diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
new file mode 100644
index 00000000..0dad1d67
--- /dev/null
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/basler_cameras.xacro
@@ -0,0 +1,123 @@
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+ ${virtual_lens_origin} 0 ${camera_height/2} 0 0 0
+ ${frame_rate}
+ ${visualize}
+
+ ${radians(hfov_deg)}
+
+ ${resolution_x}
+ ${resolution_y}
+ R8G8B8
+
+
+
+ ${clip}
+ 300
+
+
+ gaussian
+ 0.0
+ 0.007
+
+
+
+ stereographic
+ true
+ ${pi}
+ 1024
+
+
+
+
+
+
+ ${f}
+ ${f}
+ ${(resolution_x - 1) / 2}
+ ${(resolution_y - 1) / 2}
+ 0
+
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\ No newline at end of file
diff --git a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
index 30fccaec..5bd60a65 100644
--- a/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
+++ b/submitted_models/ctu_cras_norlab_absolem_sensor_config_1/urdf/nifti_robot.xacro
@@ -440,6 +440,9 @@
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+
+
@@ -718,6 +721,14 @@
filename="package://ctu_cras_norlab_absolem_sensor_config_1/meshes/${top_box_mesh_name}"/>
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@@ -792,7 +803,37 @@
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@@ -852,7 +893,12 @@
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@@ -1294,22 +1340,49 @@
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@@ -1643,9 +1716,15 @@
-
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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 ccab9e53..4bcec06e 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
@@ -66,4 +66,20 @@
+
+
+
+
+
+
+ 0 0 0 0
+
+ ${max(0, r - 60/255.0)} ${max(0, g - 60/255.0)} ${max(0, b - 60/255.0)} 1
+ 0 0 0 0
+ 0 0 0 0
+
+
+
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+
\ No newline at end of file