diff --git a/2023/phase2_dress_rehearsal/Usyd_Sealions/component_config.yaml b/2023/phase2_dress_rehearsal/Usyd_Sealions/component_config.yaml
new file mode 100644
index 0000000..95dde89
--- /dev/null
+++ b/2023/phase2_dress_rehearsal/Usyd_Sealions/component_config.yaml
@@ -0,0 +1,65 @@
+wamv_camera:
+    - name: centre_camera
+      visualize: False
+      x: 0.75
+      y: 0.0
+      z: 1.5
+      R: ${radians(0)}
+      P: ${radians(0)}
+      Y: ${radians(0)}
+      post_Y: 0.0
+    - name: right_camera
+      visualize: False
+      x: 0.75
+      y: -0.1
+      z: 1.5
+      R: ${radians(0)}
+      P: ${radians(0)}
+      Y: ${radians(-68)}
+      post_Y: 0.0
+    - name: left_camera
+      visualize: False
+      x: 0.75
+      y: 0.1
+      z: 1.5
+      R: ${radians(0)}
+      P: ${radians(0)}
+      Y: ${radians(68)}
+      post_Y: 0.0
+wamv_gps:
+    - name: gps_wamv
+      x: -0.85
+      y: 0.0
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
+wamv_imu:
+    - name: imu_wamv
+      x: 0.3
+      y: -0.2
+      z: 1.3
+      R: 0.0
+      P: 0.0
+      Y: 0.0
+lidar:
+    - name: lidar_wamv
+      type: 16_beam
+      x: 0.6
+      y: 0.0
+      z: 1.7
+      R: 0.0
+      P: ${radians(8)}
+      Y: 0.0
+      post_Y: 0.0
+wamv_ball_shooter:
+    - name: ball_shooter
+      x: 0.55 
+      y: -0.3 
+      z: 1.3
+      pitch: ${radians(-20)}
+      yaw: 0.0
+wamv_pinger:
+    - sensor_name: receiver
+      position: 1.0 0 -1.0
+
diff --git a/2023/phase2_dress_rehearsal/Usyd_Sealions/dockerhub_image.txt b/2023/phase2_dress_rehearsal/Usyd_Sealions/dockerhub_image.txt
new file mode 100644
index 0000000..34364a6
--- /dev/null
+++ b/2023/phase2_dress_rehearsal/Usyd_Sealions/dockerhub_image.txt
@@ -0,0 +1 @@
+joeldonnelly/usydvrx:phase2.1
diff --git a/2023/phase2_dress_rehearsal/Usyd_Sealions/thruster_config.yaml b/2023/phase2_dress_rehearsal/Usyd_Sealions/thruster_config.yaml
new file mode 100644
index 0000000..42c699b
--- /dev/null
+++ b/2023/phase2_dress_rehearsal/Usyd_Sealions/thruster_config.yaml
@@ -0,0 +1,13 @@
+engine:
+  - prefix: "back-left"
+    position: "-2.373776 1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "back-right"
+    position: "-2.373776 -1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "front-left"
+    position: "2.373776 1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"
+  - prefix: "front-right"
+    position: "2.373776 -1.027135 0.318237"
+    orientation: "0.0 0.0 0.0"