diff --git a/submitted_models/robotika_kloubak_sensor_config_1/model.sdf b/submitted_models/robotika_kloubak_sensor_config_1/model.sdf
index 7f25b3b2..b292aef7 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/model.sdf
+++ b/submitted_models/robotika_kloubak_sensor_config_1/model.sdf
@@ -251,7 +251,7 @@
             https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
         -->
         <sensor name="lidar_front" type="gpu_lidar">
-            <pose>0.04 0 0.235 0 0 0</pose>
+            <pose>0.08 0 0.25 0 0 0</pose>
             <update_rate>15</update_rate>
             <lidar>
                 <scan>
@@ -284,16 +284,16 @@
             <always_on>1</always_on>
             <update_rate>10</update_rate>
             <camera name="camera_front">
-                <horizontal_fov>3.072</horizontal_fov>
+                <horizontal_fov>2.27</horizontal_fov>
                 <lens>
                     <intrinsics>
                         <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                        <fx>17.8229</fx>
-                        <fy>17.8229</fy>
+                        <fx>149.01</fx>
+                        <fy>149.01</fy>
                         <!-- cx = ( width - 1 ) / 2 -->
-                        <cx>511.5</cx>
+                        <cx>339.5</cx>
                         <!-- cy = ( height - 1 ) / 2 -->
-                        <cy>383.5</cy>
+                        <cy>179.5</cy>
                         <s>0</s>
                     </intrinsics>
                 </lens>
@@ -306,8 +306,8 @@
                     <center>0.5 0.5</center>
                 </distortion>
                 <image>
-                    <width>1024</width>
-                    <height>768</height>
+                    <width>640</width>
+                    <height>360</height>
                     <format>R8G8B8</format>
                 </image>
                 <clip>
@@ -388,7 +388,7 @@
     
     
     <link name='chassis_back'>
-        <pose>-0.7 0 0.2 0 0 0</pose>
+        <pose>-0.671 0 0.2 0 0 0</pose>
         <inertial>
             <pose>0.025 0 0.116 0 0 0</pose>
             <mass>7.2</mass>
@@ -582,7 +582,7 @@
             https://www.sick.com/ch/en/detection-and-ranging-solutions/2d-lidar-sensors/tim5xx/tim581-2050101/p/p619344
         -->
         <sensor name="lidar_back" type="gpu_lidar">
-            <pose>-0.06 0 0.295 0 0 3.1415927</pose>
+            <pose>-0.08 0 0.345 0 0 3.1415927</pose>
             <update_rate>15</update_rate>
             <lidar>
                 <scan>
@@ -615,16 +615,16 @@
             <always_on>1</always_on>
             <update_rate>10</update_rate>
             <camera name="camera_back">
-                <horizontal_fov>3.072</horizontal_fov>
+                <horizontal_fov>2.27</horizontal_fov>
                 <lens>
                     <intrinsics>
                         <!-- fx = fy = width / ( 2 * tan (hfov / 2 ) ) -->
-                        <fx>17.8229</fx>
-                        <fy>17.8229</fy>
+                        <fx>149.01</fx>
+                        <fy>149.01</fy>
                         <!-- cx = ( width - 1 ) / 2 -->
-                        <cx>511.5</cx>
+                        <cx>339.5</cx>
                         <!-- cy = ( height - 1 ) / 2 -->
-                        <cy>383.5</cy>
+                        <cy>179.5</cy>
                         <s>0</s>
                     </intrinsics>
                 </lens>
@@ -637,8 +637,8 @@
                     <center>0.5 0.5</center>
                 </distortion>
                 <image>
-                    <width>1024</width>
-                    <height>768</height>
+                    <width>640</width>
+                    <height>360</height>
                     <format>R8G8B8</format>
                 </image>
                 <clip>
@@ -719,7 +719,7 @@
     
     
     <link name='axle_back'>
-        <pose>-0.729 0 0.183 0 0 0</pose>
+        <pose>-0.7 0 0.183 0 0 0</pose>
         <inertial>
             <pose>0 0 0 0 0 0</pose>
             <mass>0.8</mass>
@@ -839,7 +839,7 @@
         
         
         <link name="rear_left_wheel">
-            <pose>-0.729 0.25 0.172 0 0 0</pose>
+            <pose>-0.7 0.25 0.172 0 0 0</pose>
             <inertial>
                 <mass>3.5</mass>
                 <inertia>
@@ -882,7 +882,7 @@
         </link>
 
         <link name="rear_right_wheel">
-            <pose>-0.729 -0.25 0.172 0 0 0</pose>
+            <pose>-0.7 -0.25 0.172 0 0 0</pose>
             <inertial>
                 <mass>3.5</mass>
                 <inertia>
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf
index 3f20b52a..52ddc4f2 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf
+++ b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.urdf
@@ -55,39 +55,9 @@
       </geometry>
     </collision>
     <visual name='visual_chassis'>
-      <origin xyz='0 0 0.2' rpy='0 -0 0'/>
+      <origin xyz='-0.34 0 0.03' rpy='0 -0 0'/>
       <geometry>
-        <mesh filename='meshes/chassis_front.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='0.09 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_front'>
-      <origin xyz='0.015 0 0.38' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_front'>
-      <origin xyz='0.114 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_front'>
-      <origin xyz='0.15 0 0.31' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_front'>
-      <origin xyz='0.15 0 0.313' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -105,13 +75,13 @@
   </sensor>
   <sensor name='lidar_front' update_rate='15'>
     <parent link='chassis_front'/>
-    <origin xyz='0.04 0 0.235' rpy='0 -0 0'/>
+    <origin xyz='0.08 0 0.25' rpy='0 -0 0'/>
   </sensor>
   <sensor name='camera_front' update_rate='10'>
     <parent link='chassis_front'/>
-    <origin xyz='0.15 0 0.192' rpy='0 -0 0'/>
+    <origin xyz='0.155 -0.0075 0.193' rpy='0 -0 0'/>
     <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
     </camera>
   </sensor>
   <sensor name='depth_camera_front' update_rate='20'>
@@ -152,39 +122,9 @@
       </geometry>
     </collision>
     <visual name='visual_chassis'>
-      <origin xyz='-0.35 0 -0.02' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/chassis_back.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='-0.46 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_back'>
-      <origin xyz='-0.385 0 0.22' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_back'>
-      <origin xyz='-0.484 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_back'>
-      <origin xyz='-0.55 0 0.09' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_back'>
-      <origin xyz='-0.55 0 0.093' rpy='0 -0 0'/>
+      <origin xyz='-0.01 0 -0.19' rpy='0 -0 0'/>
       <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -198,13 +138,13 @@
   </sensor>
   <sensor name='lidar_back' update_rate='15'>
     <parent link='chassis_back'/>
-    <origin xyz='-0.06 0 0.295' rpy='0 -0 -3.14159'/>
+    <origin xyz='-0.08 0 0.345' rpy='0 -0 -3.14159'/>
   </sensor>
   <sensor name='camera_back' update_rate='10'>
     <parent link='chassis_back'/>
-    <origin xyz='-0.17 0 0.252' rpy='0 -0 -3.14159'/>
+    <origin xyz='-0.185 -0.001 0.269' rpy='0 -0 -3.14159'/>
     <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
     </camera>
   </sensor>
   <sensor name='depth_camera_back' update_rate='20'>
@@ -227,9 +167,9 @@
       </geometry>
     </collision>
     <visual name='visual'>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <origin xyz='-0.0132 0 0' rpy='0 -0 0'/>
       <geometry>
-        <box size='0.04 0.42 0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -242,19 +182,13 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -267,19 +201,13 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -292,19 +220,13 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
@@ -317,59 +239,53 @@
     <collision name='collision'>
       <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
       <geometry>
-        <cylinder radius='0.15' length='0.08'/>
+        <cylinder radius='0.147' length='0.08'/>
       </geometry>
     </collision>
     <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
       <geometry>
-        <cylinder radius='0.08' length='0.04'/>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
       </geometry>
     </visual>
   </link>
   <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0 0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='0 0.25 0.172' rpy='0 -0 0'/>
     <parent link='chassis_front'/>
     <child link='front_left_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0 -0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='0 -0.25 0.172' rpy='0 -0 0'/>
     <parent link='chassis_front'/>
     <child link='front_right_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='-0.7 0.25 0.172' rpy='0 -0 0'/>
     <parent link='axle_back'/>
     <child link='rear_left_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 -0.25 0.18' rpy='0 -0 0'/>
+    <origin xyz='-0.7 -0.25 0.172' rpy='0 -0 0'/>
     <parent link='axle_back'/>
     <child link='rear_right_wheel'/>
     <axis xyz='0 1 0'/>
     <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
   </joint>
   <joint name='main_joint' type='revolute'>
-    <origin xyz='-0.35 0 0.22' rpy='0 -0 0'/>
+    <origin xyz='-0.321 0 0.22' rpy='0 -0 0'/>
     <parent link='chassis_front'/>
     <child link='chassis_back'/>
     <axis xyz='0 0 1'/>
     <limit lower='-1.222' upper='1.222' effort='-1' velocity='-1'/>
   </joint>
   <joint name='axle_joint' type='revolute'>
-    <origin xyz='-0.7 0 0.18' rpy='0 -0 0'/>
+    <origin xyz='-0.7 0 0.183' rpy='0 -0 0'/>
     <parent link='chassis_back'/>
     <child link='axle_back'/>
     <axis xyz='1 0 0'/>
diff --git a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro
index 24196a1e..36d8e16b 100644
--- a/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro
+++ b/submitted_models/robotika_kloubak_sensor_config_1/urdf/model.xacro
@@ -1,381 +1,297 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name='robotika_kloubak_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
-  <xacro:arg name="name" default="robotika_kloubak_sensor_config_1"/>
-  <xacro:property name="robot_namespace" value="$(arg name)"/>
-
-  <link name='${robot_namespace}/chassis_front'>
-    <inertial>
-      <origin xyz='-0.05 0 0.28' rpy='0 -0 0'/>
-      <mass value='8'/>
-      <inertia ixx='0.1119' ixy='0' ixz='0' iyy='0.1286' iyz='0' izz='0.2159'/>
-    </inertial>
-    <collision name='collision_front_box'>
-      <origin xyz='0 0 0.28' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.3 0.4 0.16'/>
-      </geometry>
-    </collision>
-    <collision name='collision_bar'>
-      <origin xyz='-0.17 0 0.22' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.3 0.04 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_joint_upper'>
-      <origin xyz='-0.335 0 0.25' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.06 0.02'/>
-      </geometry>
-    </collision>
-    <collision name='collision_joint_bottom'>
-      <origin xyz='-0.335 0 0.19' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.07 0.06 0.02'/>
-      </geometry>
-    </collision>
-    <collision name='collision_wheel_hinge_left'>
-      <origin xyz='0 0.18 0.18' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.06 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_wheel_hinge_right'>
-      <origin xyz='0 -0.18 0.18' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.06 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_light_lidar_camera'>
-      <origin xyz='0.05 0 0.4325' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.2 0.15 0.145'/>
-      </geometry>
-    </collision>
-    <collision name='collision_depth_camera_front'>
-      <origin xyz='0.165 0 0.31' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.03 0.2 0.06'/>
-      </geometry>
-    </collision>
-    <visual name='visual_chassis'>
-      <origin xyz='0 0 0.2' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/chassis_front.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='0.09 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_front'>
-      <origin xyz='0.015 0 0.38' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_front'>
-      <origin xyz='0.114 0 0.36' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_front'>
-      <origin xyz='0.15 0 0.31' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_front'>
-      <origin xyz='0.15 0 0.313' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-  </link>
-  <sensor name='imu_sensor_front' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='magnetometer_front' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='air_pressure' update_rate='20'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='lidar_front' update_rate='15'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0.04 0 0.235' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='camera_front' update_rate='10'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0.15 0 0.192' rpy='0 -0 0'/>
-    <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='depth_camera_front' update_rate='20'>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <origin xyz='0.18 0 0.113' rpy='0 -0 0'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <link name='${robot_namespace}/chassis_back'>
-    <inertial>
-      <origin xyz='-0.325 0 0.096' rpy='0 -0 0'/>
-      <mass value='7.2'/>
-      <inertia ixx='0.0468' ixy='0' ixz='0' iyy='0.1117' iyz='0' izz='0.1228'/>
-    </inertial>
-    <collision name='collision_back_box'>
-      <origin xyz='-0.35 0 0.11' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.34 0.24 0.18'/>
-      </geometry>
-    </collision>
-    <collision name='collision_bar'>
-      <origin xyz='-0.225 0 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.45 0.04 0.04'/>
-      </geometry>
-    </collision>
-    <collision name='collision_light_lidar_camera'>
-      <origin xyz='-0.42 0 0.2725' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.2 0.15 0.145'/>
-      </geometry>
-    </collision>
-    <collision name='collision_depth_camera_back'>
-      <origin xyz='-0.535 0 0.09' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.03 0.2 0.06'/>
-      </geometry>
-    </collision>
-    <visual name='visual_chassis'>
-      <origin xyz='-0.35 0 -0.02' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/chassis_back.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_light'>
-      <origin xyz='-0.46 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/light.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_lidar_back'>
-      <origin xyz='-0.385 0 0.22' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/lidar.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_camera_back'>
-      <origin xyz='-0.484 0 0.2' rpy='0 -0 -3.14159'/>
-      <geometry>
-        <mesh filename='meshes/camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_shield_back'>
-      <origin xyz='-0.55 0 0.09' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera_shield.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-    <visual name='visual_depth_camera_back'>
-      <origin xyz='-0.55 0 0.093' rpy='0 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/depth_camera.dae' scale='1 1 1'/>
-      </geometry>
-    </visual>
-  </link>
-  <sensor name='imu_sensor_back' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='magnetometer_back' update_rate='50'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='0 0 0' rpy='0 -0 0'/>
-  </sensor>
-  <sensor name='lidar_back' update_rate='15'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='-0.06 0 0.295' rpy='0 -0 -3.14159'/>
-  </sensor>
-  <sensor name='camera_back' update_rate='10'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='-0.17 0 0.252' rpy='0 -0 -3.14159'/>
-    <camera>
-      <image width='1024' height='768' format='R8G8B8' hfov='3.072' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <sensor name='depth_camera_back' update_rate='20'>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <origin xyz='-0.2 0 0.113' rpy='0 -0 -3.14159'/>
-    <camera>
-      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
-    </camera>
-  </sensor>
-  <link name='${robot_namespace}/axle_back'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='0.8'/>
-      <inertia ixx='0.0119' ixy='0' ixz='0' iyy='0.00021' iyz='0' izz='0.0119'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.42 0.04'/>
-      </geometry>
-    </collision>
-    <visual name='visual'>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <geometry>
-        <box size='0.04 0.42 0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_left_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/front_right_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_left_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_left.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 -0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <link name='${robot_namespace}/rear_right_wheel'>
-    <inertial>
-      <origin xyz='0 0 0' rpy='0 -0 0'/>
-      <mass value='3.5'/>
-      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
-    </inertial>
-    <collision name='collision'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.15' length='0.08'/>
-      </geometry>
-    </collision>
-    <visual name='tire_visual'>
-      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <mesh filename='meshes/wheel_right.dae' scale='1.431 1.431 1.569'/>
-      </geometry>
-    </visual>
-    <visual name='motor_visual'>
-      <origin xyz='0 0.02 0' rpy='1.5708 -0 0'/>
-      <geometry>
-        <cylinder radius='0.08' length='0.04'/>
-      </geometry>
-    </visual>
-  </link>
-  <joint name='front_left_wheel_joint' type='revolute'>
-    <origin xyz='0 0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <child link='${robot_namespace}/front_left_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='front_right_wheel_joint' type='revolute'>
-    <origin xyz='0 -0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <child link='${robot_namespace}/front_right_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='rear_left_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/axle_back'/>
-    <child link='${robot_namespace}/rear_left_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='rear_right_wheel_joint' type='revolute'>
-    <origin xyz='-0.7 -0.25 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/axle_back'/>
-    <child link='${robot_namespace}/rear_right_wheel'/>
-    <axis xyz='0 1 0'/>
-    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
-  </joint>
-  <joint name='main_joint' type='revolute'>
-    <origin xyz='-0.35 0 0.22' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_front'/>
-    <child link='${robot_namespace}/chassis_back'/>
-    <axis xyz='0 0 1'/>
-    <limit lower='-1.222' upper='1.222' effort='-1' velocity='-1'/>
-  </joint>
-  <joint name='axle_joint' type='revolute'>
-    <origin xyz='-0.7 0 0.18' rpy='0 -0 0'/>
-    <parent link='${robot_namespace}/chassis_back'/>
-    <child link='${robot_namespace}/axle_back'/>
-    <axis xyz='1 0 0'/>
-    <limit lower='-0.436' upper='0.436' effort='-1' velocity='-1'/>
-  </joint>
-</robot>
+<?xml version="1.0" encoding="utf-8"?>
+<robot name='robotika_kloubak_sensor_config_1' xmlns:xacro='http://ros.org/wiki/xacro'>
+  <xacro:arg name="name" default="robotika_kloubak_sensor_config_1"/>
+  <xacro:property name="robot_namespace" value="$(arg name)"/>
+
+  <link name='${robot_namespace}/chassis_front'>
+    <inertial>
+      <origin xyz='-0.05 0 0.28' rpy='0 -0 0'/>
+      <mass value='8'/>
+      <inertia ixx='0.1119' ixy='0' ixz='0' iyy='0.1286' iyz='0' izz='0.2159'/>
+    </inertial>
+    <collision name='collision_front_box'>
+      <origin xyz='0 0 0.28' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3 0.4 0.16'/>
+      </geometry>
+    </collision>
+    <collision name='collision_bar'>
+      <origin xyz='-0.17 0 0.22' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.3 0.04 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_joint_upper'>
+      <origin xyz='-0.335 0 0.25' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.06 0.02'/>
+      </geometry>
+    </collision>
+    <collision name='collision_joint_bottom'>
+      <origin xyz='-0.335 0 0.19' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.07 0.06 0.02'/>
+      </geometry>
+    </collision>
+    <collision name='collision_wheel_hinge_left'>
+      <origin xyz='0 0.18 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.06 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_wheel_hinge_right'>
+      <origin xyz='0 -0.18 0.18' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.06 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_light_lidar_camera'>
+      <origin xyz='0.05 0 0.4325' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.15 0.145'/>
+      </geometry>
+    </collision>
+    <collision name='collision_depth_camera_front'>
+      <origin xyz='0.165 0 0.31' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.2 0.06'/>
+      </geometry>
+    </collision>
+    <visual name='visual_chassis'>
+      <origin xyz='-0.34 0 0.03' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor_front' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer_front' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='air_pressure' update_rate='20'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='lidar_front' update_rate='15'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0.08 0 0.25' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='camera_front' update_rate='10'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0.155 -0.0075 0.193' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='depth_camera_front' update_rate='20'>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <origin xyz='0.18 0 0.113' rpy='0 -0 0'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/chassis_back'>
+    <inertial>
+      <origin xyz='-0.325 0 0.096' rpy='0 -0 0'/>
+      <mass value='7.2'/>
+      <inertia ixx='0.0468' ixy='0' ixz='0' iyy='0.1117' iyz='0' izz='0.1228'/>
+    </inertial>
+    <collision name='collision_back_box'>
+      <origin xyz='-0.35 0 0.11' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.34 0.24 0.18'/>
+      </geometry>
+    </collision>
+    <collision name='collision_bar'>
+      <origin xyz='-0.225 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.45 0.04 0.04'/>
+      </geometry>
+    </collision>
+    <collision name='collision_light_lidar_camera'>
+      <origin xyz='-0.42 0 0.2725' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.2 0.15 0.145'/>
+      </geometry>
+    </collision>
+    <collision name='collision_depth_camera_back'>
+      <origin xyz='-0.535 0 0.09' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.03 0.2 0.06'/>
+      </geometry>
+    </collision>
+    <visual name='visual_chassis'>
+      <origin xyz='-0.01 0 -0.19' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <sensor name='imu_sensor_back' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='magnetometer_back' update_rate='50'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='0 0 0' rpy='0 -0 0'/>
+  </sensor>
+  <sensor name='lidar_back' update_rate='15'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='-0.08 0 0.345' rpy='0 -0 -3.14159'/>
+  </sensor>
+  <sensor name='camera_back' update_rate='10'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='-0.185 -0.001 0.269' rpy='0 -0 -3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='2.27' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <sensor name='depth_camera_back' update_rate='20'>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <origin xyz='-0.2 0 0.113' rpy='0 -0 -3.14159'/>
+    <camera>
+      <image width='640' height='360' format='R8G8B8' hfov='1.5184' near='0.01' far='300' />
+    </camera>
+  </sensor>
+  <link name='${robot_namespace}/axle_back'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='0.8'/>
+      <inertia ixx='0.0119' ixy='0' ixz='0' iyy='0.00021' iyz='0' izz='0.0119'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <box size='0.04 0.42 0.04'/>
+      </geometry>
+    </collision>
+    <visual name='visual'>
+      <origin xyz='-0.0132 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/front_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_left_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='-1.5708 0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <link name='${robot_namespace}/rear_right_wheel'>
+    <inertial>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <mass value='3.5'/>
+      <inertia ixx='0.0145' ixy='0' ixz='0' iyy='0.0252' iyz='0' izz='0.0145'/>
+    </inertial>
+    <collision name='collision'>
+      <origin xyz='0 0 0' rpy='1.5708 -0 0'/>
+      <geometry>
+        <cylinder radius='0.147' length='0.08'/>
+      </geometry>
+    </collision>
+    <visual name='tire_visual'>
+      <origin xyz='0 0 0' rpy='0 -0 0'/>
+      <geometry>
+        <mesh filename='meshes/k2.dae' scale='1 1 1'/>
+      </geometry>
+    </visual>
+  </link>
+  <joint name='front_left_wheel_joint' type='revolute'>
+    <origin xyz='0 0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <child link='${robot_namespace}/front_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='front_right_wheel_joint' type='revolute'>
+    <origin xyz='0 -0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <child link='${robot_namespace}/front_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='rear_left_wheel_joint' type='revolute'>
+    <origin xyz='-0.7 0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/axle_back'/>
+    <child link='${robot_namespace}/rear_left_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='rear_right_wheel_joint' type='revolute'>
+    <origin xyz='-0.7 -0.25 0.172' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/axle_back'/>
+    <child link='${robot_namespace}/rear_right_wheel'/>
+    <axis xyz='0 1 0'/>
+    <limit lower='-1.79769e+308' upper='1.79769e+308' effort='10' velocity='13.333'/>
+  </joint>
+  <joint name='main_joint' type='revolute'>
+    <origin xyz='-0.321 0 0.22' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_front'/>
+    <child link='${robot_namespace}/chassis_back'/>
+    <axis xyz='0 0 1'/>
+    <limit lower='-1.222' upper='1.222' effort='-1' velocity='-1'/>
+  </joint>
+  <joint name='axle_joint' type='revolute'>
+    <origin xyz='-0.7 0 0.183' rpy='0 -0 0'/>
+    <parent link='${robot_namespace}/chassis_back'/>
+    <child link='${robot_namespace}/axle_back'/>
+    <axis xyz='1 0 0'/>
+    <limit lower='-0.436' upper='0.436' effort='-1' velocity='-1'/>
+  </joint>
+</robot>