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