diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/.gitignore b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/.gitignore
new file mode 100644
index 00000000..811af414
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/.gitignore
@@ -0,0 +1,3 @@
+model.sdf.urdf
+meshes/*.blend
+meshes/*.blend1
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/CMakeLists.txt b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/CMakeLists.txt
new file mode 100644
index 00000000..dc278a84
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/CMakeLists.txt
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.10)
+project(ctu_cras_norlab_balloon_sensor_config_1)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch meshes urdf worlds
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(FILES model.sdf model.config
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(PROGRAMS
+  scripts/print_robot_urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts)
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/README.md b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/README.md
new file mode 100644
index 00000000..ded53200
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/README.md
@@ -0,0 +1,21 @@
+# CTU\_CRAS\_NORLAB\_BALLOON\_SENSOR\_CONFIG\_1
+
+This package contains sensor config 1 of CTU-CRAS-Norlab Helium balloon.
+It is a passive robot that is tethered to a UGV via a reel and has one wide-angle
+fisheye camera, 3 lights, battery and a wifi-enabled micro board that is able to send the
+images to the UGV.
+
+The tether length is 15 m.
+
+This robot requires the Buoyancy world plugin for it to actually float. 
+
+The model is connected to the UGVs as other marsupials, but this one should never be detached!
+
+## Model files management
+
+This package follows a different workflow for managing SDF and URDF models of the robot than the suggested one. The only and main source of model data is `urdf/trailer.xacro` file and the files it includes. 
+
+To get the URDF model of the robot, call `scripts/print_robot_urdf` script which prints the robot URDF on stdout. This script is used in `launch/description.launch`.
+
+The SDF model is a regular file committed to this package, but its updates are not
+to be done manually. To change the robot model, make changes in the Xacro, and then run script `scripts/update_robot_sdf`, which updates the `model.sdf` file in this repo. The change can then be commited.
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/description.launch b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/description.launch
new file mode 100644
index 00000000..15503c18
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/description.launch
@@ -0,0 +1,6 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="name" doc="Name of Vehicle"/>
+  <param name="$(arg name)/robot_description" command="$(dirname)/../scripts/print_robot_urdf name:=$(arg name)" />
+</launch>
+
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/example.ign b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/example.ign
new file mode 100644
index 00000000..ae81ba0f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/example.ign
@@ -0,0 +1,195 @@
+<?xml version="1.0"?>
+<!-- Usage: ign launch path/to/example.ign robotName:=<X1>
+
+   Parameters:
+    robotName: Name to be assigned to model
+-->
+
+<%
+  #require_relative 'spawner'
+  _base_dir = defined?(base_dir) ? base_dir.tr('"', '') : File.realpath(File.join(File.dirname(__FILE__), ".."))
+  load File.join(_base_dir, "launch", "spawner.rb")
+
+  # Modify these as needed
+  $enableGroundTruth = true
+  $headless =  local_variables.include?(:headless) ? :headless : false
+
+%>
+
+<%
+  unless local_variables.include?(:robotName)
+    raise "missing parameters. robotName is a required parameter"
+  end
+
+  # This assumes that this launch file is in a directory below the model
+  modelURI = File.expand_path(_base_dir, File.dirname(__FILE__))
+  $worldName = 'example'
+  worldFile = File.join(File.expand_path("../worlds", File.dirname(__FILE__)), "#{$worldName}.sdf")
+
+%>
+
+<ignition version='1.0'>
+  <env>
+    <name>IGN_GAZEBO_SYSTEM_PLUGIN_PATH</name>
+    <value>$LD_LIBRARY_PATH</value>
+  </env>
+  <env>
+    <name>LC_ALL</name>
+    <value>C</value>
+  </env>
+
+  <!-- Start ROS first. This is a bit hacky for now. -->
+  <!-- Make sure to source /opt/ros/melodic/setup.bash -->
+<% if local_variables.include?(:ros) and ros %>
+  <executable name='ros'>
+    <command>roslaunch subt_ros competition_init.launch world_name:=<%=$worldName%> vehicle_topics:=0 enable_ground_truth:=<%=($enableGroundTruth)?"1":"0"%> robot_names:=<%=robotName%></command>
+  </executable>
+<% end %>
+
+<% if local_variables.include?(:teleop) and teleop %>
+  <executable name='teleop'>
+    <command>roslaunch --wait ctu_cras_norlab_marv_sensor_config_1 teleop.launch</command>
+  </executable>
+<% end %>
+
+  <plugin name="ignition::launch::GazeboServer"
+          filename="libignition-launch-gazebo.so">
+    <world_file><%= worldFile %></world_file>
+    <run>true</run>
+    <levels>false</levels>
+    <record>
+      <enabled>false</enabled>
+    </record>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-physics-system.so"
+            name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-sensors-system.so"
+            name="ignition::gazebo::systems::Sensors">
+            <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-user-commands-system.so"
+            name="ignition::gazebo::systems::UserCommands">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-scene-broadcaster-system.so"
+            name="ignition::gazebo::systems::SceneBroadcaster">
+    </plugin>
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-imu-system.so"
+            name="ignition::gazebo::systems::Imu">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-magnetometer-system.so"
+            name="ignition::gazebo::systems::Magnetometer">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="libignition-gazebo-air-pressure-system.so"
+            name="ignition::gazebo::systems::AirPressure">
+    </plugin>
+
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="ignition-gazebo-buoyancy-system"
+            name="ignition::gazebo::systems::Buoyancy">
+          <uniform_fluid_density>1.2759</uniform_fluid_density> <!-- dry air -->
+    </plugin>
+  </plugin>
+
+  <%if !$headless %>
+  <executable_wrapper>
+    <plugin name="ignition::launch::GazeboGui"
+          filename="libignition-launch-gazebogui.so">
+      <world_name><%= $worldName %></world_name>
+      <window_title>SubT Simulator</window_title>
+      <window_icon><%= ENV['SUBT_IMAGES_PATH'] %>/SubT_logo.svg</window_icon>
+      <plugin filename="GzScene3D" name="3D View">
+        <ignition-gui>
+          <title>3D View</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="string" key="state">docked</property>
+        </ignition-gui>
+
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.2 0.2 0.1</ambient_light>
+        <background_color>0.8 0.8 0.8</background_color>
+        <camera_pose>-6.3 -4.2 3.6 0 0.268 0.304</camera_pose>
+        <service>/world/<%= $worldName %>/scene/info</service>
+        <pose_topic>/world/<%= $worldName %>/pose/info</pose_topic>
+        <scene_topic>/world/<%= $worldName %>/scene/info</scene_topic>
+        <deletion_topic>/world/<%= $worldName %>/scene/deletion</deletion_topic>
+      </plugin>
+      <plugin filename="WorldControl" name="World control">
+        <ignition-gui>
+          <title>World control</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">72</property>
+          <property type="double" key="width">121</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="left" target="left"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <play_pause>true</play_pause>
+        <step>true</step>
+        <start_paused>false</start_paused>
+        <service>/world/<%= $worldName %>/control</service>
+        <stats_topic>/world/<%= $worldName %>/stats</stats_topic>
+
+      </plugin>
+
+      <plugin filename="WorldStats" name="World stats">
+        <ignition-gui>
+          <title>World stats</title>
+          <property type="bool" key="showTitleBar">false</property>
+          <property type="bool" key="resizable">false</property>
+          <property type="double" key="height">110</property>
+          <property type="double" key="width">290</property>
+          <property type="double" key="z">1</property>
+
+          <property type="string" key="state">floating</property>
+          <anchors target="3D View">
+            <line own="right" target="right"/>
+            <line own="bottom" target="bottom"/>
+          </anchors>
+        </ignition-gui>
+
+        <sim_time>true</sim_time>
+        <real_time>true</real_time>
+        <real_time_factor>true</real_time_factor>
+        <iterations>true</iterations>
+        <topic>/world/<%= $worldName %>/stats</topic>
+      </plugin>
+    </plugin>
+  </executable_wrapper>
+  <%end%>
+
+<plugin name="ignition::launch::GazeboFactory"
+        filename="libignition-launch-gazebo-factory.so">
+<%= spawner(robotName, modelURI, $worldName, 0, 0, 0.2, 0, 0, 0) %>
+</plugin>
+
+<% if local_variables.include?(:ros) and ros %>
+  <%= rosExecutables(robotName, $worldName) %>
+<% end %>
+ 
+</ignition>
+
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/rviz.rviz b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/rviz.rviz
new file mode 100644
index 00000000..44b61c83
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/rviz.rviz
@@ -0,0 +1,357 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1/Tree1/world1
+        - /TF1/Tree1/world1/example1
+        - /TF1/Tree1/world1/example1/X11
+        - /Fisheye1
+      Splitter Ratio: 0.6529411673545837
+    Tree Height: 434
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Camera 0
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        X1/ball_j_x:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/ball_j_y:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/balloon:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        X1/camera_0:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/camera_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        X1/string:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        X1:
+          Value: true
+        X1/ball_j_x:
+          Value: true
+        X1/ball_j_y:
+          Value: true
+        X1/balloon:
+          Value: true
+        X1/base_link:
+          Value: true
+        X1/camera:
+          Value: true
+        X1/camera_0:
+          Value: true
+        X1/camera_0/camera:
+          Value: true
+        X1/camera_0/camera_optical:
+          Value: true
+        X1/camera_1:
+          Value: true
+        X1/camera_1/camera:
+          Value: true
+        X1/camera_1/camera_optical:
+          Value: true
+        X1/camera_2:
+          Value: true
+        X1/camera_2/camera:
+          Value: true
+        X1/camera_2/camera_optical:
+          Value: true
+        X1/camera_3:
+          Value: true
+        X1/camera_3/camera:
+          Value: true
+        X1/camera_3/camera_optical:
+          Value: true
+        X1/camera_4:
+          Value: true
+        X1/camera_4/camera:
+          Value: true
+        X1/camera_4/camera_optical:
+          Value: true
+        X1/string:
+          Value: true
+        example:
+          Value: true
+        world:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        world:
+          example:
+            X1:
+              X1/ball_j_x:
+                {}
+              X1/ball_j_y:
+                {}
+              X1/balloon:
+                {}
+              X1/base_link:
+                {}
+              X1/camera:
+                {}
+              X1/camera_0:
+                X1/camera_0/camera:
+                  X1/camera_0/camera_optical:
+                    {}
+              X1/camera_1:
+                X1/camera_1/camera:
+                  X1/camera_1/camera_optical:
+                    {}
+              X1/camera_2:
+                X1/camera_2/camera:
+                  X1/camera_2/camera_optical:
+                    {}
+              X1/camera_3:
+                X1/camera_3/camera:
+                  X1/camera_3/camera_optical:
+                    {}
+              X1/camera_4:
+                X1/camera_4/camera:
+                  X1/camera_4/camera_optical:
+                    {}
+              X1/string:
+                {}
+      Update Interval: 0
+      Value: true
+    - Class: rviz/Group
+      Displays:
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: fisheye/camera_0/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera 0
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: fisheye/camera_1/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera 1
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: fisheye/camera_2/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera 2
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: fisheye/camera_3/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera 3
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+        - Class: rviz/Image
+          Enabled: true
+          Image Topic: fisheye/camera_4/image_raw
+          Max Value: 1
+          Median window: 5
+          Min Value: 0
+          Name: Camera 4
+          Normalize Range: true
+          Queue Size: 2
+          Transport Hint: raw
+          Unreliable: false
+          Value: true
+      Enabled: true
+      Name: Fisheye
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: X1
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 15.024421691894531
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.36556363105773926
+        Y: -1.3404453992843628
+        Z: 1.7463157176971436
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7053980827331543
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.455397367477417
+    Saved: ~
+Window Geometry:
+  Camera 0:
+    collapsed: false
+  Camera 1:
+    collapsed: false
+  Camera 2:
+    collapsed: false
+  Camera 3:
+    collapsed: false
+  Camera 4:
+    collapsed: false
+  Displays:
+    collapsed: false
+  Height: 1052
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000023dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000023d000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000023dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000023d000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000017ffc0100000007fb0000001000430061006d0065007200610020003001000000000000016f0000007400fffffffb0000001000430061006d0065007200610020003101000001750000017b0000007400fffffffb0000001000430061006d0065007200610020003201000002f6000001760000007400fffffffb0000001000430061006d0065007200610020003301000004720000016f0000007400fffffffb0000001000430061006d0065007200610020003401000005e7000001560000007400fffffffb0000000800540069006d0065000000015c000005e1000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004cc0000023d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1853
+  X: 67
+  Y: 28
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/spawner.rb b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/spawner.rb
new file mode 100644
index 00000000..8aaad357
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/spawner.rb
@@ -0,0 +1,58 @@
+def spawner(_name, _modelURI, _worldName, _x, _y, _z, _roll, _pitch, _yaw)
+  <<-HEREDOC
+  <spawn name='#{_name}'>
+    <name>#{_name}</name>
+    <allow_renaming>false</allow_renaming>
+    <pose>#{_x} #{_y} #{_z + 0.5} #{_roll} #{_pitch} #{_yaw}</pose>
+    <world>#{_worldName}</world>
+    <is_performer>true</is_performer>
+    <sdf version='1.6'>
+    <include>
+      <name>#{_name}</name>
+      <uri>#{_modelURI}</uri>
+      <!-- Publish robot state information -->
+      <plugin filename="libignition-gazebo-pose-publisher-system.so"
+        name="ignition::gazebo::systems::PosePublisher">
+        <publish_link_pose>true</publish_link_pose>
+        <publish_sensor_pose>true</publish_sensor_pose>
+        <publish_collision_pose>false</publish_collision_pose>
+        <publish_visual_pose>false</publish_visual_pose>
+        <publish_nested_model_pose>#{$enableGroundTruth}</publish_nested_model_pose>
+        <use_pose_vector_msg>true</use_pose_vector_msg>
+        <static_publisher>true</static_publisher>
+        <static_update_frequency>1</static_update_frequency>
+      </plugin>
+      <!-- Battery plugin -->
+      <plugin filename="libignition-gazebo-linearbatteryplugin-system.so"
+        name="ignition::gazebo::systems::LinearBatteryPlugin">
+        <battery_name>linear_battery</battery_name>
+        <voltage>12.694</voltage>
+        <open_circuit_voltage_constant_coef>12.694</open_circuit_voltage_constant_coef>
+        <open_circuit_voltage_linear_coef>-3.1424</open_circuit_voltage_linear_coef>
+        <initial_charge>78.4</initial_charge>
+        <capacity>78.4</capacity>
+        <resistance>0.061523</resistance>
+        <smooth_current_tau>1.9499</smooth_current_tau>
+        <power_load>4.95</power_load>
+        <start_on_motion>true</start_on_motion>
+      </plugin>
+      <plugin filename="ignition-gazebo-joint-controller-system"
+          name="ignition::gazebo::systems::JointController">
+        <joint_name>string_prismatic_j</joint_name>
+      </plugin>
+    </include>
+    </sdf>
+  </spawn>
+  HEREDOC
+end
+
+def rosExecutables(_name, _worldName)
+  <<-HEREDOC
+  <executable name='topics'>
+    <command>roslaunch --wait ctu_cras_norlab_balloon_sensor_config_1 vehicle_topics.launch world_name:=#{_worldName} name:=#{_name}</command>
+  </executable>
+  <executable name='description'>
+    <command>roslaunch --wait ctu_cras_norlab_balloon_sensor_config_1 description.launch name:=#{_name}</command>
+  </executable>
+  HEREDOC
+end
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/vehicle_topics.launch b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/vehicle_topics.launch
new file mode 100644
index 00000000..e6012a5c
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/vehicle_topics.launch
@@ -0,0 +1,90 @@
+<?xml version="1.0"?>
+<launch>
+  <env name="IGN_TRANSPORT_TOPIC_STATISTICS" value="1"/>
+
+  <arg name="world_name"/>
+  <arg name="name"/>
+
+  <arg name="link_prefix" value="/world/$(arg world_name)/model/$(arg name)/link"/>
+
+  <!-- This is a passive vehicle without any sensors. -->
+
+  <group ns="$(arg name)">
+
+    <!-- We do not want to provide transform base_link->balloon or to cameras, so we delete the TF -->
+    <group>
+      <remap from="/tf" to="/tf_old" />
+      <remap from="/tf_static" to="/tf_static_old" />
+      <include file="$(find subt_ros)/launch/models_common/all_robots.launch">
+        <arg name="name" value="$(arg name)" />
+        <arg name="world_name" value="$(arg world_name)" />
+      </include>
+    </group>
+    <node name="tf_remapper" pkg="tf_remapper_cpp" type="tf_remap" output="screen">
+      <rosparam param="mappings" subst_value="true">
+        [
+          {old: $(arg name)/balloon},
+        ]
+      </rosparam>
+    </node>
+    <node name="tf_remapper_static" pkg="tf_remapper_cpp" type="tf_remap">
+      <rosparam param="mappings" subst_value="true">
+        [
+          {old: $(arg name)/camera},
+          {old: $(arg name)/camera_0},
+          {old: $(arg name)/camera_1},
+          {old: $(arg name)/camera_2},
+          {old: $(arg name)/camera_3},
+          {old: $(arg name)/camera_4},
+        ]
+      </rosparam>
+      <param name="old_tf_topic_name" value="/tf_static_old" />
+      <param name="new_tf_topic_name" value="/tf_static" />
+      <param name="static_tf" value="true" />
+    </node>
+
+    <!-- reel control -->
+
+    <node pkg="ros_ign_bridge" type="parameter_bridge" respawn="true"
+          name="ros_ign_bridge_reel"
+          args="/model/$(arg name)/joint/string_prismatic_j/cmd_vel@std_msgs/Float64]ignition.msgs.Double">
+      <remap from="/model/$(arg name)/joint/string_prismatic_j/cmd_vel" to="reel_cmd_vel"/>
+    </node>
+
+    <!-- just a convenience to be able to control the reel on a gamepad via subt_example teleop pretending it is a flipper -->
+    <node name="ros_ign_bridge_reel_convenience" pkg="topic_tools" type="relay" args="flippers_cmd_vel/front_left reel_cmd_vel" respawn="true"/>
+
+    <!-- cameras -->
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="fisheye_0" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/camera_0/sensor/camera" />
+      <arg name="ros_topic" value="fisheye/camera_0" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="fisheye_1" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/camera_1/sensor/camera" />
+      <arg name="ros_topic" value="fisheye/camera_1" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="fisheye_2" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/camera_2/sensor/camera" />
+      <arg name="ros_topic" value="fisheye/camera_2" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="fisheye_3" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/camera_3/sensor/camera" />
+      <arg name="ros_topic" value="fisheye/camera_3" />
+    </include>
+
+    <include file="$(find subt_ros)/launch/models_common/rgb_camera.launch">
+      <arg name="node_name_suffix" value="fisheye_4" />
+      <arg name="gazebo_topic" value="$(arg link_prefix)/camera_4/sensor/camera" />
+      <arg name="ros_topic" value="fisheye/camera_4" />
+    </include>
+  </group>
+  
+</launch>
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.dae b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.dae
new file mode 100644
index 00000000..1ebba0ca
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.dae
@@ -0,0 +1,115 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.92.0 commit date:2021-02-24, commit time:16:25, hash:02948a2cab44</authoring_tool>
+    </contributor>
+    <created>2021-04-01T09:05:49</created>
+    <modified>2021-04-01T09:05:49</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="Untitled-surface">
+          <surface type="2D">
+            <init_from>Untitled</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="Untitled-sampler">
+          <sampler2D>
+            <source>Untitled-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="Untitled-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="Untitled" name="Untitled">
+      <init_from>apriltag_texture.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cube_001-mesh" name="Cube.001">
+      <mesh>
+        <source id="Cube_001-mesh-positions">
+          <float_array id="Cube_001-mesh-positions-array" count="24">-0.07499992 -0.07499992 -0.007499992 -0.07499992 -0.07499992 0.007499992 -0.07499992 0.07499992 -0.007499992 -0.07499992 0.07499992 0.007499992 0.07499992 -0.07499992 -0.007499992 0.07499992 -0.07499992 0.007499992 0.07499992 0.07499992 -0.007499992 0.07499992 0.07499992 0.007499992</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-positions-array" count="8" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-normals">
+          <float_array id="Cube_001-mesh-normals-array" count="18">-1 0 0 0 1 0 1 0 0 0 -1 0 0 0 -1 0 0 1</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-normals-array" count="6" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <source id="Cube_001-mesh-map-0">
+          <float_array id="Cube_001-mesh-map-0-array" count="72">0.9477108 0.7002814 0.8945312 0.753461 0.8945312 0.7002814 0.9477108 0.753461 0.8945312 0.8066406 0.8945312 0.753461 0.9477108 0.8066406 0.8945312 0.8598203 0.8945312 0.8066406 0.9477108 0.8598203 0.8945312 0.9129999 0.8945312 0.8598203 0.8945312 0.8066406 0.8413516 0.8598203 0.8413516 0.8066406 0.7521957 0.2614762 0.009523153 1.004149 0.009523153 0.2614762 0.9477108 0.7002814 0.9477108 0.753461 0.8945312 0.753461 0.9477108 0.753461 0.9477108 0.8066406 0.8945312 0.8066406 0.9477108 0.8066406 0.9477108 0.8598203 0.8945312 0.8598203 0.9477108 0.8598203 0.9477108 0.9129999 0.8945312 0.9129999 0.8945312 0.8066406 0.8945312 0.8598203 0.8413516 0.8598203 0.7521957 0.2614762 0.7521957 1.004149 0.009523153 1.004149</float_array>
+          <technique_common>
+            <accessor source="#Cube_001-mesh-map-0-array" count="36" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cube_001-mesh-vertices">
+          <input semantic="POSITION" source="#Cube_001-mesh-positions"/>
+        </vertices>
+        <triangles material="Material_001-material" count="12">
+          <input semantic="VERTEX" source="#Cube_001-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cube_001-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cube_001-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 6 1 4 2 1 5 7 2 6 4 2 7 6 2 8 5 3 9 0 3 10 4 3 11 6 4 12 0 4 13 2 4 14 3 5 15 5 5 16 7 5 17 1 0 18 3 0 19 2 0 20 3 1 21 7 1 22 6 1 23 7 2 24 5 2 25 4 2 26 5 3 27 1 3 28 0 3 29 6 4 30 4 4 31 0 4 32 3 5 33 1 5 34 5 5 35</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="Cube" name="Cube" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#Cube_001-mesh" name="Cube">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.png b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.png
new file mode 100644
index 00000000..33f9fb90
Binary files /dev/null and b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.png differ
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag_texture.png b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag_texture.png
new file mode 100644
index 00000000..dad0e730
Binary files /dev/null and b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag_texture.png differ
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/model.config b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/model.config
new file mode 100644
index 00000000..18282052
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/model.config
@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<model>
+  <name>ctu_cras_norlab_balloon_sensor_config_1</name>
+  <sdf version="1.7">model.sdf</sdf>
+  <description>
+    CTU-CRAS-Norlab exploration Helium balloon.
+  </description>
+</model>
+
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/model.sdf b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/model.sdf
new file mode 100644
index 00000000..f029f20f
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/model.sdf
@@ -0,0 +1,631 @@
+<?xml version='1.0' encoding='utf-8'?>
+<sdf version="1.6">
  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!
  It was generated by script update_robot_sdf and is based on urdf/trailer.xacro source file.
  Do all modifications there and then run the update script to regenerate the SDF. -->
+  <model name="ctu_cras_norlab_balloon_sensor_config_1">
+    <link name="base_link">
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1.66667e-10</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-10</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-10</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <link name="reel">
+      <pose>-0.05 0 -0.35 0 -0 0</pose>
+      <inertial>
+        <mass>1</mass>
+        <inertia>
+          <ixx>1.66667e-07</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-07</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-07</izz>
+        </inertia>
+      </inertial>
+      <collision name="reel_collision">
+        <pose>0 0 0 -1.5707963267948966 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.15</length>
+            <radius>0.07</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="reel_visual">
+        <pose>0 0 0 -1.5707963267948966 1.5707963267948966 0</pose>
+        <geometry>
+          <cylinder>
+            <length>0.15</length>
+            <radius>0.07</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <visual name="reel_visual_1">
+        <pose>0.03 0 0.08 0 -0 0</pose>
+        <geometry>
+          <mesh>
+            <scale>2 2 1</scale>
+            <uri>meshes/apriltag.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+    <joint name="intermediate_j" type="fixed">
+      <child>reel</child>
+      <parent>base_link</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="ball_j_x">
+      <pose>-0.05 0 -0.35 0 -0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1.66667e-10</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-10</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-10</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="ball_j_x_j" type="revolute">
+      <child>ball_j_x</child>
+      <parent>reel</parent>
+      <axis>
+        <xyz>1 0 0</xyz>
+        <limit>
+          <lower>-0.3</lower>
+          <upper>0.3</upper>
+          <effort>1</effort>
+          <velocity>1</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0.05</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="ball_j_y">
+      <pose>-0.05 0 -0.35 0 -0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1.66667e-10</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-10</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-10</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="ball_j_y_j" type="revolute">
+      <child>ball_j_y</child>
+      <parent>ball_j_x</parent>
+      <axis>
+        <xyz>0 1 0</xyz>
+        <limit>
+          <lower>-0.3</lower>
+          <upper>0.3</upper>
+          <effort>1</effort>
+          <velocity>1</velocity>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0.05</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="string">
+      <pose>-0.05 0 -0.35 0 -0 0</pose>
+      <inertial>
+        <mass>0.001</mass>
+        <inertia>
+          <ixx>1.66667e-10</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-10</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-10</izz>
+        </inertia>
+      </inertial>
+    </link>
+    <joint name="ball_j_z_j" type="revolute">
+      <child>string</child>
+      <parent>ball_j_y</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+        <dynamics>
+          <damping>0</damping>
+          <friction>0.05</friction>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="balloon">
+      <pose>-0.05 0 0.115 0 -0 0</pose>
+      <inertial>
+        <mass>0.05</mass>
+        <inertia>
+          <ixx>0.0014045</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>0.0014045</iyy>
+          <iyz>0</iyz>
+          <izz>0.0014045</izz>
+        </inertia>
+      </inertial>
+      <collision name="balloon_collision">
+        <geometry>
+          <sphere>
+            <radius>0.265</radius>
+          </sphere>
+        </geometry>
+      </collision>
+      <visual name="balloon_visual">
+        <geometry>
+          <sphere>
+            <radius>0.265</radius>
+          </sphere>
+        </geometry>
+        <material>
+          <ambient>0 0 0 0</ambient>
+          <diffuse>0.8 0.8 0.8 1</diffuse>
+          <specular>1 1 1 0.5</specular>
+          <emissive>1 1 1 0.1</emissive>
+        </material>
+      </visual>
+    </link>
+    <joint name="string_prismatic_j" type="prismatic">
+      <child>balloon</child>
+      <parent>string</parent>
+      <axis>
+        <xyz>0 0 1</xyz>
+        <limit>
+          <lower>0</lower>
+          <upper>15</upper>
+          <effort>1</effort>
+          <velocity>0.5</velocity>
+        </limit>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <use_parent_model_frame>0</use_parent_model_frame>
+      </axis>
+    </joint>
+    <link name="camera">
+      <pose>-0.05 0 -0.16 -3.1415926535897931 0 0</pose>
+      <inertial>
+        <mass>0.022</mass>
+        <inertia>
+          <ixx>1.08533e-06</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.08533e-06</iyy>
+          <iyz>0</iyz>
+          <izz>7.04e-07</izz>
+        </inertia>
+      </inertial>
+      <collision name="camera_collision">
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+      </collision>
+      <visual name="camera_visual">
+        <geometry>
+          <cylinder>
+            <length>0.02</length>
+            <radius>0.008</radius>
+          </cylinder>
+        </geometry>
+      </visual>
+      <light name="light_0" type="spot">
+        <pose>0.02 0 0 3.1415926535897931 -0.392699 3.1415926535897931</pose>
+        <attenuation>
+          <range>20</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_1" type="spot">
+        <pose>0.02 0 0 3.1415926535897931 -0.392699 -1.0472</pose>
+        <attenuation>
+          <range>20</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+      <light name="light_2" type="spot">
+        <pose>0.02 0 0 3.1415926535897931 -0.392699 1.0472</pose>
+        <attenuation>
+          <range>20</range>
+          <linear>0</linear>
+          <constant>0.1</constant>
+          <quadratic>0.0025</quadratic>
+        </attenuation>
+        <diffuse>0.8 0.8 0.5 1</diffuse>
+        <specular>0.8 0.8 0.5 1</specular>
+        <spot>
+          <inner_angle>1.0472</inner_angle>
+          <outer_angle>1.5708</outer_angle>
+          <falloff>1</falloff>
+        </spot>
+        <direction>0 0 -1</direction>
+      </light>
+    </link>
+    <joint name="camera_j" type="fixed">
+      <child>camera</child>
+      <parent>balloon</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_0">
+      <pose>-0.03 0 -0.16 -3.1415926535897931 0.785398 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>1.66667e-12</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-12</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-12</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <update_rate>3</update_rate>
+        <camera>
+          <horizontal_fov>1.5708</horizontal_fov>
+          <image>
+            <width>800</width>
+            <height>600</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>50</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_0_j" type="fixed">
+      <child>camera_0</child>
+      <parent>camera</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_1">
+      <pose>-0.03 0 -0.16 3.1415926535897931 0.785398 1.5707963267948966</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>1.66667e-12</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-12</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-12</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <update_rate>3</update_rate>
+        <camera>
+          <horizontal_fov>1.5708</horizontal_fov>
+          <image>
+            <width>800</width>
+            <height>600</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>50</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_1_j" type="fixed">
+      <child>camera_1</child>
+      <parent>camera</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_2">
+      <pose>-0.03 0 -0.16 3.1415926535897931 0.785398 3.1415926535897931</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>1.66667e-12</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-12</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-12</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <update_rate>3</update_rate>
+        <camera>
+          <horizontal_fov>1.5708</horizontal_fov>
+          <image>
+            <width>800</width>
+            <height>600</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>50</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_2_j" type="fixed">
+      <child>camera_2</child>
+      <parent>camera</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_3">
+      <pose>-0.03 0 -0.16 -3.1415926535897931 0.785398 -1.5707963267948966</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>1.66667e-12</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-12</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-12</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <update_rate>3</update_rate>
+        <camera>
+          <horizontal_fov>1.5708</horizontal_fov>
+          <image>
+            <width>800</width>
+            <height>600</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>50</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_3_j" type="fixed">
+      <child>camera_3</child>
+      <parent>camera</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+    <link name="camera_4">
+      <pose>-0.03 0 -0.16 3.1415926535897931 1.5707963267948966 0</pose>
+      <inertial>
+        <mass>1e-05</mass>
+        <inertia>
+          <ixx>1.66667e-12</ixx>
+          <ixy>0</ixy>
+          <ixz>0</ixz>
+          <iyy>1.66667e-12</iyy>
+          <iyz>0</iyz>
+          <izz>1.66667e-12</izz>
+        </inertia>
+      </inertial>
+      <sensor name="camera" type="camera">
+        <update_rate>3</update_rate>
+        <camera>
+          <horizontal_fov>1.5708</horizontal_fov>
+          <image>
+            <width>800</width>
+            <height>600</height>
+            <format>R8G8B8</format>
+          </image>
+          <clip>
+            <near>0.05</near>
+            <far>50</far>
+          </clip>
+          <noise>
+            <type>gaussian</type>
+            <mean>0</mean>
+            <stddev>0.007</stddev>
+          </noise>
+        </camera>
+      </sensor>
+    </link>
+    <joint name="camera_4_j" type="fixed">
+      <child>camera_4</child>
+      <parent>camera</parent>
+      <axis>
+        <dynamics>
+          <spring_reference>0</spring_reference>
+          <spring_stiffness>0</spring_stiffness>
+        </dynamics>
+        <xyz>0 0 1</xyz>
+        <use_parent_model_frame>0</use_parent_model_frame>
+        <limit>
+          <lower>-1e+16</lower>
+          <upper>1e+16</upper>
+        </limit>
+      </axis>
+      <physics>
+        <ode>
+          <limit>
+            <cfm>0</cfm>
+            <erp>0.2</erp>
+          </limit>
+        </ode>
+      </physics>
+    </joint>
+  </model>
+</sdf>
+
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/package.xml b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/package.xml
new file mode 100644
index 00000000..bc8e27b4
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>ctu_cras_norlab_balloon_sensor_config_1</name>
+  <version>1.0.0</version>
+  <description>CTU-CRAS-Norlab exploration Helium balloon.</description>
+  <maintainer email="peckama2@fel.cvut.cz">Martin Pecka</maintainer>
+  <author email="peckama2@fel.cvut.cz">Martin Pecka</author>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>roslaunch</exec_depend>
+  <exec_depend>subt_ros</exec_depend>
+  <exec_depend>tf_remapper_cpp</exec_depend>
+  <exec_depend>xacro</exec_depend>
+</package>
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/clean_sdf b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/clean_sdf
new file mode 100755
index 00000000..9ed90a83
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/clean_sdf
@@ -0,0 +1,15 @@
+#!/usr/bin/env bash
+set -e
+
+sed -i \
+  -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' \
+  -e '/<scale>1 1 1<\/scale>/d' \
+  -e '/<angular_velocity\/>/d' \
+  -e '/<linear_acceleration\/>/d' \
+  -e '/<velocity_decay\/>/d' \
+  -e '/<gravity>1<\/gravity>/d' \
+  -e '/<kinematic>0<\/kinematic>/d' \
+  -e '/<static>0<\/static>/d' "$1"
+sed -i '/<contact>/{:a;N;/<\/contact>/!ba};/<contact>\n\s*<ode\/>\n\s*<\/contact>/d' "$1"
+sed -i 's/\(<sdf version[^>]*>\)/\1\r  <!-- CAUTION: This is an autogenerated file, DO NOT EDIT IT!\r  It was generated by script update_robot_sdf and is based on urdf\/trailer.xacro source file.\r  Do all modifications there and then run the update script to regenerate the SDF. -->/g' "$1"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/high_precision_constants.py b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/high_precision_constants.py
new file mode 100755
index 00000000..c216baf7
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/high_precision_constants.py
@@ -0,0 +1,79 @@
+#!/usr/bin/env python
+#
+# Copyright 2019 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from __future__ import print_function
+from lxml import etree
+import math
+import argparse
+import sys
+
+# Values of PI to check. Only put positive values.
+CONSTANTS_TO_CHECK = [math.pi, math.pi/2]
+
+def convert_to_high_precision_pi(urdf_file, tol, precision):
+    """Search all poses for values that are near PI and PI/2 and replace them
+    with their high precision counterparts.
+
+    Parameters
+    ----------
+    urdf_file : Input urdf file
+    tol: Tolerance for equality check
+
+    Returns
+    -------
+    etree.Element
+
+    """
+    inp = etree.parse(urdf_file)
+    sdf = inp.getroot()
+    poses = sdf.xpath('//pose')
+
+    for pose in poses:
+        new_pose_list = []
+        for val in pose.text.split():
+            val_fl = float(val)
+            for check_val in CONSTANTS_TO_CHECK:
+                if abs(abs(val_fl) - check_val) < tol:
+                    new_pose_list.append('{:.{precision}f}'.format(
+                        math.copysign(check_val, val_fl), precision=precision))
+                    break
+            # The else block executes if none of the values in
+            # CONSTANTS_TO_CHECK match val_fl
+            else:
+                new_pose_list.append(val)
+
+        new_pose = ' '.join(new_pose_list)
+        pose.text = new_pose
+    return inp
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(
+        formatter_class=argparse.ArgumentDefaultsHelpFormatter,
+        description='Search all <pose> elements for values that are near PI '
+        'and PI/2 and replace them with their high precision counterparts.')
+    parser.add_argument('infile', type=argparse.FileType('r'),
+                        help='Input URDF file')
+    parser.add_argument('-t', '--tolerance', type=float, default=1e-3,
+                        help='Tolerance for equality checks')
+    parser.add_argument('-p', '--precision', type=float, default=16,
+                        help='Tolerance for equality checks')
+
+    args = parser.parse_args()
+    out = convert_to_high_precision_pi(args.infile, args.tolerance,
+                                       args.precision)
+    print(etree.tostring(out, pretty_print=True, encoding='utf-8',
+                         xml_declaration=True))
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/print_robot_urdf b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/print_robot_urdf
new file mode 100755
index 00000000..512364ec
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/print_robot_urdf
@@ -0,0 +1,8 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+
+echo -e "Rendering URDF of $(basename "$(realpath "$MODEL_DIR")")" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/balloon.xacro" rendering_target:=urdf "$@"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/update_robot_sdf b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/update_robot_sdf
new file mode 100755
index 00000000..f3137a89
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/scripts/update_robot_sdf
@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+set -e
+
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null 2>&1 && pwd )"
+MODEL_DIR="${DIR}/.."
+[ -z "${OUTPUT_FILE}" ] && OUTPUT_FILE="${MODEL_DIR}/model.sdf"
+
+sdf8_version="$(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
+
+echo -e "Rendering Ignition Gazebo SDF of $(basename "$(realpath "$MODEL_DIR")")" >&2
+rosrun xacro xacro "${MODEL_DIR}/urdf/balloon.xacro" rendering_target:=sdf "$@" > "${OUTPUT_FILE}.urdf"
+ign sdf --force-version "$sdf8_version" -p "${OUTPUT_FILE}.urdf" | "${DIR}/high_precision_constants.py" - > "${OUTPUT_FILE}"
+
+"${DIR}/clean_sdf" "${OUTPUT_FILE}"
+# fix resource paths
+sed -i -e 's#model://ctu_cras_norlab_balloon_sensor_config_1/##g' "${OUTPUT_FILE}"
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/specifications.md b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/specifications.md
new file mode 100644
index 00000000..9f275087
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/specifications.md
@@ -0,0 +1,138 @@
+# CTU-CRAS-Norlab Balloon
+This specifications.md file is a description and proof of virtual model validation for the CTU-CRAS-Norlab helium balloon. This model may be launched using an ign launch command with the variable name `CTU_CRAS_NORLAB_BALLOON_SENSOR_CONFIG_1`.
+
+For local testing, you can also use the following command:
+
+    LC_ALL=C ign launch -v 4 ~/subt_ws/src/subt/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/launch/example.ign robotName:=X1 ros:=true
+
+## Description
+This package contains sensor config 1 of CTU-CRAS-Norlab Helium balloon.
+It is a passive robot that is tethered to a UGV via a reel and has one wide-angle
+fisheye camera, 3 lights, battery and a wifi-enabled micro board that is able to send the
+images to the UGV.
+
+The tether length is 15 m.
+
+This robot requires the Buoyancy world plugin for it to actually float.
+
+This robot is only expected to be used as a marsupial child, not standalone. 
+
+The model is connected to the UGVs as other marsupials, but this one should never be detached!
+
+## Usage Instructions
+
+The balloon is tethered on a reel that is controlled by publishing velocity commands 
+of type `std_msgs/Float64` to topic `reel_cmd_vel`. The commands can go from -0.5 to 0.5
+and specify the unreeling of the tether. As the balloon floats, it automatically raises
+when the thether is extended.
+
+Positive commands mean extension of the reel, negative mean pulling the balloon closer
+to the UGV. Zero means no change. 
+
+It is okay to publish -0.5 all the time except the instants when you actually want
+the balloon to go exploring.
+
+## Usage Rights
+No additional restrictions have to be taken into account for this configuration.
+
+## Cost and Scale
+This is a custom-built vehicle.
+
+* Base vehicle: $1 
+* Camera: $35
+* Fisheye lens: $20
+* Battery: $20
+* Other electronics: $10
+* The reeling mechanism: $50
+* Total: ~ $136
+
+The weight of the vehicle is about 50 grams (excluding the reel). The reel has not yet been
+constructed, so we will add details as soon as we have it.
+
+## Sensors
+
+The balloon is equipped with one fisheye RGB camera. As Ignition Gazebo cannot simulate fisheye
+lenses with very wide field of view, we substituted this camera with 5 90° cameras with comparable
+sum of resolutions.
+
+Camera: Arducam mini 2Mpx OV2640 SPI camera shield (22 grams). RGB camera with resolution 1600x1200 px.
+Lens: Arducam 1/4" 1,05mm f/2,0 M12 lens M40105M19, providing 194° horizontal FOV with fisheye projection.
+
+The single camera is simulated by 5 `camera` sensors with resolution 800x600 px and each with horizontal
+FOV of 90°.
+
+## Control
+
+The balloon is tethered on a reel that is controlled by publishing velocity commands
+of type `std_msgs/Float64` to topic `reel_cmd_vel`. The commands can go from -0.5 to 0.5
+and specify the unreeling of the tether. As the balloon floats, it automatically raises
+when the thether is extended.
+
+Positive commands mean extension of the reel, negative mean pulling the balloon closer
+to the UGV. Zero means no change.
+
+It is okay to publish -0.5 all the time except the instants when you actually want
+the balloon to go exploring.
+
+The transformation between the balloon and the reel (`X1`->`X1/balloon`) is explicitly removed from the ROS TF tree. The
+real balloon has no means of localization and has to rely on visual localization using an Apriltag
+that is mounted on the top of the reel mechanism. It is expected that this localization will be done
+by the UGV and not by the balloon as it has almost no computational capabilites onboard.
+
+## Motion characteristics
+
+The balloon floats in opposite direction to gravity and is tied to the marsupial parent via tether.
+The tehter is simulated by a frictionless prismatic joint with stops at 0 and 15 meters. The reel
+can control the position of this prismatic joint by issuing velocity commands.
+
+We did a test with this balloon in real caves in 2020 and we empirically measured that it can lift
+at least 30 g payload and keep floating for much more than 1 hour.
+
+## Endurance Characteristics
+
+This vehicle has not yet been built in whole, so we don't yet know the final endurance. But we aim
+for 60 minutes.
+
+## Diversions from Physical Hardware
+
+The tether is not visualized in any way.
+
+The simulated tether cannot collide with the environment and cannot bend or tie up.
+
+It is actually possible to "push" the balloon by issuing positive velocity commands. That would not
+work in the real world. 
+
+The 194° fisheye camera is simulated by 5 90° cameras.
+
+The real balloon has aluminium surface so it is much more reflective.
+
+The weights of parts of the simulated model do not correspond to reality (they might be up to
+2x higher than the real ones). But these are the numbers that provide solid a stable simulation. If you
+ever see the simulator crashing with NaNs going in and out of ODE, the simulation destabilized too much.
+I saw it a lot when setting up the model, but adding internal friction to the ball joint helped this
+and I haven't seen a crash since correcting the parameters.
+
+The real balloon has no computational hardware and no long-range comms. It is expected that is is just
+a pure sender of images and all processing happens on the UGV. In simulation, participants can utilize
+the full cloud machine that runs this vehicle for computations. The simulated balloon can also serve
+as a relay of wireless messages, but that is no real problem because it should always be close to some UGV,
+so it won't add unrealistic comms coverage.
+
+## Changing parameters of the robot
+
+Look into the Xacro files in `urdf/` folder and change the values there.
+
+After changing a value in these files, run script `scripts/update_robot_sdf` to write the changes to the SDF file.
+
+__Do not change the SDF files directly, as the changes could be lost the next time the update scripts are run.__
+
+## Validation and Specification Links
+* Vehicle Links:
+  * Base vehicle: https://www.balonky.cz/obchod/balonky-3d/foliovy-balonek-stribrna-koule-velka-53-cm-x-53-cm-3910199
+  
+* We think this vehicle does not require validation. But we can provide a video of the
+  balloon going up with a payload of approx. 30 g.
+
+* Specification links:
+  * Arducam mini 2Mpx OV2640 SPI camera shield https://rpishop.cz/kamery/2803-arducam-mini-2mpx-ov2640-spi-kamera-shield.html
+  * Arducam 1/4" 1,05mm f/2,0 M12 lens M40105M19 https://rpishop.cz/objektivy/2923-arducam-14-105mm-f20-m12-objektiv-m40105m19.html
\ No newline at end of file
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diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/urdf/balloon.xacro b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/urdf/balloon.xacro
new file mode 100644
index 00000000..e2a1f400
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/urdf/balloon.xacro
@@ -0,0 +1,201 @@
+<?xml version="1.0" ?>
+<robot name="ctu_cras_norlab_balloon_sensor_config_1" xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:arg name="name" default="" />
+    <xacro:if value="${len('$(arg name)') == 0}">
+        <xacro:arg name="prefix" default="" />
+    </xacro:if>
+    <xacro:unless value="${len('$(arg name)') == 0}">
+        <xacro:arg name="prefix" default="$(arg name)/" />
+    </xacro:unless>
+
+    <xacro:property name="string_length" value="15" />
+    <xacro:property name="radius" value="${0.53/2}" />
+    <xacro:property name="initial_balloon_dist" value="0.2" />
+    <xacro:property name="ball_joint_xy_limit" value="0.3" />
+
+    <xacro:include filename="utils.xacro" />
+
+    <!--
+    This file is the single source of all URDF and SDF models of Trailer. Do not edit those files
+    manually. Update the SDF using scripts/update_robot_sdf. The URDF is generated dynamically
+    when launching the robot.
+    -->
+
+    <!-- The main baloon -->
+
+    <link name="$(arg prefix)balloon">
+        <visual>
+            <geometry>
+                <sphere radius="${radius}" />
+            </geometry>
+            <material name="body_color"><color rgba="0.8 0.8 0.8"/></material>
+        </visual>
+        <collision>
+            <geometry>
+                <sphere radius="${radius}" />
+            </geometry>
+        </collision>
+        <xacro:sphere_inertial mass="0.05" radius="${radius}" />
+    </link>
+    <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+        <gazebo reference="$(arg prefix)balloon">
+            <visual>
+                <material>
+                    <ambient>0 0 0 0</ambient>
+                    <diffuse>0.8 0.8 0.8 1</diffuse>
+                    <specular>1.0 1.0 1.0 0.5</specular>
+                    <emissive>1.0 1.0 1.0 0.1</emissive>
+                </material>
+            </visual>
+        </gazebo>
+    </xacro:unless>
+
+    <xacro:macro name="spot_light" params="name pose">
+        <light name="${name}" type="spot">
+            <pose>${pose}</pose>
+            <attenuation>
+                <range>20</range>
+                <linear>0</linear>
+                <constant>0.1</constant>
+                <quadratic>0.0025</quadratic>
+            </attenuation>
+            <diffuse>0.8 0.8 0.5 1</diffuse>
+            <specular>0.8 0.8 0.5 1</specular>
+            <spot>
+                <inner_angle>${pi/3}</inner_angle>
+                <outer_angle>${pi/2}</outer_angle>
+                <falloff>1</falloff>
+            </spot>
+            <direction>0 0 -1</direction>
+        </light>
+    </xacro:macro>
+
+    <link name="$(arg prefix)camera">
+        <visual>
+            <geometry>
+                <cylinder radius="0.008" length="0.02" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <cylinder radius="0.008" length="0.02" />
+            </geometry>
+        </collision>
+        <xacro:cylinder_inertial mass="0.022" radius="0.008" length="0.02" />
+    </link>
+    <xacro:fixed_joint name="camera_j" parent="$(arg prefix)balloon" child="$(arg prefix)camera" xyz="0 0 ${-radius-0.01}" rpy="${pi} 0 0" />
+
+    <gazebo reference="$(arg prefix)camera">
+        <xacro:spot_light name="light_0" pose="0.02 0 0 0 ${-7*pi/8} 0" />
+        <xacro:spot_light name="light_1" pose="0.02 0 0 0 ${-7*pi/8} ${2*pi/3}" />
+        <xacro:spot_light name="light_2" pose="0.02 0 0 0 ${-7*pi/8} ${4*pi/3}" />
+    </gazebo>
+
+    <xacro:macro name="cam" params="name">
+        <sensor name="${name}" type="camera">
+            <update_rate>3</update_rate>
+            <camera>
+                <horizontal_fov>${radians(90)}</horizontal_fov>
+                <image>
+                    <width>800</width>
+                    <height>600</height>
+                    <format>R8G8B8</format>
+                </image>
+                <clip>
+                    <near>0.05</near>
+                    <far>50</far>
+                </clip>
+                <noise>
+                    <type>gaussian</type>
+                    <mean>0.0</mean>
+                    <stddev>0.007</stddev>
+                </noise>
+            </camera>
+        </sensor>
+    </xacro:macro>
+
+    <xacro:empty_link name="$(arg prefix)camera_0" />
+    <gazebo reference="$(arg prefix)camera_0"><xacro:cam name="camera" /></gazebo>
+    <xacro:fixed_joint name="camera_0_j" parent="$(arg prefix)camera" child="$(arg prefix)camera_0" xyz="0.02 0 0" rpy="0 ${-pi/4} 0" />
+
+    <xacro:empty_link name="$(arg prefix)camera_1" />
+    <gazebo reference="$(arg prefix)camera_1"><xacro:cam name="camera" /></gazebo>
+    <xacro:fixed_joint name="camera_1_j" parent="$(arg prefix)camera" child="$(arg prefix)camera_1" xyz="0.02 0 0" rpy="0 ${-pi/4} ${-pi/2}" />
+
+    <xacro:empty_link name="$(arg prefix)camera_2" />
+    <gazebo reference="$(arg prefix)camera_2"><xacro:cam name="camera" /></gazebo>
+    <xacro:fixed_joint name="camera_2_j" parent="$(arg prefix)camera" child="$(arg prefix)camera_2" xyz="0.02 0 0" rpy="0 ${-pi/4} ${pi}" />
+
+    <xacro:empty_link name="$(arg prefix)camera_3" />
+    <gazebo reference="$(arg prefix)camera_3"><xacro:cam name="camera" /></gazebo>
+    <xacro:fixed_joint name="camera_3_j" parent="$(arg prefix)camera" child="$(arg prefix)camera_3" xyz="0.02 0 0" rpy="0 ${-pi/4} ${pi/2}" />
+
+    <xacro:empty_link name="$(arg prefix)camera_4" />
+    <gazebo reference="$(arg prefix)camera_4"><xacro:cam name="camera" /></gazebo>
+    <xacro:fixed_joint name="camera_4_j" parent="$(arg prefix)camera" child="$(arg prefix)camera_4" xyz="0.02 0 0" rpy="0 ${-pi/2} 0" />
+
+    <!-- Rest of the joint system and reel -->
+
+    <xacro:macro name="ball_joint_part" params="name parent child xyz='0 0 0' rpy='0 0 0' axis lim:=0">
+        <xacro:property name="type" value="continuous" />
+        <xacro:if value="${lim != 0}">
+            <xacro:property name="type" value="revolute" />
+        </xacro:if>
+        <joint name="${name}" type="${type}">
+            <child link="$(arg prefix)${child}"/>
+            <parent link="$(arg prefix)${parent}"/>
+            <axis xyz="${axis}"/>
+            <origin xyz="${xyz}" rpy="${rpy}" />
+            <dynamics friction="0.05" />
+            <xacro:if value="${lim != 0}">
+                <limit effort="1" velocity="1" lower="${-ball_joint_xy_limit}" upper="${ball_joint_xy_limit}" />
+            </xacro:if>
+        </joint>
+    </xacro:macro>
+
+    <xacro:macro name="ball_joint" params="name parent child xyz='0 0 0' rpy='0 0 0'">
+        <xacro:ball_joint_part name="${name}_x_j" parent="${parent}" child="${name}_x" axis="1 0 0" lim="1" />
+        <xacro:empty_link name="$(arg prefix)${name}_x" mass="0.001" />
+        <xacro:ball_joint_part name="${name}_y_j" parent="${name}_x" child="${name}_y" axis="0 1 0" lim="1" />
+        <xacro:empty_link name="$(arg prefix)${name}_y" mass="0.001" />
+        <xacro:ball_joint_part name="${name}_z_j" parent="${name}_y" child="${child}" axis="0 0 1" xyz="${xyz}" rpy="${rpy}" />
+    </xacro:macro>
+
+    <!-- reel -->
+    <link name="$(arg prefix)reel">
+        <visual>
+            <origin rpy="0 ${pi/2} ${pi/2}" />
+            <geometry>
+                <cylinder radius="0.07" length="0.15" />
+            </geometry>
+        </visual>
+        <visual>
+            <origin xyz="0.03 0 0.08" />
+            <geometry>
+                <mesh filename="package://ctu_cras_norlab_balloon_sensor_config_1/meshes/apriltag.dae" scale="2 2 1" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin rpy="0 ${pi/2} ${pi/2}" />
+            <geometry>
+                <cylinder radius="0.07" length="0.15" />
+            </geometry>
+        </collision>
+        <xacro:default_inertial mass="1" />
+    </link>
+    <xacro:ball_joint name="ball_j" parent="reel" child="string" />
+    <xacro:empty_link name="$(arg prefix)string" mass="0.001" />
+
+    <xacro:empty_link name="$(arg prefix)base_link" mass="0.001" />
+    <xacro:fixed_joint name="intermediate_j" parent="$(arg prefix)base_link" child="$(arg prefix)reel"
+                       xyz="-0.05 0 -0.35" />
+
+    <!-- string -->
+    <joint name="string_prismatic_j" type="prismatic">
+        <parent link="$(arg prefix)string"/>
+        <child link="$(arg prefix)balloon"/>
+        <origin xyz="0 0 ${radius+initial_balloon_dist}" />
+        <axis xyz="0 0 1"/>
+        <limit lower="0" upper="${string_length}" effort="1" velocity="0.5" />
+    </joint>
+</robot>
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/urdf/utils.xacro b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/urdf/utils.xacro
new file mode 100644
index 00000000..1bdcdfed
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/urdf/utils.xacro
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+<root xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="sphere_inertial" params="radius mass xyz:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="0 0 0"/>
+            <inertia ixx="${2.0/5 * mass * radius * radius}" ixy="0.0" ixz="0.0"
+                     iyy="${2.0/5 * mass * radius * radius}" iyz="0.0"
+                     izz="${2.0/5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="box_inertial" params="width height depth mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (width * width + height * height)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (height * height + depth * depth)}" iyz="0.0"
+                     izz="${1.0/12 * mass * (width * width + depth * depth)}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="cylinder_inertial" params="radius length mass xyz:='0 0 0' rpy:='0 0 0'">
+        <inertial>
+            <mass value="${mass}" />
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+            <inertia ixx="${1.0/12 * mass * (3 * radius * radius + length * length)}" ixy="0.0" ixz="0.0"
+                     iyy="${1.0/12 * mass * (3 * radius * radius + length * length)}" iyz="0.0"
+                     izz="${0.5 * mass * radius * radius}" />
+        </inertial>
+    </xacro:macro>
+
+    <xacro:macro name="default_inertial" params="mass:=1e-6">
+        <xacro:box_inertial mass="${mass}" width="1e-3" height="1e-3" depth="1e-3" />
+    </xacro:macro>
+
+    <xacro:macro name="empty_link" params="name mass:=1e-5">
+        <link name="${name}">
+            <xacro:default_inertial mass="${mass}" />
+            <selfCollide>false</selfCollide>
+        </link>
+    </xacro:macro>
+
+    <xacro:macro name="fixed_joint" params="name parent child xyz:='0 0 0' rpy:='0 0 0' lump:=0">
+        <joint name="${name}" type="fixed">
+            <parent link="${parent}"/>
+            <child link="${child}"/>
+            <origin xyz="${xyz}" rpy="${rpy}"/>
+        </joint>
+        <xacro:if value="${lump == 0}">
+            <!-- workaround for https://github.com/osrf/sdformat/issues/378 -->
+            <gazebo reference="${name}">
+                <preserveFixedJoint>true</preserveFixedJoint>
+            </gazebo>
+        </xacro:if>
+    </xacro:macro>
+
+    <xacro:macro name="solid_color_link_material" params="link r g b">
+        <xacro:unless value="${'$(arg rendering_target)' == 'urdf'}">
+            <gazebo reference="${link}">
+                <visual>
+                    <material>
+                        <ambient>0 0 0 0</ambient>
+                        <xacro:if value="${'$(arg rendering_target)' == 'gz'}">
+                            <diffuse>${r} ${g} ${b} 1</diffuse>
+                        </xacro:if>
+                        <!-- Ignition Gazebo seems to use much brighter colors... -->
+                        <xacro:if value="${'$(arg rendering_target)' == 'ign'}">
+                            <diffuse>${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1</diffuse>
+                        </xacro:if>
+                        <specular>0 0 0 0</specular>
+                        <emissive>0 0 0 0</emissive>
+                    </material>
+                </visual>
+            </gazebo>
+        </xacro:unless>
+    </xacro:macro>
+
+</root>
\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/worlds/example.sdf b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/worlds/example.sdf
new file mode 100644
index 00000000..20b70fbe
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_balloon_sensor_config_1/worlds/example.sdf
@@ -0,0 +1,79 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="example">
+    <physics name="4ms" type="dart">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+    </physics>
+
+    <scene>
+      <ambient>0.2 0.2 0.2</ambient>
+      <background>0.8 0.8 0.8</background>
+    </scene>
+
+
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 10 0 0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <attenuation>
+        <range>1</range>
+        <constant>0.9</constant>
+        <linear>1</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>0.0 0.0 -1.0</direction>
+    </light>
+
+  <light name="light1" type="point">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0</linear>
+        <constant>0.1</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.8 0.8 0.8 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <light name="light2" type="spot">
+      <pose>0 0 4 0 0 0</pose>
+      <attenuation>
+        <range>1000</range>
+        <linear>0.1</linear>
+        <constant>0.2</constant>
+        <quadratic>0.005</quadratic>
+      </attenuation>
+      <diffuse>0.8 0.8 0.5 1</diffuse>
+      <specular>0.8 0.8 0.5 1</specular>
+      <spot>
+        <inner_angle>5</inner_angle>
+        <outer_angle>10.1</outer_angle>
+        <falloff>.1</falloff>
+      </spot>
+      <direction>0 0 -1</direction>
+    </light>
+    <!-- The staging area -->
+    <include>
+      <static>true</static>
+      <name>staging_area</name>
+      <pose>0 0 0 0 0 0</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/subt_tunnel_staging_area</uri>
+    </include>
+
+    <!-- The base station -->
+    <include>
+      <static>true</static>
+      <name>base_station</name>
+      <pose>-8 0 0 0 0 -1.5708</pose>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Base Station</uri>
+    </include>
+  </world>
+</sdf>
diff --git a/subt_ign/launch/cloudsim_sim.ign b/subt_ign/launch/cloudsim_sim.ign
index f3187efd..9f1d60bd 100644
--- a/subt_ign/launch/cloudsim_sim.ign
+++ b/subt_ign/launch/cloudsim_sim.ign
@@ -127,6 +127,10 @@
      "X1" => "base_link",
      "EXPLORER_X1" => "base_link",
      "EXPLORER_R2" => "Rear_Rocker_Link",
+     "CTU_CRAS_NORLAB_ABSOLEM" => "base_link",
+     "CTU_CRAS_NORLAB_MARV" => "base_link",
+     "CTU_CRAS_NORLAB_HUSKY" => "base_link",
+     "CTU_CRAS_NORLAB_MARMOTTE" => "base_link",
      "CSIRO_DATA61_OZBOT_ATR" => "base_link"
    }
 
@@ -134,6 +138,10 @@
     "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
     "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
     "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
+    "CTU_CRAS_NORLAB_ABSOLEM" => ["CTU_CRAS_NORLAB_BALLOON"],
+    "CTU_CRAS_NORLAB_MARV" => ["CTU_CRAS_NORLAB_BALLOON"],
+    "CTU_CRAS_NORLAB_HUSKY" => ["CTU_CRAS_NORLAB_BALLOON"],
+    "CTU_CRAS_NORLAB_MARMOTTE" => ["CTU_CRAS_NORLAB_BALLOON"],
     "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"]
   }
 
@@ -141,6 +149,10 @@
     "X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
+    "CTU_CRAS_NORLAB_ABSOLEM" => Vector3d.new(-0.4, 0, 0.15),
+    "CTU_CRAS_NORLAB_MARV" => Vector3d.new(-0.3, 0, 0.2),
+    "CTU_CRAS_NORLAB_HUSKY" => Vector3d.new(-0.47, 0, 0.1),
+    "CTU_CRAS_NORLAB_MARMOTTE" => Vector3d.new(-0.4, 0, 0.05),
     "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528)
   }
 
@@ -148,6 +160,10 @@
     "X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
+    "CTU_CRAS_NORLAB_ABSOLEM" => AngularVector3d.new(0, 0, 0),
+    "CTU_CRAS_NORLAB_MARV" => AngularVector3d.new(0, 0, 0),
+    "CTU_CRAS_NORLAB_HUSKY" => AngularVector3d.new(0, 0, 0),
+    "CTU_CRAS_NORLAB_MARMOTTE" => AngularVector3d.new(0, 0, 0),
     "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416)
   }
   
@@ -412,6 +428,13 @@
             name="ignition::gazebo::systems::Contact">
     </plugin>
 
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="ignition-gazebo-buoyancy-system"
+            name="ignition::gazebo::systems::Buoyancy">
+          <uniform_fluid_density>1.2759</uniform_fluid_density> <!-- dry air -->
+    </plugin>
+
     <!-- The SubT challenge logic plugin -->
     <plugin entity_name="<%= $worldName %>"
             entity_type="world"
diff --git a/subt_ign/launch/competition.ign b/subt_ign/launch/competition.ign
index 277e01db..d829d915 100644
--- a/subt_ign/launch/competition.ign
+++ b/subt_ign/launch/competition.ign
@@ -123,6 +123,10 @@
      "X1" => "base_link",
      "EXPLORER_X1" => "base_link",
      "EXPLORER_R2" => "Rear_Rocker_Link",
+     "CTU_CRAS_NORLAB_ABSOLEM" => "base_link",
+     "CTU_CRAS_NORLAB_MARV" => "base_link",
+     "CTU_CRAS_NORLAB_HUSKY" => "base_link",
+     "CTU_CRAS_NORLAB_MARMOTTE" => "base_link",
      "CSIRO_DATA61_OZBOT_ATR" => "base_link"
    }
 
@@ -130,6 +134,10 @@
     "X1" => ["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
     "EXPLORER_X1" =>["X3", "MARBLE_QAV500", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
     "EXPLORER_R2" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4", "EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"],
+    "CTU_CRAS_NORLAB_ABSOLEM" => ["CTU_CRAS_NORLAB_BALLOON"],
+    "CTU_CRAS_NORLAB_MARV" => ["CTU_CRAS_NORLAB_BALLOON"],
+    "CTU_CRAS_NORLAB_HUSKY" => ["CTU_CRAS_NORLAB_BALLOON"],
+    "CTU_CRAS_NORLAB_MARMOTTE" => ["CTU_CRAS_NORLAB_BALLOON"],
     "CSIRO_DATA61_OZBOT_ATR" =>["X3", "X4", "SSCI_X4", "SOPHISTICATED_ENGINEERING_X4","EXPLORER_DS1", "MARBLE_QAV500", "CERBERUS_M100", "CERBERUS_GAGARIN", "CERBERUS_RMF", "COSTAR_SHAFTER", "CORO_PAM", "CTU_CRAS_NORLAB_X500"]
   }
 
@@ -137,6 +145,10 @@
     "X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_X1" => Vector3d.new(0, 0, 0.717),
     "EXPLORER_R2" => Vector3d.new(-0.402375, 0, 0.6874),
+    "CTU_CRAS_NORLAB_ABSOLEM" => Vector3d.new(-0.4, 0, 0.15),
+    "CTU_CRAS_NORLAB_MARV" => Vector3d.new(-0.3, 0, 0.2),
+    "CTU_CRAS_NORLAB_HUSKY" => Vector3d.new(-0.47, 0, 0.1),
+    "CTU_CRAS_NORLAB_MARMOTTE" => Vector3d.new(-0.4, 0, 0.05),
     "CSIRO_DATA61_OZBOT_ATR" => Vector3d.new(-0.15, 0, 0.528)
   }
 
@@ -144,6 +156,10 @@
     "X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_X1" => AngularVector3d.new(0, 0, 0),
     "EXPLORER_R2" => AngularVector3d.new(0, 0, -3.1416),
+    "CTU_CRAS_NORLAB_ABSOLEM" => AngularVector3d.new(0, 0, 0),
+    "CTU_CRAS_NORLAB_MARV" => AngularVector3d.new(0, 0, 0),
+    "CTU_CRAS_NORLAB_HUSKY" => AngularVector3d.new(0, 0, 0),
+    "CTU_CRAS_NORLAB_MARMOTTE" => AngularVector3d.new(0, 0, 0),
     "CSIRO_DATA61_OZBOT_ATR" => AngularVector3d.new(0, 0, -3.1416)
   }
 
@@ -342,6 +358,13 @@
             name="ignition::gazebo::systems::Contact">
     </plugin>
 
+    <plugin entity_name="<%= $worldName %>"
+            entity_type="world"
+            filename="ignition-gazebo-buoyancy-system"
+            name="ignition::gazebo::systems::Buoyancy">
+          <uniform_fluid_density>1.2759</uniform_fluid_density> <!-- dry air -->
+    </plugin>
+
     <!-- The SubT challenge logic plugin -->
     <plugin entity_name="<%= $worldName %>"
             entity_type="world"