu>0.5</mu>
 					<mu2>1</mu2>
-					<slip1>0.035</slip1>
+					<slip1>0.00092</slip1>
 					<slip2>0</slip2>
 					<fdir1>0 0 1</fdir1>
 				</ode>
@@ -1205,9 +1205,9 @@
 			</contact>
 			<friction>
 				<ode>
-					<mu>1</mu>
+					<mu>0.5</mu>
 					<mu2>1</mu2>
-					<slip1>0.035</slip1>
+					<slip1>0.00092</slip1>
 					<slip2>0</slip2>
 					<fdir1>0 0 1</fdir1>
 				</ode>
@@ -1572,31 +1572,34 @@
 						<x>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>2e-4</stddev>
-								<bias_mean>0.0000075</bias_mean>
-								<bias_stddev>0.0000008</bias_stddev>
-								<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-								<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+								<stddev>0.009</stddev>
+								<bias_mean>0.00075</bias_mean>
+								<bias_stddev>0.005</bias_stddev>
+								<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+								<precision>0.00025</precision>
 							</noise>
 						</x>
 						<y>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>2e-4</stddev>
-								<bias_mean>0.0000075</bias_mean>
-								<bias_stddev>0.0000008</bias_stddev>
-								<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-								<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+								<stddev>0.009</stddev>
+								<bias_mean>0.00075</bias_mean>
+								<bias_stddev>0.005</bias_stddev>
+								<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+								<precision>0.00025</precision>
 							</noise>
 						</y>
 						<z>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>2e-4</stddev>
-								<bias_mean>0.0000075</bias_mean>
-								<bias_stddev>0.0000008</bias_stddev>
-								<dynamic_bias_stddev>0.0000004</dynamic_bias_stddev>
-								<dynamic_bias_correlation_time>1000.0</dynamic_bias_correlation_time>
+								<stddev>0.009</stddev>
+								<bias_mean>0.00075</bias_mean>
+								<bias_stddev>0.005</bias_stddev>
+								<dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
+								<precision>0.00025</precision>
 							</noise>
 						</z>
 					</angular_velocity>
@@ -1604,31 +1607,34 @@
 						<x>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>1e-2</stddev>
-								<bias_mean>0.1</bias_mean>
-								<bias_stddev>0.001</bias_stddev>
-								<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-								<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+								<stddev>0.021</stddev>
+								<bias_mean>0.05</bias_mean>
+								<bias_stddev>0.0075</bias_stddev>
+								<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+								<precision>0.005</precision>
 							</noise>
 						</x>
 						<y>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>1e-2</stddev>
-								<bias_mean>0.1</bias_mean>
-								<bias_stddev>0.001</bias_stddev>
-								<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-								<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+								<stddev>0.021</stddev>
+								<bias_mean>0.05</bias_mean>
+								<bias_stddev>0.0075</bias_stddev>
+								<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+								<precision>0.005</precision>
 							</noise>
 						</y>
 						<z>
 							<noise type="gaussian">
 								<mean>0</mean>
-								<stddev>1e-2</stddev>
-								<bias_mean>0.1</bias_mean>
-								<bias_stddev>0.001</bias_stddev>
-								<dynamic_bias_stddev>0.002</dynamic_bias_stddev>
-								<dynamic_bias_correlation_time>300.0</dynamic_bias_correlation_time>
+								<stddev>0.021</stddev>
+								<bias_mean>0.05</bias_mean>
+								<bias_stddev>0.0075</bias_stddev>
+								<dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+								<dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
+								<precision>0.005</precision>
 							</noise>
 						</z>
 					</linear_acceleration>

From a325360cd0b4fa857bc39fa02045cb79d14102e7 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Sun, 4 Apr 2021 22:52:56 +0200
Subject: [PATCH 2/3] Absolem: Sync Xacro: Re-generate model.sdf using
 libsdformat 8.9.1 .

This commit makes no real change to the geometry of the model, it just represents some numbers and rotations differently.
---
 .../model.sdf                                 | 164 +++++++++---------
 .../scripts/update_robot_sdf                  |   6 +-
 2 files changed, 87 insertions(+), 83 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 795fd5d6..6e67f63c 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -79,7 +79,7 @@
         </geometry>
       </collision>
       <collision name="base_link_fixed_joint_lump__antenna_collision_8">
-        <pose>-0.39064 0.0789 0.1551 3.1415926535897931 1.5707963267948966 3.1415926535897931</pose>
+        <pose>-0.39064 0.0789 0.1551 0 1.5707963267948966 0</pose>
         <geometry>
           <cylinder>
             <length>0.03718</length>
@@ -235,7 +235,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__imu_visual_3">
-        <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
+        <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -341,7 +341,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_2_visual_16">
-        <pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56975</pose>
+        <pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56974</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -349,7 +349,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_2_sim_visual_17">
-        <pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56975</pose>
+        <pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56974</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -397,7 +397,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_5_sim_visual_23">
-        <pose>0.024083 -0.058382 0.376328 3.1415926535897931 -1.5707963267948966 0.945143</pose>
+        <pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
         <geometry>
           <box>
             <size>0.005 0.005 0.005</size>
@@ -474,7 +474,7 @@
         </geometry>
       </visual>
       <visual name="base_link_fixed_joint_lump__camera_link_visual_32">
-        <pose>0.133719 -0.010853 0.422031 2.07031 -0.013168 1.56329</pose>
+        <pose>0.133719 -0.010853 0.422031 2.07031 -0.013167 1.56329</pose>
         <geometry>
           <mesh>
             <uri>meshes/realsense_d435.dae</uri>
@@ -639,77 +639,77 @@
         <always_on>1</always_on>
         <update_rate>50</update_rate>
         <imu>
-                    <angular_velocity>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.009</stddev>
-                                <bias_mean>0.00075</bias_mean>
-                                <bias_stddev>0.005</bias_stddev>
-                                <dynamic_bias_stddev>0.00002</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>400.0</dynamic_bias_correlation_time>
-                                <precision>0.00025</precision>
-                            </noise>
-                        </z>
-                    </angular_velocity>
-                    <linear_acceleration>
-                        <x>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </x>
-                        <y>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </y>
-                        <z>
-                            <noise type="gaussian">
-                                <mean>0</mean>
-                                <stddev>0.021</stddev>
-                                <bias_mean>0.05</bias_mean>
-                                <bias_stddev>0.0075</bias_stddev>
-                                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
-                                <dynamic_bias_correlation_time>175.0</dynamic_bias_correlation_time>
-                                <precision>0.005</precision>
-                            </noise>
-                        </z>
-                    </linear_acceleration>
-                </imu>
+          <angular_velocity>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.009</stddev>
+                <bias_mean>0.00075</bias_mean>
+                <bias_stddev>0.005</bias_stddev>
+                <dynamic_bias_stddev>2e-05</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>400</dynamic_bias_correlation_time>
+                <precision>0.00025</precision>
+              </noise>
+            </z>
+          </angular_velocity>
+          <linear_acceleration>
+            <x>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </x>
+            <y>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </y>
+            <z>
+              <noise type="gaussian">
+                <mean>0</mean>
+                <stddev>0.021</stddev>
+                <bias_mean>0.05</bias_mean>
+                <bias_stddev>0.0075</bias_stddev>
+                <dynamic_bias_stddev>0.000375</dynamic_bias_stddev>
+                <dynamic_bias_correlation_time>175</dynamic_bias_correlation_time>
+                <precision>0.005</precision>
+              </noise>
+            </z>
+          </linear_acceleration>
+        </imu>
         <pose>0 0 0.15 -3.1415926535897931 -0 0</pose>
       </sensor>
       <sensor name="omnicam_sensor0" type="camera">
@@ -996,7 +996,7 @@
       </sensor>
     </link>
     <link name="laser">
-      <pose>0.2502 0 0.1407 -3.1415926535897931 -0 0</pose>
+      <pose>0.2502 0 0.1407 -3.1415926535897931 0 0</pose>
       <inertial>
         <pose>0 0 -0.04 0 -0 0</pose>
         <mass>1.1</mass>
@@ -1179,7 +1179,7 @@
         </surface>
       </collision>
       <visual name="front_left_flipper_visual">
-        <pose>0 0 0 -2.95744 0 1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
@@ -1986,7 +1986,7 @@
         </surface>
       </collision>
       <visual name="rear_left_flipper_visual">
-        <pose>0 0 0 -2.95744 0 1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
@@ -2408,7 +2408,7 @@
         </surface>
       </collision>
       <visual name="front_right_flipper_visual">
-        <pose>0 0 0 -2.95744 -0 -1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
@@ -2759,7 +2759,7 @@
         </surface>
       </collision>
       <visual name="rear_right_flipper_visual">
-        <pose>0 0 0 -2.95744 -0 -1.5707963267948966</pose>
+        <pose>0 0 0 -2.95743 -0 -1.5707963267948966</pose>
         <geometry>
           <mesh>
             <uri>meshes/flipper.dae</uri>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf
index 1af4597a..b653f31b 100755
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/scripts/update_robot_sdf
@@ -7,8 +7,12 @@ MODEL_DIR="${DIR}/.."
 source "${MODEL_DIR}/config/common.sh"
 source "${MODEL_DIR}/config/sdf.sh"
 
+sdf8_version="$(ign sdf --versions | grep '^8')" || true
+[ -z "$sdf8_version" ] && echo "libsdformat8 not found. It is required to update this robot's SDF. Please install libsdformat8-dev and try again." >&2 && exit 1
+echo "Found libsdformat ${sdf8_version}" >&2
+
 rosrun xacro xacro "${MODEL_DIR}/urdf/nifti_robot.xacro" ${config} > "${MODEL_DIR}/nifti_robot.sdf.urdf"
-ign sdf -p "${MODEL_DIR}/nifti_robot.sdf.urdf" | "${DIR}/high_precision_constants.py" - > "${MODEL_DIR}/model.sdf"
+ign sdf --force-version "$sdf8_version" -p "${MODEL_DIR}/nifti_robot.sdf.urdf" | "${DIR}/high_precision_constants.py" - > "${MODEL_DIR}/model.sdf"
 sed -i -e 's#model://ctu_cras_norlab_absolem_sensor_config_1/##g' \
   -e '/<surface>/{:a;N;/<\/surface>/!ba};/<surface>\n\s*<contact>\n\s*<ode\/>\n\s*<\/contact>\n\s*<friction>\n\s*<ode\/>\n\s*<\/friction>\n\s*<\/surface>/d' \
   -e '/<pose>\(-\?0 \?\)\{6\}<\/pose>/d' \

From 1654c182ccc94a3cd71a3131cd3d87e4e76f0c50 Mon Sep 17 00:00:00 2001
From: Martin Pecka <peckama2@fel.cvut.cz>
Date: Tue, 30 Mar 2021 13:34:39 +0200
Subject: [PATCH 3/3] Absolem: Removed empty link visuals as they obstructed
 the omnicam and were not good for anything else.

---
 .../model.sdf                                 | 250 +-----------------
 .../urdf/utils.xacro                          |   9 -
 2 files changed, 9 insertions(+), 250 deletions(-)

diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
index 6e67f63c..8d310c36 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/model.sdf
@@ -234,23 +234,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__imu_visual_3">
-        <pose>0 0 0.15 -3.1415926535897931 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__laser_base_visual_4">
-        <pose>0.2502 0 0.1407 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__jetson_visual_5">
+      <visual name="base_link_fixed_joint_lump__jetson_visual_3">
         <pose>0.136 0.0435 0.2125 0 -0 0</pose>
         <geometry>
           <box>
@@ -258,7 +242,7 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_6">
+      <visual name="base_link_fixed_joint_lump__rear_sensor_item_visual_4">
         <pose>-0.295 -0.1065 0.36 0 -0 0</pose>
         <geometry>
           <box>
@@ -266,7 +250,7 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__mobilicom_visual_7">
+      <visual name="base_link_fixed_joint_lump__mobilicom_visual_5">
         <pose>-0.275459 -0.078002 0.407765 -1.56579 -0.858407 -7.3e-05</pose>
         <geometry>
           <box>
@@ -274,7 +258,7 @@
           </box>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_8">
+      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_l_visual_6">
         <pose>-0.139117 -0.02338 0.465445 -1.29704 -0.418237 -1.17028</pose>
         <geometry>
           <cylinder>
@@ -283,7 +267,7 @@
           </cylinder>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_9">
+      <visual name="base_link_fixed_joint_lump__mobilicom_antenna_r_visual_7">
         <pose>-0.193116 -0.064558 0.541453 -0.7124 0.007057 -1.5707963267948966</pose>
         <geometry>
           <cylinder>
@@ -292,7 +276,7 @@
           </cylinder>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__top_box_visual_10">
+      <visual name="base_link_fixed_joint_lump__top_box_visual_8">
         <pose>0.022 -0.0557 0.185 0 -0 0</pose>
         <geometry>
           <mesh>
@@ -300,7 +284,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__omnicam_visual_11">
+      <visual name="base_link_fixed_joint_lump__omnicam_visual_9">
         <pose>0.0243 -0.0574 0.3142 0 0 -0.628319</pose>
         <geometry>
           <mesh>
@@ -308,135 +292,7 @@
           </mesh>
         </geometry>
       </visual>
-      <visual name="base_link_fixed_joint_lump__camera_0_visual_12">
-        <pose>0.057346 -0.083518 0.313841 -1.5707963267948966 -0.000784 -2.19802</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_0_sim_visual_13">
-        <pose>0.057346 -0.083518 0.313841 -0.000948 -0.000784 -2.19802</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_1_visual_14">
-        <pose>0.009992 -0.096606 0.314114 -1.57187 0.000853 2.82791</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_1_sim_visual_15">
-        <pose>0.009992 -0.096606 0.314114 -0.001069 0.000853 2.82791</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_2_visual_16">
-        <pose>-0.01735 -0.055429 0.314721 -1.5725 0.00415 1.56974</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_2_sim_visual_17">
-        <pose>-0.01735 -0.055429 0.314721 -0.001705 0.00415 1.56974</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_3_visual_18">
-        <pose>0.012561 -0.017068 0.314417 -1.5707963267948966 0.005611 0.313689</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_3_sim_visual_19">
-        <pose>0.012561 -0.017068 0.314417 -0.000579 0.005611 0.313689</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_4_visual_20">
-        <pose>0.058951 -0.03438 0.313899 -1.58161 0.001034 -0.943109</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_4_sim_visual_21">
-        <pose>0.058951 -0.03438 0.313899 -0.010815 0.001034 -0.943109</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_5_visual_22">
-        <pose>0.024083 -0.058382 0.376328 0.003778 0.000786 -2.20023</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_5_sim_visual_23">
-        <pose>0.024083 -0.058382 0.376328 -2.19645 -1.5707963267948966 0</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__omnicam_forward_visual_24">
-        <pose>0.0243 -0.0574 0.3142 0 0 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__omnicam_bottom_visual_25">
-        <pose>0.0243 -0.0574 0.2482 0 0 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__omnicam_top_visual_26">
-        <pose>0.0243 -0.0574 0.3882 0 0 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__omnicam_sensor_mount_visual_27">
-        <pose>0.0243 -0.0574 0.3882 0 0 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__realsense_holder_part2_visual_28">
+      <visual name="base_link_fixed_joint_lump__realsense_holder_part2_visual_10">
         <pose>0.088136 -0.07392 0.386942 -5e-06 -0.002418 1.57486</pose>
         <geometry>
           <mesh>
@@ -449,31 +305,7 @@
           <ambient>0.1 0.1 0.1 1</ambient>
         </material>
       </visual>
-      <visual name="base_link_fixed_joint_lump__camera_back_mounting_plane_visual_29">
-        <pose>0.115312 -0.018929 0.4382 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_tripod_screw_link_visual_30">
-        <pose>0.119362 -0.010781 0.424738 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_bottom_screw_frame_visual_31">
-        <pose>0.119362 -0.010781 0.424738 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_link_visual_32">
+      <visual name="base_link_fixed_joint_lump__camera_link_visual_11">
         <pose>0.133719 -0.010853 0.422031 2.07031 -0.013167 1.56329</pose>
         <geometry>
           <mesh>
@@ -485,70 +317,6 @@
           <ambient>0.1 0.1 0.1 1</ambient>
         </material>
       </visual>
-      <visual name="base_link_fixed_joint_lump__camera_depth_frame_visual_33">
-        <pose>0.125479 0.006527 0.435941 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_color_frame_visual_34">
-        <pose>0.125592 0.021526 0.436138 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_color_optical_frame_visual_35">
-        <pose>0.125592 0.021526 0.436138 -2.07031 0.013167 -1.5783</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_depth_optical_frame_visual_36">
-        <pose>0.125479 0.006527 0.435941 -2.07031 0.013167 -1.5783</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_left_ir_frame_visual_37">
-        <pose>0.125479 0.006527 0.435941 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_left_ir_optical_frame_visual_38">
-        <pose>0.125479 0.006527 0.435941 -2.07031 0.013167 -1.5783</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_right_ir_frame_visual_39">
-        <pose>0.125104 -0.043467 0.435282 0.015 0.499467 -0.000319</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
-      <visual name="base_link_fixed_joint_lump__camera_right_ir_optical_frame_visual_40">
-        <pose>0.125104 -0.043467 0.435282 -2.07031 0.013167 -1.5783</pose>
-        <geometry>
-          <box>
-            <size>0.005 0.005 0.005</size>
-          </box>
-        </geometry>
-      </visual>
       <light name="light_left" type="spot">
         <pose>0 0.13 0.2 1.5707963267948966 1.5707963267948966 0</pose>
         <attenuation>
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
index 0c92dc2b..aa68a0de 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/utils.xacro
@@ -49,15 +49,6 @@
 
     <xacro:macro name="empty_link" params="name">
         <link name="${name}">
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <box size="0.005 0.005 0.005"/>
-                </geometry>
-                <material name="invisible_color">
-                    <color rgba="1 0 0 0.5"/>
-                </material>
-            </visual>
             <xacro:default_inertial />
         </link>
     </xacro:macro>