diff --git a/CMakeLists.txt b/CMakeLists.txt
index ddc4e67..03137fc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,15 @@
 cmake_minimum_required(VERSION 3.5)
 project(aws_robomaker_small_house_world)
 
-find_package(gazebo_ros REQUIRED)
+find_package(ros_gz_sim REQUIRED)
 find_package(ament_cmake_ros REQUIRED)
 
 install(DIRECTORY launch models worlds maps photos param routes
     DESTINATION share/${PROJECT_NAME}
 )
 
+ament_environment_hooks("${CMAKE_CURRENT_SOURCE_DIR}/env-hooks/aws_robomaker_small_house_world.dsv.in")
+
 ament_export_dependencies(gazebo_ros)
 
 ament_package()
diff --git a/env-hooks/aws_robomaker_small_house_world.dsv.in b/env-hooks/aws_robomaker_small_house_world.dsv.in
new file mode 100644
index 0000000..4775756
--- /dev/null
+++ b/env-hooks/aws_robomaker_small_house_world.dsv.in
@@ -0,0 +1,4 @@
+prepend-non-duplicate;GZ_SIM_MODEL_PATH;share/aws_robomaker_small_house_world/models
+prepend-non-duplicate;GZ_SIM_MODEL_PATH;share/aws_robomaker_small_house_world/worlds
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_small_house_world/models
+prepend-non-duplicate;GZ_SIM_RESOURCE_PATH;share/aws_robomaker_small_house_world/worlds
\ No newline at end of file
diff --git a/launch/small_house.launch.py b/launch/small_house.launch.py
index 0ea86e7..5f2865d 100755
--- a/launch/small_house.launch.py
+++ b/launch/small_house.launch.py
@@ -18,45 +18,38 @@
 
 import os
 
-import launch
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from ament_index_python.packages import get_package_share_directory
+from launch.substitutions import LaunchConfiguration
+from launch.actions import ExecuteProcess
+from launch.actions import SetEnvironmentVariable
 
 
 def generate_launch_description():
     world_file_name = 'small_house.world'
     package_dir = get_package_share_directory('aws_robomaker_small_house_world')
-    gazebo_ros = get_package_share_directory('gazebo_ros')
+    world = LaunchConfiguration('world')
 
-    gazebo_client = launch.actions.IncludeLaunchDescription(
-	launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzclient.launch.py')),
-        condition=launch.conditions.IfCondition(launch.substitutions.LaunchConfiguration('gui'))
-     )
-    gazebo_server = launch.actions.IncludeLaunchDescription(
-        launch.launch_description_sources.PythonLaunchDescriptionSource(
-            os.path.join(gazebo_ros, 'launch', 'gzserver.launch.py'))
-    )
+    model_path = os.path.join(package_dir, 'models')
+
+    gazebo_server_cmd_line = [
+        'gz', 'sim', '-r', '-v4', world]
+
+    gazebo = ExecuteProcess(
+        cmd=gazebo_server_cmd_line, output='screen')
 
     return LaunchDescription([
+        SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', model_path),
         DeclareLaunchArgument(
           'world',
           default_value=[os.path.join(package_dir, 'worlds', world_file_name), ''],
           description='SDF world file'),
-        DeclareLaunchArgument(
-            name='gui',
-            default_value='false'
-        ),
         DeclareLaunchArgument(
             name='use_sim_time',
             default_value='true'
         ),
-        DeclareLaunchArgument('state',
-            default_value='true',
-            description='Set "true" to load "libgazebo_ros_state.so"'),
-        gazebo_server,
-        gazebo_client,
+        gazebo,
     ])
 
 
diff --git a/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_visual.DAE
index 7c218ea..e2330f4 100644
--- a/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitA_01/meshes/aws_DeskPortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:46:10Z</created><keywords></keywords><modified>2018-10-24T06:46:10Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitA_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitA_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_visual.DAE
index 5da5af0..e027223 100644
--- a/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitA_02/meshes/aws_DeskPortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:46:10Z</created><keywords></keywords><modified>2018-10-24T06:46:10Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitA_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitA_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitB_01/meshes/aws_DeskPortraitB_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitB_01/meshes/aws_DeskPortraitB_01_visual.DAE
index 5ff777a..c80f9b9 100644
--- a/models/aws_robomaker_residential_DeskPortraitB_01/meshes/aws_DeskPortraitB_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitB_01/meshes/aws_DeskPortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:51:23Z</created><keywords></keywords><modified>2018-10-24T06:51:23Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitB_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitB_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitB_02/meshes/aws_DeskPortraitB_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitB_02/meshes/aws_DeskPortraitB_01_visual.DAE
index a51ec4b..7a64dce 100644
--- a/models/aws_robomaker_residential_DeskPortraitB_02/meshes/aws_DeskPortraitB_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitB_02/meshes/aws_DeskPortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T06:51:23Z</created><keywords></keywords><modified>2018-10-24T06:51:23Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitA_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitA_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitC_02/meshes/aws_DeskPortraitC_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitC_02/meshes/aws_DeskPortraitC_01_visual.DAE
index 9d0eac3..057037a 100644
--- a/models/aws_robomaker_residential_DeskPortraitC_02/meshes/aws_DeskPortraitC_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitC_02/meshes/aws_DeskPortraitC_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-26T09:16:20Z</created><keywords></keywords><modified>2018-10-26T09:16:20Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #2-image" name="Map #2"><init_from>../materials/textures/aws_DeskPortraitC_01.png</init_from></image>
-    <image id="Map #1-image" name="Map #1"><init_from>../../../../photos/DeskPortraitC_02.jpg</init_from></image>
+    <image id="Map #1-image" name="Map #1"><init_from>../../../photos/DeskPortraitC_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #28" name="Material #28">
diff --git a/models/aws_robomaker_residential_DeskPortraitD_01/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_01/meshes/aws_DeskPortraitD_01_visual.DAE
index 6bede68..37690d9 100644
--- a/models/aws_robomaker_residential_DeskPortraitD_01/meshes/aws_DeskPortraitD_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitD_01/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitD_02/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_02/meshes/aws_DeskPortraitD_01_visual.DAE
index 830f629..9e70370 100644
--- a/models/aws_robomaker_residential_DeskPortraitD_02/meshes/aws_DeskPortraitD_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitD_02/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitD_03/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_03/meshes/aws_DeskPortraitD_01_visual.DAE
index 4b516c3..5423768 100644
--- a/models/aws_robomaker_residential_DeskPortraitD_03/meshes/aws_DeskPortraitD_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitD_03/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_03.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_03.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_DeskPortraitD_04/meshes/aws_DeskPortraitD_01_visual.DAE b/models/aws_robomaker_residential_DeskPortraitD_04/meshes/aws_DeskPortraitD_01_visual.DAE
index ff2638f..99a79fb 100644
--- a/models/aws_robomaker_residential_DeskPortraitD_04/meshes/aws_DeskPortraitD_01_visual.DAE
+++ b/models/aws_robomaker_residential_DeskPortraitD_04/meshes/aws_DeskPortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:03:32Z</created><keywords></keywords><modified>2018-10-24T07:03:32Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_DeskPortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/DeskPortraitD_04.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/DeskPortraitD_04.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #27" name="Material #27">
diff --git a/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE b/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
index 9aaa7e9..70f8f02 100644
--- a/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:08:49Z</created><keywords></keywords><modified>2018-10-24T07:08:49Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitA_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitA_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitA_02/meshes/aws_PortraitA_01_visual.DAE b/models/aws_robomaker_residential_PortraitA_02/meshes/aws_PortraitA_01_visual.DAE
index e556913..ac1cae0 100644
--- a/models/aws_robomaker_residential_PortraitA_02/meshes/aws_PortraitA_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitA_02/meshes/aws_PortraitA_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:08:49Z</created><keywords></keywords><modified>2018-10-24T07:08:49Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitA_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitA_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitA_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitB_01/meshes/aws_PortraitB_01_visual.DAE b/models/aws_robomaker_residential_PortraitB_01/meshes/aws_PortraitB_01_visual.DAE
index 442feff..b80d0b3 100644
--- a/models/aws_robomaker_residential_PortraitB_01/meshes/aws_PortraitB_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitB_01/meshes/aws_PortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:21:46Z</created><keywords></keywords><modified>2018-10-24T07:21:46Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitB_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitB_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitB_02/meshes/aws_PortraitB_01_visual.DAE b/models/aws_robomaker_residential_PortraitB_02/meshes/aws_PortraitB_01_visual.DAE
index f6764bd..d0dcd29 100644
--- a/models/aws_robomaker_residential_PortraitB_02/meshes/aws_PortraitB_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitB_02/meshes/aws_PortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:21:46Z</created><keywords></keywords><modified>2018-10-24T07:21:46Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitB_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitB_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitB_03/meshes/aws_PortraitB_01_visual.DAE b/models/aws_robomaker_residential_PortraitB_03/meshes/aws_PortraitB_01_visual.DAE
index c77e90f..850d90f 100644
--- a/models/aws_robomaker_residential_PortraitB_03/meshes/aws_PortraitB_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitB_03/meshes/aws_PortraitB_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:21:46Z</created><keywords></keywords><modified>2018-10-24T07:21:46Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitB_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitB_03.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitB_03.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitC_01/meshes/aws_PortraitC_01_visual.DAE b/models/aws_robomaker_residential_PortraitC_01/meshes/aws_PortraitC_01_visual.DAE
index 6399f20..34411e9 100644
--- a/models/aws_robomaker_residential_PortraitC_01/meshes/aws_PortraitC_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitC_01/meshes/aws_PortraitC_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:25:35Z</created><keywords></keywords><modified>2018-10-24T07:25:35Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitC_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitC_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitC_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitD_01/meshes/aws_PortraitD_01_visual.DAE b/models/aws_robomaker_residential_PortraitD_01/meshes/aws_PortraitD_01_visual.DAE
index 38a62a7..b193f04 100644
--- a/models/aws_robomaker_residential_PortraitD_01/meshes/aws_PortraitD_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitD_01/meshes/aws_PortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:31:36Z</created><keywords></keywords><modified>2018-10-24T07:31:36Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitD_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitD_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitD_02/meshes/aws_PortraitD_01_visual.DAE b/models/aws_robomaker_residential_PortraitD_02/meshes/aws_PortraitD_01_visual.DAE
index fa6ba12..2b2f42a 100644
--- a/models/aws_robomaker_residential_PortraitD_02/meshes/aws_PortraitD_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitD_02/meshes/aws_PortraitD_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:31:36Z</created><keywords></keywords><modified>2018-10-24T07:31:36Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitD_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitD_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitD_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitE_01/meshes/aws_PortraitE_01_visual.DAE b/models/aws_robomaker_residential_PortraitE_01/meshes/aws_PortraitE_01_visual.DAE
index 00d7684..85282d0 100644
--- a/models/aws_robomaker_residential_PortraitE_01/meshes/aws_PortraitE_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitE_01/meshes/aws_PortraitE_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:35:06Z</created><keywords></keywords><modified>2018-10-24T07:35:06Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitE_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitE_01.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitE_01.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/models/aws_robomaker_residential_PortraitE_02/meshes/aws_PortraitE_01_visual.DAE b/models/aws_robomaker_residential_PortraitE_02/meshes/aws_PortraitE_01_visual.DAE
index dd7d1b4..8cd7483 100644
--- a/models/aws_robomaker_residential_PortraitE_02/meshes/aws_PortraitE_01_visual.DAE
+++ b/models/aws_robomaker_residential_PortraitE_02/meshes/aws_PortraitE_01_visual.DAE
@@ -3,7 +3,7 @@
   <asset><contributor><author></author><authoring_tool>FBX COLLADA exporter</authoring_tool><comments></comments></contributor><created>2018-10-24T07:35:06Z</created><keywords></keywords><modified>2018-10-24T07:35:06Z</modified><revision></revision><subject></subject><title></title><unit meter="0.010000" name="centimeter"></unit><up_axis>Z_UP</up_axis></asset>
   <library_images>
     <image id="Map #1-image" name="Map #1"><init_from>../materials/textures/aws_PortraitE_01.png</init_from></image>
-    <image id="Map #2-image" name="Map #2"><init_from>../../../../photos/PortraitE_02.jpg</init_from></image>
+    <image id="Map #2-image" name="Map #2"><init_from>../../../photos/PortraitE_02.jpg</init_from></image>
   </library_images>
   <library_materials>
     <material id="Material #25" name="Material #25">
diff --git a/worlds/small_house.world b/worlds/small_house.world
index 03c526c..69dc31a 100644
--- a/worlds/small_house.world
+++ b/worlds/small_house.world
@@ -1,38 +1,34 @@
 <?xml version="1.0" encoding="utf-8"?>
 
-<sdf version='1.6'>
+<sdf version='1.11'>
   <world name='default'>
-    <!-- override the default position of the camera !-->
-    <gui>
-      <camera name='gzclient_camera'>
-      <!--
-        <pose>5 -4 2 0 0.2756 2.3561</pose>
-        -->
-        <pose>-4.4965503 -0.4874 1.508684 0 -0 0</pose>
-      </camera>
-    </gui>
-    <gravity>0 0 -9.8</gravity>
-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
-    <atmosphere type='adiabatic'/>
-    <physics name='default_physics' default='0' type='ode'>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
+
+    <plugin
+      filename="gz-sim-physics-system"
+      name="gz::sim::systems::Physics">
+    </plugin>
+    <plugin
+      filename="gz-sim-user-commands-system"
+      name="gz::sim::systems::UserCommands">
+    </plugin>
+    <plugin
+      filename="gz-sim-scene-broadcaster-system"
+      name="gz::sim::systems::SceneBroadcaster">
+    </plugin>
+    <plugin
+      filename="gz-sim-sensors-system"
+      name="gz::sim::systems::Sensors">
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <plugin
+      filename="gz-sim-imu-system"
+      name="gz::sim::systems::Imu">
+    </plugin>
+
+    <physics name="1ms" type="ignored">
+        <max_step_size>0.005</max_step_size>
+        <real_time_factor>1.0</real_time_factor>
     </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>false</shadows>
-      <grid>false</grid>
-      <origin_visual>false</origin_visual>
-    </scene>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
 
   <model name='AirconditionerA_01_001'>
         <static>true</static>
@@ -561,13 +557,13 @@
         </include>
         <pose frame=''>9.107968 -2.651726 0.902458 -0.000006 0.000034 0.001290</pose>
 	</model>
-	<model name='ShoeRack_01_001'>
+	<!-- <model name='ShoeRack_01_001'>
         <static>true</static>    
         <include>
             <uri>model://aws_robomaker_residential_ShoeRack_01</uri>
         </include>
         <pose frame=''>4.297978 -5.173566 0 0 -0 0</pose>
-	</model>
+	</model> -->
 	<model name='SofaC_01_001'>
         <static>true</static>    
         <include>
@@ -833,5 +829,6 @@
       <cast_shadows>0</cast_shadows>
       <direction>0 0 -1</direction>
     </light>
+    
   </world>
 </sdf>