diff --git a/examples/dave_demo_launch/launch/dave_integrated_demo.launch b/examples/dave_demo_launch/launch/dave_integrated_demo.launch
index 8727d579..8059c28a 100644
--- a/examples/dave_demo_launch/launch/dave_integrated_demo.launch
+++ b/examples/dave_demo_launch/launch/dave_integrated_demo.launch
@@ -9,10 +9,8 @@
     <arg name="velocity_control" default="true"/>
     <arg name="joy_id" default="0"/>
     <arg name="debug" default="false"/>
-	  <arg name="controller_type" default="effort"/>
+	<!-- <arg name="controller_type" default="effort"/> -->
 
-    <arg unless="$(arg debug)" name="launch-prefix" value=" "/>
-    <arg if="$(arg debug)" name="launch-prefix" value="gdb -ex run --args"/>
 
     <!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -30,14 +28,14 @@
     <include file="$(find uuv_assistants)/launch/publish_world_ned_frame.launch"/>
 
     <!-- timeout -->
-    <group if="$(arg set_timeout)">
+    <!-- <group if="$(arg set_timeout)">
         <include file="$(find uuv_assistants)/launch/set_simulation_timer.launch">
             <arg name="timeout" value="$(arg timeout)"/>
         </include>
-    </group>
+    </group> -->
 
     <!-- rexrov robot with oberon7 arm -->
-    <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
+    <!-- <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7.launch">
         <arg name="namespace" value="rexrov0"/>
         <arg name="x" value="7.087382"/>
         <arg name="y" value="-8.720616"/>
@@ -45,29 +43,29 @@
         <arg name="roll" value="0.011443"/>
         <arg name="pitch" value="0.060502"/>
         <arg name="yaw" value="0.304482"/>
-    </include>
+    </include> -->
 
     <!-- Velocity teleop (UUV stays in position when joystick is not used) -->
-    <include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
+    <!-- <include if="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_velocity.launch">
         <arg name="uuv_name" value="$(arg namespace)" />
         <arg name="model_name" value="rexrov" />
         <arg name="joy_id" value="$(arg joy_id)"/>
-    </include>
+    </include> -->
 
     <!-- joystick control for rexrov and oberon7, no velocity control-->
-    <include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
+    <!-- <include unless="$(arg velocity_control)" file="$(find uuv_control_cascaded_pid)/launch/joy_accel.launch">
       	<arg name="uuv_name" value="rexrov0" />
         <arg name="model_name" value="rexrov"/>
         <arg name="joy_id" value="$(arg joy_id)"/>
-    </include>
+    </include> -->
 
     <!-- joint control for oberon7 -->
-    <include file="$(find oberon7_control)/launch/joint_control.launch">
+    <!-- <include file="$(find oberon7_control)/launch/joint_control.launch">
         <arg name="uuv_name" value="rexrov0"/>
-    </include>
+    </include> -->
 
     <!-- Include a second rexrov with dual arms -->
-  	<include file="$(find rexrov_description)/launch/upload_rexrov_oberon7_moveit.launch">
+  	<!-- <include file="$(find rexrov_description)/launch/upload_rexrov_oberon7_moveit.launch">
       <arg name="namespace" value="rexrov"/>
 		  <arg name="controller_type" value="$(arg controller_type)"/>
       <arg name="x" value="-187.77"/>
@@ -76,15 +74,15 @@
       <arg name="roll" value="-0.01"/>
       <arg name="pitch" value="0.177"/>
       <arg name="yaw" value="3.14"/>
-    </include>
+    </include> -->
 
   	<!-- Load general controllers -->
-  	<include file="$(find oberon7_gazebo)/launch/controller_utils.launch"/>
+  	<!-- <include file="$(find oberon7_gazebo)/launch/controller_utils.launch"/>
 
-  	<rosparam file="$(find oberon7_gazebo)/controller/oberon7_controllers.yaml" command="load"/>
+  	<rosparam file="$(find oberon7_gazebo)/controller/oberon7_controllers.yaml" command="load"/> -->
 
   	<!-- Load chosen controller types -->
-  	<group if="$(eval controller_type == 'effort')">
+  	<!-- <group if="$(eval controller_type == 'effort')">
   		<node name="controllers_spawner" pkg="controller_manager" type="spawner" args="hand_effort_r hand_effort_l arm_effort_l arm_effort_r" respawn="false" output="screen"/>
   	</group>
 
@@ -96,11 +94,11 @@
     	<arg name="uuv_name" value="rexrov" />
     	<arg name="model_name" value="rexrov" />
     	<arg name="joy_id" value="1"/>
-    </include>
+    </include> -->
 
     <!-- Spawn socket platform for electrical lead station -->
-    <include file="$(find plug_and_socket_description)/launch/upload_socket_platform.launch"/>
+    <!-- <include file="$(find plug_and_socket_description)/launch/upload_socket_platform.launch"/>
     <node name="spawn_socket" pkg="gazebo_ros" type="spawn_model"
-            args="-urdf -param socket_platform -model socket_platform -x -190.5 -y 115.15 -z -158.459771 -Y -1.57079632679 -unpause" respawn="false" output="screen" />
+            args="-urdf -param socket_platform -model socket_platform -x -190.5 -y 115.15 -z -158.459771 -Y -1.57079632679 -unpause" respawn="false" output="screen" /> -->
 
 </launch>
diff --git a/models/dave_object_models/models/Coke/model.sdf b/models/dave_object_models/models/Coke/model.sdf
index e201f8d8..ff0f2c8b 100644
--- a/models/dave_object_models/models/Coke/model.sdf
+++ b/models/dave_object_models/models/Coke/model.sdf
@@ -7,14 +7,14 @@
             <visual name="visual">
                 <geometry>
                     <mesh>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
                     </mesh>
                 </geometry>
             </visual>
             <collision name="collision">
                 <geometry>
                     <mesh>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke/2/files/meshes/coke.obj</uri>
                     </mesh>
                 </geometry>
             </collision>
diff --git a/models/dave_object_models/models/niskin/model.sdf b/models/dave_object_models/models/niskin/model.sdf
index 972e4aef..742c48cd 100644
--- a/models/dave_object_models/models/niskin/model.sdf
+++ b/models/dave_object_models/models/niskin/model.sdf
@@ -16,7 +16,7 @@
                 <pose>0 0 0 0 0 0</pose>
                 <geometry>
                     <mesh>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
                         <scale>1.0 1.0 1.0</scale>
                     </mesh>
                 </geometry>
@@ -24,7 +24,7 @@
             <visual name="Niskin_visual">
                 <geometry>
                     <mesh>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/meshes/niskin.dae</uri>
                         <submesh>
                             <name>Niskin</name>
                             <center>false</center>
@@ -36,16 +36,16 @@
                     <specular>1.0 1.0 1.0</specular>
                     <pbr>
                         <metal>
-                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Albedo.png</albedo_map>
-                            <normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Normal.png</normal_map>
-                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Metalness.png</metalness_map>
-                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Roughness.png</roughness_map>
+                            <albedo_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Albedo.png</albedo_map>
+                            <normal_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Normal.png</normal_map>
+                            <metalness_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Metalness.png</metalness_map>
+                            <roughness_map>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/Niskin_Roughness.png</roughness_map>
                         </metal>
                     </pbr>
                     <!-- fallback to script if no PBR support-->
                     <script>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/scripts/</uri>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/niskin/3/files/materials/textures/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/scripts/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/niskin/3/files/materials/textures/</uri>
                         <name>UrbanTile/Niskin_Diffuse</name>
                     </script>
                 </material>
diff --git a/models/dave_object_models/models/sunken_ship_distorted/model.sdf b/models/dave_object_models/models/sunken_ship_distorted/model.sdf
index 97dfa5ea..7ecfc3eb 100644
--- a/models/dave_object_models/models/sunken_ship_distorted/model.sdf
+++ b/models/dave_object_models/models/sunken_ship_distorted/model.sdf
@@ -7,7 +7,7 @@
                 <pose>0 0 0 0 0 0</pose>
                 <geometry>
                     <mesh>
-                        <!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
+                        <!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
                         <uri>model://sunken_ship_distorted/meshes/sunkenship_distort.dae</uri>
                         <scale>1.0 1.0 1.0</scale>
                     </mesh>
@@ -16,7 +16,7 @@
             <visual name="SunkenShip_distorted_visual">
                 <geometry>
                     <mesh>
-                        <!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
+                        <!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
                         <uri>model://sunken_ship_distorted/meshes/sunkenship_distort.dae</uri>
                         <submesh>
                             <name>SunkenShip</name>
@@ -29,16 +29,16 @@
                     <specular>1.0 1.0 1.0</specular>
                     <pbr>
                         <metal>
-                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Albedo.png</albedo_map>
-                            <normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Normal.png</normal_map>
-                            <metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Metalness.png</metalness_map>
-                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Roughness.png</roughness_map>
+                            <albedo_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Albedo.png</albedo_map>
+                            <normal_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Normal.png</normal_map>
+                            <metalness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Metalness.png</metalness_map>
+                            <roughness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Roughness.png</roughness_map>
                         </metal>
                     </pbr>
                     <!-- fallback to script if no PBR support-->
                     <script>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/scripts/</uri>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/scripts/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken ship/2/files/materials/textures/</uri>
                         <name>UrbanTile/SunkenShip</name>
                     </script>
                 </material>
diff --git a/models/dave_object_models/models/sunken_vase/model.sdf b/models/dave_object_models/models/sunken_vase/model.sdf
index ce726694..45d77add 100644
--- a/models/dave_object_models/models/sunken_vase/model.sdf
+++ b/models/dave_object_models/models/sunken_vase/model.sdf
@@ -16,7 +16,7 @@
                 <pose>0 0 0 0 0 0</pose>
                 <geometry>
                     <mesh>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
                         <scale>1.0 1.0 1.0</scale>
                     </mesh>
                 </geometry>
@@ -24,7 +24,7 @@
             <visual name="Pot01_visual">
                 <geometry>
                     <mesh>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri>
                         <submesh>
                             <name>Pot01</name>
                             <center>false</center>
@@ -36,15 +36,15 @@
                     <specular>1.0 1.0 1.0</specular>
                     <pbr>
                         <metal>
-                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
-                            <normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
-                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
+                            <albedo_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
+                            <normal_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
+                            <roughness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
                         </metal>
                     </pbr>
                     <!-- fallback to script if no PBR support-->
                     <script>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
                         <name>UrbanTile/Pot01_Diffuse</name>
                     </script>
                 </material>
diff --git a/models/dave_object_models/models/sunken_vase_distorted/model.sdf b/models/dave_object_models/models/sunken_vase_distorted/model.sdf
index a9b98254..27c832fb 100644
--- a/models/dave_object_models/models/sunken_vase_distorted/model.sdf
+++ b/models/dave_object_models/models/sunken_vase_distorted/model.sdf
@@ -16,7 +16,7 @@
                 <pose>0 0 0 0 0 0</pose>
                 <geometry>
                     <mesh>
-                        <!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
+                        <!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
                         <uri>model://sunken_vase_distorted/meshes/Pot01_distort.dae</uri>
                         <scale>1.0 1.0 1.0</scale>
                     </mesh>
@@ -25,7 +25,7 @@
             <visual name="Pot01_distorted_visual">
                 <geometry>
                     <mesh>
-                        <!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
+                        <!--uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
                         <uri>model://sunken_vase_distorted/meshes/Pot01_distort.dae</uri>
                         <submesh>
                             <name>Pot01</name>
@@ -38,15 +38,15 @@
                     <specular>1.0 1.0 1.0</specular>
                     <pbr>
                         <metal>
-                            <albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
-                            <normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
-                            <roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
+                            <albedo_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
+                            <normal_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
+                            <roughness_map>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
                         </metal>
                     </pbr>
                     <!-- fallback to script if no PBR support-->
                     <script>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
-                        <uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
+                        <uri>https://fuel.gazebosim.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
                         <name>UrbanTile/Pot01_Diffuse</name>
                     </script>
                 </material>
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 41691966..62764072 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -215,7 +215,7 @@
 
     <include>
       <name>mud_anchor</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Mud Anchor</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Mud Anchor</uri>
       <pose>-68.759591 -208.309946 -147.679795 -0.072901 -1.166020 1.635320</pose>
     </include>
 
@@ -275,23 +275,23 @@
     <include>
       <name>mbari_mars</name>
       <pose>14.455148 -7.161097 -118.670557 -0.036799 0.065912 0.178707</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/MBARI MARS</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>flight_data_recorder</name>
       <pose>9.044796 -6.663643 -118.380028 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Flight Data Recorder</uri>
       <static>false</static>
     </include>
 
     <include>
       <name>niskin</name>
       <pose>9.046633 -7.605316 -118.217148 -0.918770 -1.547187 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
+      <!--uri>https://fuel.gazebosim.org/1.0/Cole/models/Niskin</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
-      <uri>model://niskin</uri>
+      <uri>model://nisken</uri>
       <static>true</static>
     </include>
 
@@ -299,28 +299,28 @@
     <include>
       <name>Lionfish1</name>
       <pose>13 -11 -118 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Lionfish</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Coral1</name>
       <pose>13 -12 -118.3 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Coral01</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Kelp1</name>
       <pose>13 -12 -118.3 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 01</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Kelp2</name>
       <pose>12 -12 -118.3 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 02</uri>
       <static>true</static>
     </include>
 
@@ -328,7 +328,7 @@
     <include>
       <name>sunken_ship</name>
       <pose>-75 -200 -147 0.25 0 0.65</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Ship</uri>
       <static>true</static>
     </include>
 
@@ -342,13 +342,13 @@
     <include>
       <name>sunken_vase</name>
       <pose>-70.221956 -206.729503 -147.769372 0.102539 -0.035175 -0.004790</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Vase</uri>
     </include>
 
     <include>
       <name>sunken_vase_distorted</name>
       <pose>-72 -208.695 -148.1 -0.757396 0.467511 -0.402810</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
+      <!--uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Vase</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://sunken_vase_distorted</uri>
       <static>true</static>
@@ -357,35 +357,35 @@
     <include>
       <name>sunken_vase2</name>
       <pose>-72 -208 -148 -0.932434 -0.195466 0.528508</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Vase 02</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Lionfish2</name>
       <pose>-72 -209 -147 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Lionfish</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Coral2</name>
       <pose>-70 -208 -147.9 0.15 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Coral02</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Kelp3</name>
       <pose>-70 -208 -148 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 03</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>Kelp4</name>
       <pose>-70 -209 -148 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 04</uri>
       <static>true</static>
     </include>
 
@@ -393,7 +393,7 @@
     <include>
       <name>Rock3</name>
       <pose>26 182 -139 -1.55 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Ocean Rock 03</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Ocean Rock 03</uri>
       <static>true</static>
     </include>
 
@@ -401,28 +401,28 @@
     <include>
       <name>hardhat_standard</name>
       <pose>-185 115 -158.224 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Standard</uri>
       <static>true</static>
     </include>
 
      <include>
       <name>hardhat_ribbed</name>
       <pose>-185 116 -158.238 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>hardhat_superribbed</name>
       <pose>-184 115 -158.199 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>hardhat_octagonal</name>
       <pose>-185.4 96 -158.106 1.13 -0105 0.245</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
       <static>true</static>
     </include>
 
@@ -430,42 +430,42 @@
     <include>
       <name>torpedo_mk46</name>
       <pose>-158 100 -158 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Torpedo MK46</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>-158 105 -158 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Torpedo MK48</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>-158 104 -158 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Sonobuoy</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>uxo_a</name>
       <pose>-140 103 -158 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>uxo_b</name>
       <pose>-140 102 -158 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
       <static>true</static>
     </include>
 
     <include>
       <name>uxo_c</name>
       <pose>-140 101 -158 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
       <static>true</static>
     </include>
 
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index 7023d723..d674ee59 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -135,67 +135,67 @@
     <include>
       <name>torpedo_mk46</name>
       <pose>13 -1 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK46</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Torpedo MK46</uri>
     </include>
 
     <include>
       <name>torpedo_mk48</name>
       <pose>13 -1.5 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Torpedo MK48</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Torpedo MK48</uri>
     </include>
 
     <include>
       <name>sonobuoy</name>
       <pose>13 -2 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Sonobuoy</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Sonobuoy</uri>
     </include>
 
     <include>
       <name>flight_data_recorder</name>
       <pose>13 -3 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Flight Data Recorder</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Flight Data Recorder</uri>
     </include>
 
     <include>
       <name>uxo_a</name>
       <pose>13 -4 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Unexploded Ordnance A</uri>
     </include>
 
     <include>
       <name>uxo_b</name>
       <pose>13 -5 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Unexploded Ordnance B</uri>
     </include>
 
     <include>
       <name>uxo_c</name>
       <pose>13 -6 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Unexploded Ordnance C</uri>
     </include>
 
     <include>
       <name>hardhat_standard</name>
       <pose>13 0 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Standard</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Standard</uri>
     </include>
 
      <include>
       <name>hardhat_ribbed</name>
       <pose>13 1 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Ribbed</uri>
     </include>
 
     <include>
       <name>hardhat_superribbed</name>
       <pose>13 2 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Superribbed</uri>
     </include>
 
     <include>
       <name>hardhat_octagonal</name>
       <pose>13 3 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/Hardhat Octagonal</uri>
     </include>
 
     <!-- Still pending
@@ -209,25 +209,25 @@
     <include>
       <name>mbari_mars</name>
       <pose>13 6 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/quarkytale/models/MBARI MARS</uri>
+      <uri>https://fuel.gazebosim.org/1.0/quarkytale/models/MBARI MARS</uri>
     </include>
 
     <include>
       <pose>13 -7 -94.5 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase</uri-->
+      <!--uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Vase</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://sunken_vase</uri>
     </include>
 
     <include>
       <pose>13 -8 -94.5 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Vase 02</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Vase 02</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>13 -9 -94.5 0 0 0</pose>
-      <!--uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Niskin</uri-->
+      <!--uri>https://fuel.gazebosim.org/1.0/Cole/models/Niskin</uri-->
       <!-- Use the SDF in repo for inertial values not yet on Ignition Fuel -->
       <uri>model://niskin</uri>
     </include>
@@ -235,48 +235,48 @@
     <include>
       <static>true</static>
       <pose>12 -10 -94.8 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 01</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 01</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>14 -10 -94.8 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 02</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 02</uri>
     </include>
 
     <include>
       <pose>13 -11 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Lionfish</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Lionfish</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>12 -11.5 -94.8 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral01</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Coral01</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>12.2 -10.3 -95 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Coral02</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Coral02</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>12 -12 -94.8 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 03</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 03</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>14 -12 -94.8 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Kelp 04</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Kelp 04</uri>
     </include>
 
     <include>
       <static>true</static>
       <pose>35 -10 -94 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/Cole/models/Sunken Ship</uri>
+      <uri>https://fuel.gazebosim.org/1.0/Cole/models/Sunken Ship</uri>
     </include>
 
   </world>