From f9522e831c27311f74396bba06b9da4b5efb7ec7 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Thu, 29 Sep 2022 13:49:31 -0400
Subject: [PATCH] Gazebo Simulation Enablement (#20319)

---
 .vscode/tasks.json                            |   8 +-
 .../init.d-posix/airframes/4001_x500          |  30 +-
 .../init.d-posix/px4-rc.simulator             |  85 +-
 Tools/setup/ubuntu.sh                         |  11 +-
 .../models/x500-Depth/model.config            |   0
 .../simulation/gz/models/x500-Depth/model.sdf |  17 +
 .../models/x500-Depth/thumbnails/1.png        | Bin
 .../models/x500-Depth/thumbnails/2.png        | Bin
 .../models/x500-Depth/thumbnails/3.png        | Bin
 .../models/x500-Depth/thumbnails/4.png        | Bin
 .../models/x500-Depth/thumbnails/5.png        | Bin
 .../{ignition => gz}/models/x500/model.config |   0
 Tools/simulation/gz/models/x500/model.sdf     |   8 +
 .../models/x500}/thumbnails/1.png             | Bin
 .../models/x500}/thumbnails/2.png             | Bin
 .../models/x500}/thumbnails/3.png             | Bin
 .../models/x500}/thumbnails/4.png             | Bin
 .../models/x500}/thumbnails/5.png             | Bin
 .../{ignition => gz}/worlds/default.sdf       |   0
 .../x500-Base/materials/textures/CF.png       | Bin 1567802 -> 0 bytes
 .../x500-Base/materials/textures/nxp.png      | Bin 25522 -> 0 bytes
 .../x500-Base/materials/textures/rd.png       | Bin 26435 -> 0 bytes
 .../models/x500-Base/meshes/1345_prop_ccw.stl | Bin 522784 -> 0 bytes
 .../models/x500-Base/meshes/1345_prop_cw.stl  | Bin 521884 -> 0 bytes
 .../models/x500-Base/meshes/5010Base.dae      | 261 ------
 .../models/x500-Base/meshes/5010Bell.dae      | 341 --------
 .../ignition/models/x500-Base/meshes/CF.png   | Bin 1567802 -> 0 bytes
 .../models/x500-Base/meshes/NXP-HGD-CF.dae    | 807 ------------------
 .../ignition/models/x500-Base/model.config    |  11 -
 .../ignition/models/x500-Base/model.sdf       | 516 -----------
 .../ignition/models/x500-Depth/model.sdf      |  85 --
 .../simulation/ignition/models/x500/model.sdf |  76 --
 .../ignition/models/x500/thumbnails/1.png     | Bin 32312 -> 0 bytes
 .../ignition/models/x500/thumbnails/2.png     | Bin 52133 -> 0 bytes
 .../ignition/models/x500/thumbnails/3.png     | Bin 28374 -> 0 bytes
 .../ignition/models/x500/thumbnails/4.png     | Bin 27300 -> 0 bytes
 .../ignition/models/x500/thumbnails/5.png     | Bin 23786 -> 0 bytes
 boards/px4/sitl/default.px4board              |   2 +-
 platforms/posix/Debug/launch_sitl.json.in     |   8 +-
 .../CMakeLists.txt                            |  32 +-
 .../GZBridge.cpp}                             | 193 +++--
 .../GZBridge.hpp}                             |  15 +-
 src/modules/simulation/gz_bridge/Kconfig      |   5 +
 .../simulation/gz_bridge/gazebo_env.sh.in     |   6 +
 .../module.yaml                               |   4 +-
 .../parameters.c                              |   6 +-
 .../simulator_ignition_bridge/Kconfig         |   5 -
 .../gazebo_env.sh.in                          |   6 -
 48 files changed, 269 insertions(+), 2269 deletions(-)
 rename Tools/simulation/{ignition => gz}/models/x500-Depth/model.config (100%)
 create mode 100644 Tools/simulation/gz/models/x500-Depth/model.sdf
 rename Tools/simulation/{ignition => gz}/models/x500-Depth/thumbnails/1.png (100%)
 rename Tools/simulation/{ignition => gz}/models/x500-Depth/thumbnails/2.png (100%)
 rename Tools/simulation/{ignition => gz}/models/x500-Depth/thumbnails/3.png (100%)
 rename Tools/simulation/{ignition => gz}/models/x500-Depth/thumbnails/4.png (100%)
 rename Tools/simulation/{ignition => gz}/models/x500-Depth/thumbnails/5.png (100%)
 rename Tools/simulation/{ignition => gz}/models/x500/model.config (100%)
 create mode 100644 Tools/simulation/gz/models/x500/model.sdf
 rename Tools/simulation/{ignition/models/x500-Base => gz/models/x500}/thumbnails/1.png (100%)
 rename Tools/simulation/{ignition/models/x500-Base => gz/models/x500}/thumbnails/2.png (100%)
 rename Tools/simulation/{ignition/models/x500-Base => gz/models/x500}/thumbnails/3.png (100%)
 rename Tools/simulation/{ignition/models/x500-Base => gz/models/x500}/thumbnails/4.png (100%)
 rename Tools/simulation/{ignition/models/x500-Base => gz/models/x500}/thumbnails/5.png (100%)
 rename Tools/simulation/{ignition => gz}/worlds/default.sdf (100%)
 delete mode 100755 Tools/simulation/ignition/models/x500-Base/materials/textures/CF.png
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/materials/textures/nxp.png
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/materials/textures/rd.png
 delete mode 100755 Tools/simulation/ignition/models/x500-Base/meshes/1345_prop_ccw.stl
 delete mode 100755 Tools/simulation/ignition/models/x500-Base/meshes/1345_prop_cw.stl
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/meshes/5010Base.dae
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/meshes/5010Bell.dae
 delete mode 100755 Tools/simulation/ignition/models/x500-Base/meshes/CF.png
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/meshes/NXP-HGD-CF.dae
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/model.config
 delete mode 100644 Tools/simulation/ignition/models/x500-Base/model.sdf
 delete mode 100644 Tools/simulation/ignition/models/x500-Depth/model.sdf
 delete mode 100644 Tools/simulation/ignition/models/x500/model.sdf
 delete mode 100644 Tools/simulation/ignition/models/x500/thumbnails/1.png
 delete mode 100644 Tools/simulation/ignition/models/x500/thumbnails/2.png
 delete mode 100644 Tools/simulation/ignition/models/x500/thumbnails/3.png
 delete mode 100644 Tools/simulation/ignition/models/x500/thumbnails/4.png
 delete mode 100644 Tools/simulation/ignition/models/x500/thumbnails/5.png
 rename src/modules/simulation/{simulator_ignition_bridge => gz_bridge}/CMakeLists.txt (80%)
 rename src/modules/simulation/{simulator_ignition_bridge/SimulatorIgnitionBridge.cpp => gz_bridge/GZBridge.cpp} (76%)
 rename src/modules/simulation/{simulator_ignition_bridge/SimulatorIgnitionBridge.hpp => gz_bridge/GZBridge.hpp} (90%)
 create mode 100644 src/modules/simulation/gz_bridge/Kconfig
 create mode 100644 src/modules/simulation/gz_bridge/gazebo_env.sh.in
 rename src/modules/simulation/{simulator_ignition_bridge => gz_bridge}/module.yaml (84%)
 rename src/modules/simulation/{simulator_ignition_bridge => gz_bridge}/parameters.c (93%)
 delete mode 100644 src/modules/simulation/simulator_ignition_bridge/Kconfig
 delete mode 100644 src/modules/simulation/simulator_ignition_bridge/gazebo_env.sh.in

diff --git a/.vscode/tasks.json b/.vscode/tasks.json
index 8a29e32083..513822a277 100644
--- a/.vscode/tasks.json
+++ b/.vscode/tasks.json
@@ -218,10 +218,10 @@
             "options": {
                 "cwd": "${workspaceFolder}",
                 "env": {
-                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/ignition/models",
+                    "IGN_GAZEBO_RESOURCE_PATH": "${workspaceFolder}/Tools/simulation/gz/models",
                 }
             },
-            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/ignition/worlds/${input:ignWorld}.sdf",
+            "command": "ign gazebo -v 4 -r ${workspaceFolder}/Tools/simulation/gz/worlds/${input:gzWorld}.sdf",
             "isBackground": true,
             "presentation": {
                 "echo": true,
@@ -342,8 +342,8 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "ignWorld",
-            "description": "Ignition world",
+            "id": "gzWorld",
+            "description": "gz world",
             "options": [
                 "default"
             ],
diff --git a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500 b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
index e7d33ca535..103f8dd799 100644
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_x500
@@ -1,15 +1,15 @@
 #!/bin/sh
 #
-# @name Ignition Gazebo X3
+# @name Gazebo x500
 #
 # @type Quadrotor
 #
 
 . ${R}etc/init.d/rc.mc_defaults
 
-PX4_SIMULATOR=${PX4_SIMULATOR:=ignition}
+PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500}
-PX4_SIM_WORLD=${PX4_SIM_WORLD:=default}
 
 param set-default CA_AIRFRAME 0
 param set-default CA_ROTOR_COUNT 4
@@ -30,19 +30,19 @@ param set-default CA_ROTOR3_PX -0.13
 param set-default CA_ROTOR3_PY 0.20
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default SIM_IGN_FUNC1 101
-param set-default SIM_IGN_FUNC2 102
-param set-default SIM_IGN_FUNC3 103
-param set-default SIM_IGN_FUNC4 104
+param set-default SIM_GZ_FUNC1 101
+param set-default SIM_GZ_FUNC2 102
+param set-default SIM_GZ_FUNC3 103
+param set-default SIM_GZ_FUNC4 104
 
-param set-default SIM_IGN_MIN1 150
-param set-default SIM_IGN_MIN2 150
-param set-default SIM_IGN_MIN3 150
-param set-default SIM_IGN_MIN4 150
+param set-default SIM_GZ_MIN1 150
+param set-default SIM_GZ_MIN2 150
+param set-default SIM_GZ_MIN3 150
+param set-default SIM_GZ_MIN4 150
 
-param set-default SIM_IGN_MAX1 1000
-param set-default SIM_IGN_MAX2 1000
-param set-default SIM_IGN_MAX3 1000
-param set-default SIM_IGN_MAX4 1000
+param set-default SIM_GZ_MAX1 1000
+param set-default SIM_GZ_MAX2 1000
+param set-default SIM_GZ_MAX3 1000
+param set-default SIM_GZ_MAX4 1000
 
 param set-default MPC_THR_HOVER 0.60
diff --git a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
index 7c7beea2d7..0d16320e9d 100644
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@@ -17,7 +17,7 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		exit 1
 	fi
 
-elif [ "$PX4_SIMULATOR" = "ignition" ]; then
+elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
 	if [ -f gazebo_env.sh ]; then
@@ -26,28 +26,52 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 		. ../gazebo_env.sh
 	fi
 
-	ign_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_VERBOSE ]; then
+		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
+			gz_verbose=$PX4_GZ_VERBOSE
+		else
+			gz_verbose=4
+			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
+		fi
+		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
+	else
+		gz_verbose=1
+		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
+	fi
 
-	if [ -z $ign_world ]; then
+	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
-		# starting ign gazebo with ${PX4_SIM_WORLD} world
+	if [ -z $gz_world ]; then
+
+		# starting ign gazebo with ${PX4_GZ_WORLD} world
 		echo "INFO  [init] starting ign gazebo"
-
-		ign gazebo --verbose=1 -r -s "${PX4_IGN_GAZEBO_WORLDS}/${PX4_SIM_WORLD}.sdf" &
+# shellcheck disable=SC2153
+		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
 		if [ -z $HEADLESS ]; then
 			# HEADLESS not set, starting ign gazebo gui
 			ign gazebo -g &
 		fi
 	else
-		echo "INFO  [init] ign gazebo already running world: $ign_world"
-		PX4_SIM_WORLD=$ign_world
+		echo "INFO  [init] ign gazebo already running world: $gz_world"
+		PX4_GZ_WORLD=$gz_world
 	fi
 
-	if [ -z $PX4_IGN_MODEL_POSE ]; then
-		# start ignition bridge without pose arg.
-		echo "WARN  [init] PX4_IGN_MODEL_POSE not set, spawning at origin."
-		if simulator_ignition_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
+# shellcheck disable=SC2236
+	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+
+# shellcheck disable=SC2236
+		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+			# Clean potential input line formatting.
+			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+		else
+			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
+			model_pose="0,0,0,0,0,0"
+		fi
+		# start gz bridge with pose arg.
+		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
@@ -55,22 +79,29 @@ elif [ "$PX4_SIMULATOR" = "ignition" ]; then
 			echo "ERROR  [init] ign gazebo failed to start"
 			exit 1
 		fi
+	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+			sensor_baro_sim start
+			sensor_gps_sim start
+			sensor_mag_sim start
+		else
+			echo "ERROR  [init] ign gazebo failed to start"
+			exit 1
+		fi
+
 	else
-
-		# Clean potential input line formatting.
-		model_pose="$( echo ${PX4_IGN_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
-		echo "INFO  [init] PX4_IGN_MODEL_POSE set, spawning at: ${model_pose}"
-
-		# start ignition bridge with pose arg.
-		if simulator_ignition_bridge start -p "${model_pose}"  -m "${PX4_SIM_MODEL}" -w "${PX4_SIM_WORLD}"; then
-			sensor_baro_sim start
-			sensor_gps_sim start
-			sensor_mag_sim start
-		else
-			echo "ERROR  [init] ign gazebo failed to start"
-			exit 1
-		fi
-
+		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		exit 1
 	fi
 
 else
diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh
index 8077444b3a..20987bbbc4 100755
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@@ -16,6 +16,7 @@ set -e
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_SIM_JAMMY="false"
 
 # Parse arguments
 for arg in "$@"
@@ -28,6 +29,10 @@ do
 		INSTALL_SIM="false"
 	fi
 
+	if [[ $arg == "--sim_jammy" ]]; then
+		INSTALL_SIM_JAMMY="true"
+	fi
+
 done
 
 # detect if running in docker
@@ -67,6 +72,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04, simulation build off by default." 
+	echo "Use --sim_jammy to enable simulation build."
+	INSTALL_SIM=$INSTALL_SIM_JAMMY
 fi
 
 
@@ -146,7 +155,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
diff --git a/Tools/simulation/ignition/models/x500-Depth/model.config b/Tools/simulation/gz/models/x500-Depth/model.config
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Depth/model.config
rename to Tools/simulation/gz/models/x500-Depth/model.config
diff --git a/Tools/simulation/gz/models/x500-Depth/model.sdf b/Tools/simulation/gz/models/x500-Depth/model.sdf
new file mode 100644
index 0000000000..4833463549
--- /dev/null
+++ b/Tools/simulation/gz/models/x500-Depth/model.sdf
@@ -0,0 +1,17 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500-Depth'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
+      <pose>.12 .03 .242 0 0 0</pose>
+    </include>
+    <joint name="CameraJoint" type="fixed">
+      <parent>base_link</parent>
+      <child>OakD-Lite/base_link</child>
+      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
+    </joint>
+  </model>
+</sdf>
diff --git a/Tools/simulation/ignition/models/x500-Depth/thumbnails/1.png b/Tools/simulation/gz/models/x500-Depth/thumbnails/1.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Depth/thumbnails/1.png
rename to Tools/simulation/gz/models/x500-Depth/thumbnails/1.png
diff --git a/Tools/simulation/ignition/models/x500-Depth/thumbnails/2.png b/Tools/simulation/gz/models/x500-Depth/thumbnails/2.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Depth/thumbnails/2.png
rename to Tools/simulation/gz/models/x500-Depth/thumbnails/2.png
diff --git a/Tools/simulation/ignition/models/x500-Depth/thumbnails/3.png b/Tools/simulation/gz/models/x500-Depth/thumbnails/3.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Depth/thumbnails/3.png
rename to Tools/simulation/gz/models/x500-Depth/thumbnails/3.png
diff --git a/Tools/simulation/ignition/models/x500-Depth/thumbnails/4.png b/Tools/simulation/gz/models/x500-Depth/thumbnails/4.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Depth/thumbnails/4.png
rename to Tools/simulation/gz/models/x500-Depth/thumbnails/4.png
diff --git a/Tools/simulation/ignition/models/x500-Depth/thumbnails/5.png b/Tools/simulation/gz/models/x500-Depth/thumbnails/5.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Depth/thumbnails/5.png
rename to Tools/simulation/gz/models/x500-Depth/thumbnails/5.png
diff --git a/Tools/simulation/ignition/models/x500/model.config b/Tools/simulation/gz/models/x500/model.config
similarity index 100%
rename from Tools/simulation/ignition/models/x500/model.config
rename to Tools/simulation/gz/models/x500/model.config
diff --git a/Tools/simulation/gz/models/x500/model.sdf b/Tools/simulation/gz/models/x500/model.sdf
new file mode 100644
index 0000000000..7079adeae8
--- /dev/null
+++ b/Tools/simulation/gz/models/x500/model.sdf
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<sdf version='1.9'>
+  <model name='x500'>
+    <include merge='true'>
+      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/x500-Base</uri>
+    </include>
+  </model>
+</sdf>
diff --git a/Tools/simulation/ignition/models/x500-Base/thumbnails/1.png b/Tools/simulation/gz/models/x500/thumbnails/1.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Base/thumbnails/1.png
rename to Tools/simulation/gz/models/x500/thumbnails/1.png
diff --git a/Tools/simulation/ignition/models/x500-Base/thumbnails/2.png b/Tools/simulation/gz/models/x500/thumbnails/2.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Base/thumbnails/2.png
rename to Tools/simulation/gz/models/x500/thumbnails/2.png
diff --git a/Tools/simulation/ignition/models/x500-Base/thumbnails/3.png b/Tools/simulation/gz/models/x500/thumbnails/3.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Base/thumbnails/3.png
rename to Tools/simulation/gz/models/x500/thumbnails/3.png
diff --git a/Tools/simulation/ignition/models/x500-Base/thumbnails/4.png b/Tools/simulation/gz/models/x500/thumbnails/4.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Base/thumbnails/4.png
rename to Tools/simulation/gz/models/x500/thumbnails/4.png
diff --git a/Tools/simulation/ignition/models/x500-Base/thumbnails/5.png b/Tools/simulation/gz/models/x500/thumbnails/5.png
similarity index 100%
rename from Tools/simulation/ignition/models/x500-Base/thumbnails/5.png
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similarity index 100%
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diff --git a/Tools/simulation/ignition/models/x500-Base/meshes/5010Base.dae b/Tools/simulation/ignition/models/x500-Base/meshes/5010Base.dae
deleted file mode 100644
index 2410622662..0000000000
--- a/Tools/simulation/ignition/models/x500-Base/meshes/5010Base.dae
+++ /dev/null
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-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Light_001" name="Light.001" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.055189 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light_001-light"/>
-      </node>
-      <node id="Camera_001" name="Camera.001" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054209 -0.6141704 -6.925791 -4.01133e-9 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera_001-camera"/>
-      </node>
-      <node id="Stator_001" name="Stator.001" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 3.13916e-7 -1 0 0 1 3.13916e-7 0 0 0 0 1</matrix>
-        <node id="Stator" name="Stator" type="NODE">
-          <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.01 0 0 0 0 1</matrix>
-          <instance_geometry url="#Body1_001-mesh" name="Stator">
-            <bind_material>
-              <technique_common>
-                <instance_material symbol="Material_003-material" target="#Material_003-material">
-                  <bind_vertex_input semantic="Body1_001-mesh-map-0" input_semantic="TEXCOORD" input_set="0"/>
-                </instance_material>
-              </technique_common>
-            </bind_material>
-          </instance_geometry>
-        </node>
-      </node>
-      <node id="_010_sim_v4_file" name="_010_sim_v4_file" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 3.13916e-7 -1 0 0 1 3.13916e-7 0 0 0 0 1</matrix>
-        <node id="MeshInstance" name="MeshInstance" type="NODE">
-          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        </node>
-        <node id="MeshInstance_1" name="MeshInstance_1" type="NODE">
-          <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        </node>
-        <node id="MeshInstance_2" name="MeshInstance_2" type="NODE">
-          <matrix sid="transform">0.9659258 0 0.258819 -2.89903e-16 0 1 0 0 -0.258819 0 0.9659258 2.72647e-16 0 0 0 1</matrix>
-        </node>
-      </node>
-      <node id="Camera" name="Camera" type="NODE">
-        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
-        <instance_camera url="#Camera-camera"/>
-      </node>
-      <node id="Light" name="Light" type="NODE">
-        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
-        <instance_light url="#Light-light"/>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/Tools/simulation/ignition/models/x500-Base/meshes/5010Bell.dae b/Tools/simulation/ignition/models/x500-Base/meshes/5010Bell.dae
deleted file mode 100644
index 24b41e5a3a..0000000000
--- a/Tools/simulation/ignition/models/x500-Base/meshes/5010Bell.dae
+++ /dev/null
@@ -1,341 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
-    </contributor>
-    <created>2022-02-07T19:33:28</created>
-    <modified>2022-02-07T19:33:28</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_cameras>
-    <camera id="Camera_001-camera" name="Camera.001">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <dof_distance sid="dof_distance" type="float">10</dof_distance>
-        </technique>
-      </extra>
-    </camera>
-    <camera id="Camera-camera" name="Camera">
-      <optics>
-        <technique_common>
-          <perspective>
-            <xfov sid="xfov">39.59775</xfov>
-            <aspect_ratio>1.777778</aspect_ratio>
-            <znear sid="znear">0.1</znear>
-            <zfar sid="zfar">100</zfar>
-          </perspective>
-        </technique_common>
-      </optics>
-      <extra>
-        <technique profile="blender">
-          <shiftx sid="shiftx" type="float">0</shiftx>
-          <shifty sid="shifty" type="float">0</shifty>
-          <dof_distance sid="dof_distance" type="float">10</dof_distance>
-        </technique>
-      </extra>
-    </camera>
-  </library_cameras>
-  <library_lights>
-    <light id="Light_001-light" name="Light.001">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-        </technique>
-      </extra>
-    </light>
-    <light id="Light-light" name="Light">
-      <technique_common>
-        <point>
-          <color sid="color">1000 1000 1000</color>
-          <constant_attenuation>1</constant_attenuation>
-          <linear_attenuation>0</linear_attenuation>
-          <quadratic_attenuation>0.00111109</quadratic_attenuation>
-        </point>
-      </technique_common>
-      <extra>
-        <technique profile="blender">
-          <type sid="type" type="int">0</type>
-          <flag sid="flag" type="int">0</flag>
-          <mode sid="mode" type="int">1</mode>
-          <gamma sid="blender_gamma" type="float">1</gamma>
-          <red sid="red" type="float">1</red>
-          <green sid="green" type="float">1</green>
-          <blue sid="blue" type="float">1</blue>
-          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
-          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
-          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
-          <energy sid="blender_energy" type="float">1000</energy>
-          <dist sid="blender_dist" type="float">29.99998</dist>
-          <spotsize sid="spotsize" type="float">75</spotsize>
-          <spotblend sid="spotblend" type="float">0.15</spotblend>
-          <att1 sid="att1" type="float">0</att1>
-          <att2 sid="att2" type="float">1</att2>
-          <falloff_type sid="falloff_type" type="int">2</falloff_type>
-          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
-          <clipend sid="clipend" type="float">30.002</clipend>
-          <bias sid="bias" type="float">1</bias>
-          <soft sid="soft" type="float">3</soft>
-          <bufsize sid="bufsize" type="int">2880</bufsize>
-          <samp sid="samp" type="int">3</samp>
-          <buffers sid="buffers" type="int">1</buffers>
-          <area_shape sid="area_shape" type="int">1</area_shape>
-          <area_size sid="area_size" type="float">0.1</area_size>
-          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
-          <area_sizez sid="area_sizez" type="float">1</area_sizez>
-        </technique>
-      </extra>
-    </light>
-  </library_lights>
-  <library_effects>
-    <effect id="Material_002-effect">
-      <profile_COMMON>
-        <technique sid="common">
-          <lambert>
-            <emission>
-              <color sid="emission">0 0 0 1</color>
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diff --git a/Tools/simulation/ignition/models/x500-Base/meshes/NXP-HGD-CF.dae b/Tools/simulation/ignition/models/x500-Base/meshes/NXP-HGD-CF.dae
deleted file mode 100644
index 92f1ac693a..0000000000
--- a/Tools/simulation/ignition/models/x500-Base/meshes/NXP-HGD-CF.dae
+++ /dev/null
@@ -1,807 +0,0 @@
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2051 293 11996 2050 293 11997 2048 293 11998 2049 293 11999 2052 230 12000 2051 230 12001 2053 230 12002 2052 231 12003 2050 231 12004 2051 231 12005 2005 295 12006 2053 295 12007 2003 295 12008 2005 232 12009 2052 232 12010 2053 232 12011 1977 357 12012 2011 357 12013 2016 357 12014 2042 48 12015 1994 48 12016 1993 48 12017 2044 48 12018 1994 48 12019 2042 48 12020 1977 48 12021 1976 48 12022 2011 48 12023 1983 64 12024 2018 64 12025 1985 64 12026 1976 48 12027 2006 48 12028 2011 48 12029 1985 48 12030 2022 48 12031 1987 48 12032 2018 48 12033 2022 48 12034 1985 48 12035 1981 48 12036 2014 48 12037 1983 48 12038 2046 48 12039 1995 48 12040 2044 48 12041 1983 48 12042 2014 48 12043 2018 48 12044 2044 48 12045 1995 48 12046 1994 48 12047 1987 48 12048 2026 48 12049 1988 48 12050 2022 48 12051 2026 48 12052 1987 48 12053 1979 64 12054 2008 64 12055 1981 64 12056 1981 48 12057 2008 48 12058 2014 48 12059 1976 48 12060 2001 48 12061 2006 48 12062 2006 1092 12063 2001 1092 12064 2002 1092 12065 2026 1093 12066 2032 1093 12067 1988 1093 12068 2032 48 12069 1989 48 12070 1988 48 12071 1978 48 12072 2013 48 12073 1979 48 12074 2046 48 12075 1996 48 12076 1995 48 12077 2048 48 12078 1996 48 12079 2046 48 12080 1979 48 12081 2013 48 12082 2008 48 12083 2002 156 12084 2000 156 12085 2005 156 12086 2001 669 12087 2000 669 12088 2002 669 12089 2048 523 12090 1997 523 12091 1996 523 12092 2050 48 12093 1997 48 12094 2048 48 12095 2032 48 12096 2034 48 12097 1989 48 12098 1986 48 12099 2030 48 12100 1978 48 12101 2005 1094 12102 1999 1094 12103 2052 1094 12104 2000 301 12105 1999 301 12106 2005 301 12107 1978 48 12108 2030 48 12109 2013 48 12110 2052 1095 12111 1998 1095 12112 2050 1095 12113 2050 235 12114 1998 235 12115 1997 235 12116 1999 301 12117 1998 301 12118 2052 301 12119 2034 715 12120 1990 715 12121 1989 715 12122 2034 48 12123 2036 48 12124 1990 48 12125 1984 48 12126 2028 48 12127 1986 48 12128 1986 48 12129 2028 48 12130 2030 48 12131 2036 48 12132 1991 48 12133 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712 12203 2027 66 12204 2023 66 12205 2059 66 12206 2010 81 12207 2063 81 12208 2060 81 12209 2010 1098 12210 2060 1098 12211 2015 1098 12212 2064 66 12213 2056 66 12214 2007 66 12215 2033 710 12216 2062 710 12217 2065 710 12218 2064 767 12219 2007 767 12220 2004 767 12221 2033 1099 12222 2027 1099 12223 2062 1099 12224 2009 66 12225 2066 66 12226 2063 66 12227 2067 66 12228 2047 66 12229 2061 66 12230 2067 170 12231 2049 170 12232 2047 170 12233 2009 1100 12234 2063 1100 12235 2010 1100 12236 2068 243 12237 2004 243 12238 2003 243 12239 2068 66 12240 2064 66 12241 2004 66 12242 2035 66 12243 2065 66 12244 2069 66 12245 2070 1101 12246 2049 1101 12247 2067 1101 12248 2035 66 12249 2033 66 12250 2065 66 12251 2070 244 12252 2051 244 12253 2049 244 12254 2031 66 12255 2071 66 12256 2066 66 12257 2072 66 12258 2068 66 12259 2003 66 12260 2031 66 12261 2066 66 12262 2009 66 12263 2073 66 12264 2003 66 12265 2053 66 12266 2073 169 12267 2053 169 12268 2051 169 12269 2073 899 12270 2051 899 12271 2070 899 12272 2073 66 12273 2072 66 12274 2003 66 12275 2037 379 12276 2069 379 12277 2074 379 12278 2037 66 12279 2035 66 12280 2069 66 12281 2075 1102 12282 2071 1102 12283 2031 1102 12284 2029 66 12285 2075 66 12286 2031 66 12287 2039 66 12288 2074 66 12289 2076 66 12290 2039 66 12291 2037 66 12292 2074 66 12293 2077 308 12294 2075 308 12295 2029 308 12296 2025 66 12297 2077 66 12298 2029 66 12299 2041 169 12300 2039 169 12301 2076 169 12302 2078 66 12303 2041 66 12304 2076 66 12305 2079 66 12306 2025 66 12307 2021 66 12308 2079 66 12309 2077 66 12310 2025 66 12311 2043 66 12312 2041 66 12313 2078 66 12314 2055 66 12315 2043 66 12316 2078 66 12317 2057 66 12318 2079 66 12319 2021 66 12320 2057 250 12321 2021 250 12322 2017 250 12323 2064 5 12324 2080 5 12325 2081 5 12326 2056 5 12327 2064 5 12328 2081 5 12329 2056 176 12330 2081 176 12331 2082 176 12332 2066 94 12333 2083 94 12334 2084 94 12335 2057 690 12336 2056 690 12337 2082 690 12338 2057 177 12339 2082 177 12340 2085 177 12341 2063 178 12342 2084 178 12343 2086 178 12344 2063 252 12345 2066 252 12346 2084 252 12347 2079 323 12348 2057 323 12349 2085 323 12350 2079 181 12351 2085 181 12352 2087 181 12353 2060 254 12354 2086 254 12355 2088 254 12356 2077 98 12357 2079 98 12358 2087 98 12359 2060 1103 12360 2063 1103 12361 2086 1103 12362 2077 256 12363 2087 256 12364 2089 256 12365 2058 182 12366 2088 182 12367 2090 182 12368 2075 183 12369 2089 183 12370 2091 183 12371 2058 254 12372 2060 254 12373 2088 254 12374 2075 256 12375 2077 256 12376 2089 256 12377 2071 1104 12378 2075 1104 12379 2091 1104 12380 2059 188 12381 2090 188 12382 2092 188 12383 2059 107 12384 2058 107 12385 2090 107 12386 2066 185 12387 2091 185 12388 2083 185 12389 2066 1105 12390 2071 1105 12391 2091 1105 12392 2062 187 12393 2092 187 12394 2093 187 12395 2062 111 12396 2059 111 12397 2092 111 12398 2065 27 12399 2093 27 12400 2094 27 12401 2065 681 12402 2062 681 12403 2093 681 12404 2069 189 12405 2094 189 12406 2095 189 12407 2069 27 12408 2065 27 12409 2094 27 12410 2074 331 12411 2095 331 12412 2096 331 12413 2074 680 12414 2069 680 12415 2095 680 12416 2076 265 12417 2096 265 12418 2097 265 12419 2076 333 12420 2074 333 12421 2096 333 12422 2078 264 12423 2097 264 12424 2098 264 12425 2078 119 12426 2076 119 12427 2097 119 12428 2055 1080 12429 2078 1080 12430 2098 1080 12431 2055 335 12432 2098 335 12433 2099 335 12434 2054 1106 12435 2055 1106 12436 2099 1106 12437 2054 124 12438 2099 124 12439 2100 124 12440 2061 1107 12441 2054 1107 12442 2100 1107 12443 2061 1108 12444 2100 1108 12445 2101 1108 12446 2067 125 12447 2061 125 12448 2101 125 12449 2067 339 12450 2101 339 12451 2102 339 12452 2070 1109 12453 2067 1109 12454 2102 1109 12455 2070 1110 12456 2102 1110 12457 2103 1110 12458 2073 1085 12459 2070 1085 12460 2103 1085 12461 2073 198 12462 2103 198 12463 2104 198 12464 2072 269 12465 2073 269 12466 2104 269 12467 2072 609 12468 2104 609 12469 2105 609 12470 2068 345 12471 2072 345 12472 2105 345 12473 2068 136 12474 2105 136 12475 2080 136 12476 2064 672 12477 2068 672 12478 2080 672 12479 2106 1111 12480 2107 1111 12481 2108 1111 12482 2106 1112 12483 2109 1112 12484 2107 1112 12485 2110 2 12486 2108 2 12487 2111 2 12488 2110 137 12489 2106 137 12490 2108 137 12491 2112 4 12492 2113 4 12493 2114 4 12494 2115 5 12495 2111 5 12496 2116 5 12497 2112 138 12498 2117 138 12499 2113 138 12500 2115 5 12501 2110 5 12502 2111 5 12503 2118 652 12504 2114 652 12505 2119 652 12506 2120 8 12507 2116 8 12508 2121 8 12509 2118 653 12510 2112 653 12511 2114 653 12512 2120 139 12513 2115 139 12514 2116 139 12515 2122 207 12516 2119 207 12517 2123 207 12518 2124 208 12519 2121 208 12520 2125 208 12521 2122 1113 12522 2118 1113 12523 2119 1113 12524 2124 1114 12525 2120 1114 12526 2121 1114 12527 2126 278 12528 2123 278 12529 2127 278 12530 2128 213 12531 2125 213 12532 2129 213 12533 2126 141 12534 2122 141 12535 2123 141 12536 2128 17 12537 2124 17 12538 2125 17 12539 2130 18 12540 2127 18 12541 2131 18 12542 2132 19 12543 2129 19 12544 2133 19 12545 2130 20 12546 2126 20 12547 2127 20 12548 2132 21 12549 2128 21 12550 2129 21 12551 2134 282 12552 2133 282 12553 2135 282 12554 2134 656 12555 2132 656 12556 2133 656 12557 2136 219 12558 2131 219 12559 2137 219 12560 2117 142 12561 2135 142 12562 2113 142 12563 2136 1115 12564 2130 1115 12565 2131 1115 12566 2117 142 12567 2134 142 12568 2135 142 12569 2138 27 12570 2137 27 12571 2139 27 12572 2138 27 12573 2136 27 12574 2137 27 12575 2140 221 12576 2139 221 12577 2141 221 12578 2140 1116 12579 2138 1116 12580 2139 1116 12581 2142 30 12582 2141 30 12583 2143 30 12584 2142 31 12585 2140 31 12586 2141 31 12587 2144 286 12588 2143 286 12589 2145 286 12590 2144 144 12591 2142 144 12592 2143 144 12593 2146 1117 12594 2144 1117 12595 2145 1117 12596 2146 227 12597 2145 227 12598 2147 227 12599 2148 1060 12600 2146 1060 12601 2147 1060 12602 2148 635 12603 2147 635 12604 2149 635 12605 2150 145 12606 2148 145 12607 2149 145 12608 2150 39 12609 2149 39 12610 2151 39 12611 2152 146 12612 2151 146 12613 2153 146 12614 2152 147 12615 2150 147 12616 2151 147 12617 2154 293 12618 2153 293 12619 2155 293 12620 2154 643 12621 2152 643 12622 2153 643 12623 2156 44 12624 2155 44 12625 2157 44 12626 2156 45 12627 2154 45 12628 2155 45 12629 2109 295 12630 2157 295 12631 2107 295 12632 2109 47 12633 2156 47 12634 2157 47 12635 2082 1118 12636 2115 1118 12637 2120 1118 12638 2146 48 12639 2099 48 12640 2098 48 12641 2148 48 12642 2099 48 12643 2146 48 12644 2082 48 12645 2081 48 12646 2115 48 12647 2088 48 12648 2122 48 12649 2090 48 12650 2081 48 12651 2110 48 12652 2115 48 12653 2090 48 12654 2126 48 12655 2092 48 12656 2122 149 12657 2126 149 12658 2090 149 12659 2086 1119 12660 2118 1119 12661 2088 1119 12662 2150 48 12663 2100 48 12664 2148 48 12665 2088 163 12666 2118 163 12667 2122 163 12668 2148 48 12669 2100 48 12670 2099 48 12671 2092 161 12672 2130 161 12673 2093 161 12674 2126 1120 12675 2130 1120 12676 2092 1120 12677 2084 48 12678 2112 48 12679 2086 48 12680 2086 148 12681 2112 148 12682 2118 148 12683 2081 48 12684 2080 48 12685 2110 48 12686 2110 1092 12687 2080 1092 12688 2106 1092 12689 2130 48 12690 2136 48 12691 2093 48 12692 2136 48 12693 2094 48 12694 2093 48 12695 2083 48 12696 2117 48 12697 2084 48 12698 2150 48 12699 2101 48 12700 2100 48 12701 2152 48 12702 2101 48 12703 2150 48 12704 2084 48 12705 2117 48 12706 2112 48 12707 2106 51 12708 2105 51 12709 2109 51 12710 2080 48 12711 2105 48 12712 2106 48 12713 2152 48 12714 2102 48 12715 2101 48 12716 2154 51 12717 2102 51 12718 2152 51 12719 2136 48 12720 2138 48 12721 2094 48 12722 2091 48 12723 2134 48 12724 2083 48 12725 2109 48 12726 2104 48 12727 2156 48 12728 2105 235 12729 2104 235 12730 2109 235 12731 2083 48 12732 2134 48 12733 2117 48 12734 2156 48 12735 2103 48 12736 2154 48 12737 2154 48 12738 2103 48 12739 2102 48 12740 2104 301 12741 2103 301 12742 2156 301 12743 2138 665 12744 2095 665 12745 2094 665 12746 2138 59 12747 2140 59 12748 2095 59 12749 2089 300 12750 2132 300 12751 2091 300 12752 2091 48 12753 2132 48 12754 2134 48 12755 2140 60 12756 2096 60 12757 2095 60 12758 2140 48 12759 2142 48 12760 2096 48 12761 2087 303 12762 2128 303 12763 2089 303 12764 2089 48 12765 2128 48 12766 2132 48 12767 2142 48 12768 2097 48 12769 2096 48 12770 2144 162 12771 2097 162 12772 2142 162 12773 2087 48 12774 2124 48 12775 2128 48 12776 2087 48 12777 2085 48 12778 2124 48 12779 2144 48 12780 2098 48 12781 2097 48 12782 2146 774 12783 2098 774 12784 2144 774 12785 2085 48 12786 2120 48 12787 2124 48 12788 2085 1121 12789 2082 1121 12790 2120 1121 12791 2158 78 12792 2147 78 12793 2159 78 12794 2158 66 12795 2149 66 12796 2147 66 12797 2160 66 12798 2161 66 12799 2121 66 12800 2123 66 12801 2162 66 12802 2163 66 12803 2160 240 12804 2121 240 12805 2116 240 12806 2111 66 12807 2160 66 12808 2116 66 12809 2127 513 12810 2123 513 12811 2163 513 12812 2119 66 12813 2164 66 12814 2162 66 12815 2119 169 12816 2162 169 12817 2123 169 12818 2165 66 12819 2151 66 12820 2149 66 12821 2165 1122 12822 2149 1122 12823 2158 1122 12824 2131 66 12825 2163 66 12826 2166 66 12827 2131 240 12828 2127 240 12829 2163 240 12830 2114 72 12831 2167 72 12832 2164 72 12833 2114 240 12834 2164 240 12835 2119 240 12836 2168 66 12837 2160 66 12838 2111 66 12839 2137 596 12840 2166 596 12841 2169 596 12842 2168 175 12843 2111 175 12844 2108 175 12845 2137 66 12846 2131 66 12847 2166 66 12848 2113 66 12849 2170 66 12850 2167 66 12851 2171 66 12852 2151 66 12853 2165 66 12854 2171 66 12855 2153 66 12856 2151 66 12857 2113 1123 12858 2167 1123 12859 2114 1123 12860 2172 66 12861 2108 66 12862 2107 66 12863 2172 66 12864 2168 66 12865 2108 66 12866 2139 66 12867 2169 66 12868 2173 66 12869 2174 947 12870 2153 947 12871 2171 947 12872 2139 66 12873 2137 66 12874 2169 66 12875 2174 66 12876 2155 66 12877 2153 66 12878 2135 66 12879 2175 66 12880 2170 66 12881 2176 66 12882 2172 66 12883 2107 66 12884 2135 66 12885 2170 66 12886 2113 66 12887 2177 66 12888 2107 66 12889 2157 66 12890 2177 66 12891 2157 66 12892 2155 66 12893 2177 66 12894 2155 66 12895 2174 66 12896 2177 247 12897 2176 247 12898 2107 247 12899 2141 66 12900 2173 66 12901 2178 66 12902 2141 66 12903 2139 66 12904 2173 66 12905 2179 1124 12906 2175 1124 12907 2135 1124 12908 2133 66 12909 2179 66 12910 2135 66 12911 2143 171 12912 2178 171 12913 2180 171 12914 2143 66 12915 2141 66 12916 2178 66 12917 2181 66 12918 2179 66 12919 2133 66 12920 2129 66 12921 2181 66 12922 2133 66 12923 2145 169 12924 2143 169 12925 2180 169 12926 2182 66 12927 2145 66 12928 2180 66 12929 2183 170 12930 2129 170 12931 2125 170 12932 2183 66 12933 2181 66 12934 2129 66 12935 2147 321 12936 2145 321 12937 2182 321 12938 2159 1125 12939 2147 1125 12940 2182 1125 12941 2161 66 12942 2183 66 12943 2125 66 12944 2161 66 12945 2125 66 12946 2121 66 12947 2160 5 12948 2168 5 12949 2184 5 12950 2160 176 12951 2184 176 12952 2185 176 12953 2170 94 12954 2186 94 12955 2187 94 12956 2161 89 12957 2160 89 12958 2185 89 12959 2161 180 12960 2185 180 12961 2188 180 12962 2167 178 12963 2187 178 12964 2189 178 12965 2167 252 12966 2170 252 12967 2187 252 12968 2183 177 12969 2161 177 12970 2188 177 12971 2183 181 12972 2188 181 12973 2190 181 12974 2164 103 12975 2189 103 12976 2191 103 12977 2181 255 12978 2183 255 12979 2190 255 12980 2164 99 12981 2167 99 12982 2189 99 12983 2181 104 12984 2190 104 12985 2192 104 12986 2162 182 12987 2191 182 12988 2193 182 12989 2179 183 12990 2192 183 12991 2194 183 12992 2162 103 12993 2164 103 12994 2191 103 12995 2179 104 12996 2181 104 12997 2192 104 12998 2175 186 12999 2194 186 13000 2186 186 13001 2175 184 13002 2179 184 13003 2194 184 13004 2163 188 13005 2193 188 13006 2195 188 13007 2163 261 13008 2162 261 13009 2193 261 13010 2170 185 13011 2175 185 13012 2186 185 13013 2166 112 13014 2195 112 13015 2196 112 13016 2166 111 13017 2163 111 13018 2195 111 13019 2169 27 13020 2196 27 13021 2197 27 13022 2169 187 13023 2166 187 13024 2196 187 13025 2173 115 13026 2197 115 13027 2198 115 13028 2173 27 13029 2169 27 13030 2197 27 13031 2178 191 13032 2198 191 13033 2199 191 13034 2178 189 13035 2173 189 13036 2198 189 13037 2180 190 13038 2199 190 13039 2200 190 13040 2180 117 13041 2178 117 13042 2199 117 13043 2182 192 13044 2200 192 13045 2201 192 13046 2182 265 13047 2180 265 13048 2200 265 13049 2159 120 13050 2182 120 13051 2201 120 13052 2159 122 13053 2201 122 13054 2202 122 13055 2158 193 13056 2159 193 13057 2202 193 13058 2158 124 13059 2202 124 13060 2203 124 13061 2165 124 13062 2158 124 13063 2203 124 13064 2165 126 13065 2203 126 13066 2204 126 13067 2171 195 13068 2165 195 13069 2204 195 13070 2171 196 13071 2204 196 13072 2205 196 13073 2174 128 13074 2171 128 13075 2205 128 13076 2174 197 13077 2205 197 13078 2206 197 13079 2177 130 13080 2174 130 13081 2206 130 13082 2177 198 13083 2206 198 13084 2207 198 13085 2176 270 13086 2177 270 13087 2207 270 13088 2176 200 13089 2207 200 13090 2208 200 13091 2172 199 13092 2176 199 13093 2208 199 13094 2172 136 13095 2208 136 13096 2209 136 13097 2168 135 13098 2172 135 13099 2209 135 13100 2168 5 13101 2209 5 13102 2184 5 13103 2210 1126 13104 2211 1126 13105 2212 1126 13106 2210 1044 13107 2213 1044 13108 2211 1044 13109 2214 2 13110 2212 2 13111 2215 2 13112 2214 3 13113 2210 3 13114 2212 3 13115 2216 6 13116 2217 6 13117 2218 6 13118 2219 5 13119 2215 5 13120 2220 5 13121 2216 4 13122 2221 4 13123 2217 4 13124 2219 5 13125 2214 5 13126 2215 5 13127 2222 7 13128 2218 7 13129 2223 7 13130 2224 8 13131 2220 8 13132 2225 8 13133 2222 7 13134 2216 7 13135 2218 7 13136 2224 8 13137 2219 8 13138 2220 8 13139 2226 10 13140 2223 10 13141 2227 10 13142 2228 275 13143 2225 275 13144 2229 275 13145 2226 1127 13146 2222 1127 13147 2223 1127 13148 2228 1049 13149 2224 1049 13150 2225 1049 13151 2230 650 13152 2227 650 13153 2231 650 13154 2232 1128 13155 2229 1128 13156 2233 1128 13157 2230 211 13158 2226 211 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48 13295 2230 152 13296 2234 152 13297 2195 152 13298 2214 48 13299 2209 48 13300 2210 48 13301 2187 48 13302 2216 48 13303 2189 48 13304 2184 48 13305 2209 48 13306 2214 48 13307 2189 668 13308 2216 668 13309 2222 668 13310 2234 48 13311 2240 48 13312 2196 48 13313 2240 48 13314 2197 48 13315 2196 48 13316 2186 48 13317 2221 48 13318 2187 48 13319 2256 48 13320 2204 48 13321 2254 48 13322 2254 48 13323 2204 48 13324 2203 48 13325 2210 48 13326 2208 48 13327 2213 48 13328 2187 48 13329 2221 48 13330 2216 48 13331 2209 601 13332 2208 601 13333 2210 601 13334 2258 51 13335 2205 51 13336 2256 51 13337 2256 48 13338 2205 48 13339 2204 48 13340 2240 48 13341 2242 48 13342 2197 48 13343 2213 1094 13344 2207 1094 13345 2260 1094 13346 2208 48 13347 2207 48 13348 2213 48 13349 2194 48 13350 2238 48 13351 2186 48 13352 2260 48 13353 2206 48 13354 2258 48 13355 2258 48 13356 2206 48 13357 2205 48 13358 2186 48 13359 2238 48 13360 2221 48 13361 2207 48 13362 2206 48 13363 2260 48 13364 2242 602 13365 2198 602 13366 2197 602 13367 2242 48 13368 2244 48 13369 2198 48 13370 2192 300 13371 2236 300 13372 2194 300 13373 2194 48 13374 2236 48 13375 2238 48 13376 2244 159 13377 2199 159 13378 2198 159 13379 2244 1141 13380 2246 1141 13381 2199 1141 13382 2190 48 13383 2232 48 13384 2192 48 13385 2192 61 13386 2232 61 13387 2236 61 13388 2246 57 13389 2200 57 13390 2199 57 13391 2248 162 13392 2200 162 13393 2246 162 13394 2190 48 13395 2228 48 13396 2232 48 13397 2190 601 13398 2188 601 13399 2228 601 13400 2248 48 13401 2201 48 13402 2200 48 13403 2250 774 13404 2201 774 13405 2248 774 13406 2188 664 13407 2224 664 13408 2228 664 13409 2188 530 13410 2185 530 13411 2224 530 13412 2185 1142 13413 2219 1142 13414 2224 1142 13415 2262 248 13416 2251 248 13417 2263 248 13418 2262 66 13419 2253 66 13420 2251 66 13421 2264 593 13422 2265 593 13423 2225 593 13424 2264 237 13425 2225 237 13426 2220 237 13427 2231 66 13428 2266 66 13429 2267 66 13430 2231 66 13431 2227 66 13432 2266 66 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13572 2288 5 13573 2289 5 13574 2264 5 13575 2273 5 13576 2289 5 13577 2264 176 13578 2289 176 13579 2290 176 13580 2272 94 13581 2291 94 13582 2292 94 13583 2265 1146 13584 2264 1146 13585 2290 1146 13586 2265 180 13587 2290 180 13588 2293 180 13589 2271 1147 13590 2292 1147 13591 2294 1147 13592 2271 795 13593 2272 795 13594 2292 795 13595 2287 1148 13596 2265 1148 13597 2293 1148 13598 2287 253 13599 2293 253 13600 2295 253 13601 2268 103 13602 2294 103 13603 2296 103 13604 2285 98 13605 2287 98 13606 2295 98 13607 2268 1149 13608 2271 1149 13609 2294 1149 13610 2285 104 13611 2295 104 13612 2297 104 13613 2266 257 13614 2296 257 13615 2298 257 13616 2283 183 13617 2297 183 13618 2299 183 13619 2266 97 13620 2268 97 13621 2296 97 13622 2283 100 13623 2285 100 13624 2297 100 13625 2278 1150 13626 2283 1150 13627 2299 1150 13628 2267 1151 13629 2298 1151 13630 2300 1151 13631 2267 107 13632 2266 107 13633 2298 107 13634 2272 109 13635 2299 109 13636 2291 109 13637 2272 108 13638 2278 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1160 13773 2328 1160 13774 2329 1160 13775 2334 501 13776 2331 501 13777 2335 501 13778 2336 15 13779 2333 15 13780 2337 15 13781 2334 211 13782 2330 211 13783 2331 211 13784 2336 510 13785 2332 510 13786 2333 510 13787 2338 1161 13788 2335 1161 13789 2339 1161 13790 2340 215 13791 2337 215 13792 2341 215 13793 2338 20 13794 2334 20 13795 2335 20 13796 2340 217 13797 2336 217 13798 2337 217 13799 2342 218 13800 2341 218 13801 2343 218 13802 2342 22 13803 2340 22 13804 2341 22 13805 2344 24 13806 2339 24 13807 2345 24 13808 2325 25 13809 2343 25 13810 2321 25 13811 2344 24 13812 2338 24 13813 2339 24 13814 2325 220 13815 2342 220 13816 2343 220 13817 2346 27 13818 2345 27 13819 2347 27 13820 2346 27 13821 2344 27 13822 2345 27 13823 2348 28 13824 2347 28 13825 2349 28 13826 2348 28 13827 2346 28 13828 2347 28 13829 2350 30 13830 2349 30 13831 2351 30 13832 2350 1162 13833 2348 1162 13834 2349 1162 13835 2352 983 13836 2351 983 13837 2353 983 13838 2352 287 13839 2350 287 13840 2351 287 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2329 314 14050 2324 314 14051 2331 72 14052 2370 72 14053 2371 72 14054 2319 66 14055 2368 66 14056 2324 66 14057 2335 83 14058 2371 83 14059 2372 83 14060 2335 1166 14061 2331 1166 14062 2371 1166 14063 2327 66 14064 2373 66 14065 2370 66 14066 2327 76 14067 2370 76 14068 2331 76 14069 2374 71 14070 2357 71 14071 2367 71 14072 2374 66 14073 2359 66 14074 2357 66 14075 2339 1167 14076 2335 1167 14077 2372 1167 14078 2322 67 14079 2375 67 14080 2373 67 14081 2322 592 14082 2373 592 14083 2327 592 14084 2345 518 14085 2372 518 14086 2376 518 14087 2377 66 14088 2368 66 14089 2319 66 14090 2377 250 14091 2319 250 14092 2316 250 14093 2345 1143 14094 2339 1143 14095 2372 1143 14096 2321 66 14097 2378 66 14098 2375 66 14099 2321 74 14100 2375 74 14101 2322 74 14102 2379 944 14103 2361 944 14104 2359 944 14105 2379 66 14106 2359 66 14107 2374 66 14108 2380 66 14109 2377 66 14110 2316 66 14111 2380 66 14112 2316 66 14113 2315 66 14114 2347 66 14115 2376 66 14116 2381 66 14117 2347 66 14118 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350 9264 3098 350 9265 3096 350 9266 3097 91 9267 3099 91 9268 3098 91 9269 3098 313 9270 3099 313 9271 3100 313 9272 3099 351 9273 3101 351 9274 3100 351 9275 3101 94 9276 3102 94 9277 3100 94 9278 3101 95 9279 3103 95 9280 3102 95 9281 3102 96 9282 3103 96 9283 3104 96 9284 3103 97 9285 3105 97 9286 3104 97 9287 3105 239 9288 3106 239 9289 3104 239 9290 3105 99 9291 3107 99 9292 3106 99 9293 3106 100 9294 3107 100 9295 3108 100 9296 3107 101 9297 3109 101 9298 3108 101 9299 3109 317 9300 3110 317 9301 3108 317 9302 3109 243 9303 3111 243 9304 3110 243 9305 3110 352 9306 3111 352 9307 3112 352 9308 3111 183 9309 3113 183 9310 3112 183 9311 3113 106 9312 3114 106 9313 3112 106 9314 3113 353 9315 3115 353 9316 3114 353 9317 3115 320 9318 3116 320 9319 3114 320 9320 3115 187 9321 3117 187 9322 3116 187 9323 3117 426 9324 3118 426 9325 3116 426 9326 3117 189 9327 3119 189 9328 3118 189 9329 3119 190 9330 3120 190 9331 3118 190 9332 3119 191 9333 3121 191 9334 3120 191 9335 3121 355 9336 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26459 115245 12309 26459 115246 16775 26459 115247 16167 23929 115248 13565 23929 115249 16169 23929 115250 16169 26460 115251 13565 26460 115252 13563 26460 115253 16773 26461 115254 12311 26461 115255 12309 26461 115256 16167 26462 115257 13567 26462 115258 13565 26462 115259 16773 26463 115260 12313 26463 115261 12311 26463 115262 16165 26464 115263 13569 26464 115264 16167 26464 115265 16771 26465 115266 12313 26465 115267 16773 26465 115268 16167 26466 115269 13569 26466 115270 13567 26466 115271 16771 26467 115272 12315 26467 115273 12313 26467 115274 16165 26468 115275 13571 26468 115276 13569 26468 115277 16771 26469 115278 12317 26469 115279 12315 26469 115280 16163 26470 115281 13573 26470 115282 16165 26470 115283 16165 26471 115284 13573 26471 115285 13571 26471 115286 16771 26472 115287 12319 26472 115288 12317 26472 115289 16769 26473 115290 12319 26473 115291 16771 26473 115292 16163 26474 115293 13575 26474 115294 13573 26474 115295 16769 26475 115296 12321 26475 115297 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136572 17194 31970 136573 17196 31970 136574 9852 31971 136575 17194 31971 136576 9850 31971 136577 9854 31972 136578 17194 31972 136579 9852 31972 136580 9854 31973 136581 17192 31973 136582 17194 31973 136583 9856 31974 136584 17192 31974 136585 9854 31974 136586 9858 31975 136587 17192 31975 136588 9856 31975 136589 9858 31976 136590 17190 31976 136591 17192 31976 136592 9860 31977 136593 17190 31977 136594 9858 31977 136595 9862 31978 136596 17190 31978 136597 9860 31978 136598 9862 31979 136599 17188 31979 136600 17190 31979 136601 9864 31980 136602 17188 31980 136603 9862 31980 136604 9866 31981 136605 17188 31981 136606 9864 31981 136607 9866 31982 136608 17186 31982 136609 17188 31982 136610 9868 28152 136611 17186 28152 136612 9866 28152 136613 9870 28085 136614 17186 28085 136615 9868 28085 136616 9870 31983 136617 17184 31983 136618 17186 31983 136619 9872 30127 136620 17184 30127 136621 9870 30127 136622 9874 30128 136623 17184 30128 136624 9872 30128 136625 9876 31984 136626 17184 31984 136627 9874 31984 136628 9876 31985 136629 17182 31985 136630 17184 31985 136631 9878 31986 136632 17182 31986 136633 9876 31986 136634 9880 25880 136635 17182 25880 136636 9878 25880 136637 9880 28157 136638 17180 28157 136639 17182 28157 136640 9882 31987 136641 17180 31987 136642 9880 31987 136643 9884 30135 136644 17180 30135 136645 9882 30135 136646 9884 31988 136647 17178 31988 136648 17180 31988 136649 9886 31989 136650 17178 31989 136651 9884 31989 136652 9888 25886 136653 17178 25886 136654 9886 25886 136655 9888 31990 136656 17175 31990 136657 17178 31990 136658 9890 31991 136659 17175 31991 136660 9888 31991 136661 9892 28161 136662 17175 28161 136663 9890 28161 136664 9892 31992 136665 17171 31992 136666 17175 31992 136667 9894 31993 136668 17171 31993 136669 9892 31993 136670 9896 31994 136671 17171 31994 136672 9894 31994 136673 9896 31995 136674 17166 31995 136675 17171 31995 136676 9898 28166 136677 17166 28166 136678 9896 28166 136679 9900 31996 136680 17166 31996 136681 9898 31996 136682 9900 31997 136683 17167 31997 136684 17166 31997 136685 9679 29424 136686 17167 29424 136687 9680 29424 136688 9680 31788 136689 17167 31788 136690 9900 31788 136691 9679 28170 136692 17227 28170 136693 17167 28170 136694 9682 26060 136695 17227 26060 136696 9679 26060 136697 9682 28173 136698 17223 28173 136699 17227 28173 136700 9684 31998 136701 17223 31998 136702 9682 31998 136703 9686 25902 136704 17223 25902 136705 9684 25902 136706 9688 31999 136707 17223 31999 136708 9686 31999 136709 9688 28176 136710 17217 28176 136711 17223 28176 136712 9690 30150 136713 17217 30150 136714 9688 30150 136715 9692 32000 136716 17217 32000 136717 9690 32000 136718 9692 32001 136719 17215 32001 136720 17217 32001 136721 9694 32002 136722 17215 32002 136723 9692 32002 136724 9696 25906 136725 17215 25906 136726 9694 25906 136727 9696 32003 136728 17268 32003 136729 17215 32003 136730 9698 32004 136731 17268 32004 136732 9696 32004 136733 9700 32005 136734 17268 32005 136735 9698 32005 136736 9704 30157 136737 17266 30157 136738 9702 30157 136739 9700 32006 136740 17266 32006 136741 17268 32006 136742 9702 32007 136743 17266 32007 136744 9700 32007 136745 9706 32008 136746 17264 32008 136747 9704 32008 136748 9708 32009 136749 17264 32009 136750 9706 32009 136751 9704 32010 136752 17264 32010 136753 17266 32010 136754 9710 28187 136755 17262 28187 136756 9708 28187 136757 9712 28188 136758 17262 28188 136759 9710 28188 136760 9714 32011 136761 17262 32011 136762 9712 32011 136763 9708 32012 136764 17262 32012 136765 17264 32012 136766 9716 32013 136767 17260 32013 136768 9714 32013 136769 9718 32014 136770 17260 32014 136771 9716 32014 136772 9714 32015 136773 17260 32015 136774 17262 32015 136775 9720 28194 136776 17258 28194 136777 9718 28194 136778 9722 28195 136779 17258 28195 136780 9720 28195 136781 9718 32016 136782 17258 32016 136783 17260 32016 136784 9724 30171 136785 17256 30171 136786 9722 30171 136787 9726 32017 136788 17256 32017 136789 9724 32017 136790 9722 28197 136791 17256 28197 136792 17258 28197 136793 9728 32018 136794 17254 32018 136795 9726 32018 136796 9726 32019 136797 17254 32019 136798 17256 32019 136799 9730 32020 136800 17252 32020 136801 9728 32020 136802 9732 32021 136803 17252 32021 136804 9730 32021 136805 9734 32022 136806 17252 32022 136807 9732 32022 136808 9728 32023 136809 17252 32023 136810 17254 32023 136811 9736 32024 136812 17250 32024 136813 9734 32024 136814 9738 32025 136815 17250 32025 136816 9736 32025 136817 9734 32026 136818 17250 32026 136819 17252 32026 136820 9740 28209 136821 17248 28209 136822 9738 28209 136823 9742 28210 136824 17248 28210 136825 9740 28210 136826 9738 28211 136827 17248 28211 136828 17250 28211 136829 9744 32027 136830 17246 32027 136831 9742 32027 136832 9746 25942 136833 17246 25942 136834 9744 25942 136835 9742 28213 136836 17246 28213 136837 17248 28213 136838 9748 32028 136839 17244 32028 136840 9746 32028 136841 9750 32029 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23232 4475 139200 23261 4475 139201 20206 4475 139202 23163 32470 139203 7498 32470 139204 5826 32470 139205 8204 32471 139206 23200 32471 139207 23201 32471 139208 23201 32472 139209 23200 32472 139210 20319 32472 139211 23118 4475 139212 23119 4475 139213 23120 4475 139214 23119 32473 139215 8210 32473 139216 23138 32473 139217 23138 4475 139218 20123 4475 139219 20126 4475 139220 23359 32474 139221 20321 32474 139222 23216 32474 139223 7508 4475 139224 23145 4475 139225 23155 4475 139226 8294 4475 139227 23262 4475 139228 20168 4475 139229 23262 4475 139230 8294 4475 139231 23238 4475 139232 23238 4475 139233 8294 4475 139234 23155 4475 139235 23233 4475 139236 23231 4475 139237 23234 4475 139238 23232 4475 139239 20212 4475 139240 23234 4475 139241 23189 32475 139242 8214 32475 139243 23186 32475 139244 23186 4475 139245 8214 4475 139246 20110 4475 139247 7511 32476 139248 23167 32476 139249 23166 32476 139250 23278 32477 139251 7317 32477 139252 23285 32477 139253 23279 4475 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139365 20269 32487 139366 23167 32487 139367 20317 32488 139368 20315 32488 139369 23093 32488 139370 7492 32489 139371 7491 32489 139372 23088 32489 139373 7282 32490 139374 23224 32490 139375 23226 32490 139376 23311 4440 139377 23313 4440 139378 23314 4440 139379 7514 4475 139380 23165 4475 139381 23353 4475 139382 7318 4702 139383 23104 4702 139384 23447 4702 139385 23096 4475 139386 20194 4475 139387 8290 4475 139388 7495 4475 139389 20275 4475 139390 20273 4475 139391 7290 4475 139392 20327 4475 139393 20325 4475 139394 23164 4475 139395 20267 4475 139396 23324 4475 139397 23139 4475 139398 8293 4475 139399 20180 4475 139400 23135 4475 139401 20126 4475 139402 20131 4475 139403 23141 4475 139404 8292 4475 139405 23142 4475 139406 23139 4475 139407 20183 4475 139408 8292 4475 139409 20279 32491 139410 7482 32491 139411 20281 32491 139412 23219 4475 139413 20178 4475 139414 7482 4475 139415 23148 4475 139416 23423 4475 139417 7503 4475 139418 23225 32492 139419 23224 32492 139420 20331 32492 139421 23321 4475 139422 23292 4475 139423 20290 4475 139424 23209 4475 139425 7293 4475 139426 23211 4475 139427 7293 32493 139428 20325 32493 139429 20323 32493 139430 7487 4475 139431 23219 4475 139432 23372 4475 139433 7282 4475 139434 23197 4475 139435 23304 4475 139436 7282 4475 139437 20331 4475 139438 20329 4475 139439 23092 32494 139440 8211 32494 139441 23117 32494 139442 23117 4475 139443 20119 4475 139444 20123 4475 139445 7315 4475 139446 23093 4475 139447 23344 4475 139448 7303 4475 139449 23187 4475 139450 23459 4475 139451 23072 32495 139452 7517 32495 139453 7515 32495 139454 23107 4475 139455 20194 4475 139456 20197 4475 139457 7306 4475 139458 23215 4475 139459 23416 4475 139460 23138 32496 139461 20126 32496 139462 8209 32496 139463 23119 4475 139464 7283 4475 139465 23120 4475 139466 20198 32497 139467 7528 32497 139468 23414 32497 139469 7528 32498 139470 20198 32498 139471 23264 32498 139472 23283 4475 139473 23290 4475 139474 20102 4475 139475 23093 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32514 139642 20198 32514 139643 23130 4475 139644 20203 4475 139645 20208 4475 139646 8287 32515 139647 23130 32515 139648 20208 32515 139649 7491 4475 139650 23088 4475 139651 23107 4475 139652 8289 32504 139653 23107 32504 139654 20197 32504 139655 23316 4475 139656 23272 4475 139657 20285 4475 139658 23372 4440 139659 7482 4440 139660 23240 4440 139661 7511 4475 139662 23176 4475 139663 23167 4475 139664 7511 4475 139665 20269 4475 139666 20267 4475 139667 23281 4475 139668 23290 4475 139669 23282 4475 139670 23281 4475 139671 20102 4475 139672 23290 4475 139673 23286 4440 139674 23277 4440 139675 23276 4440 139676 23444 32516 139677 7314 32516 139678 23280 32516 139679 23189 4475 139680 23448 4475 139681 7298 4475 139682 23157 32517 139683 7522 32517 139684 2459 32517 139685 23252 4475 139686 23269 4475 139687 23241 4475 139688 7487 4475 139689 23159 4475 139690 23241 4475 139691 7487 4475 139692 20279 4475 139693 20277 4475 139694 7309 4475 139695 23201 4475 139696 7306 4475 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3124 11979 1985 3124 11980 1867 3124 11981 2030 3125 11982 2013 3125 11983 2029 3125 11984 2030 3126 11985 2016 3126 11986 2013 3126 11987 2031 3127 11988 1864 3127 11989 1860 3127 11990 2031 3128 11991 2029 3128 11992 1864 3128 11993 2032 3129 11994 2016 3129 11995 2030 3129 11996 2032 3130 11997 2030 3130 11998 2029 3130 11999 2032 3131 12000 2029 3131 12001 2031 3131 12002 2033 3132 12003 2031 3132 12004 1860 3132 12005 2033 3133 12006 1860 3133 12007 1857 3133 12008 2034 3134 12009 2031 3134 12010 2033 3134 12011 2034 3135 12012 2032 3135 12013 2031 3135 12014 2035 3136 12015 2033 3136 12016 1857 3136 12017 2035 3137 12018 1853 3137 12019 1846 3137 12020 2035 3138 12021 1857 3138 12022 1853 3138 12023 2036 3139 12024 2033 3139 12025 2035 3139 12026 2036 3140 12027 2034 3140 12028 2033 3140 12029 2037 3141 12030 1846 3141 12031 1842 3141 12032 2037 3142 12033 2035 3142 12034 1846 3142 12035 2038 3143 12036 2035 3143 12037 2037 3143 12038 2038 3144 12039 2036 3144 12040 2035 3144 12041 2039 3145 12042 2037 3145 12043 1842 3145 12044 2039 3146 12045 1842 3146 12046 1843 3146 12047 2040 3147 12048 2037 3147 12049 2039 3147 12050 2040 3148 12051 2038 3148 12052 2037 3148 12053 2041 3149 12054 1631 3149 12055 2001 3149 12056 2041 3150 12057 1627 3150 12058 1631 3150 12059 2041 3151 12060 2001 3151 12061 2026 3151 12062 2041 3152 12063 2026 3152 12064 2016 3152 12065 2042 3153 12066 1872 3153 12067 1870 3153 12068 2042 3154 12069 1843 3154 12070 1872 3154 12071 2042 3155 12072 2039 3155 12073 1843 3155 12074 2043 3156 12075 1627 3156 12076 2041 3156 12077 2043 3157 12078 1624 3157 12079 1627 3157 12080 2043 3158 12081 2041 3158 12082 2016 3158 12083 2043 3159 12084 2016 3159 12085 2032 3159 12086 2044 3160 12087 2040 3160 12088 2039 3160 12089 2044 3161 12090 2039 3161 12091 2042 3161 12092 2045 3162 12093 2032 3162 12094 2034 3162 12095 2045 3163 12096 1624 3163 12097 2043 3163 12098 2045 3164 12099 1620 3164 12100 1624 3164 12101 2045 3165 12102 2043 3165 12103 2032 3165 12104 2046 3166 12105 2042 3166 12106 1870 3166 12107 2046 3167 12108 1868 3167 12109 1866 3167 12110 2046 3168 12111 1870 3168 12112 1868 3168 12113 2047 3169 12114 2034 3169 12115 2036 3169 12116 2047 3170 12117 2045 3170 12118 2034 3170 12119 2047 3171 12120 1620 3171 12121 2045 3171 12122 2048 3172 12123 2044 3172 12124 2042 3172 12125 2048 3173 12126 2042 3173 12127 2046 3173 12128 2049 3174 12129 2047 3174 12130 2036 3174 12131 2049 3175 12132 2036 3175 12133 2038 3175 12134 2050 3176 12135 2046 3176 12136 1866 3176 12137 2050 3177 12138 1866 3177 12139 1861 3177 12140 2051 3178 12141 2046 3178 12142 2050 3178 12143 2051 3179 12144 2048 3179 12145 2046 3179 12146 2052 3180 12147 1861 3180 12148 1855 3180 12149 2052 3181 12150 2050 3181 12151 1861 3181 12152 2053 3182 12153 2038 3182 12154 2040 3182 12155 2053 3183 12156 2049 3183 12157 2038 3183 12158 2054 3184 12159 2051 3184 12160 2050 3184 12161 2054 3185 12162 2050 3185 12163 2052 3185 12164 2055 3186 12165 1613 3186 12166 1620 3186 12167 2055 3187 12168 1620 3187 12169 2047 3187 12170 2055 3188 12171 2047 3188 12172 2049 3188 12173 2056 3189 12174 2052 3189 12175 1855 3189 12176 2056 3190 12177 1851 3190 12178 1849 3190 12179 2056 3191 12180 1855 3191 12181 1851 3191 12182 2057 3192 12183 2040 3192 12184 2044 3192 12185 2057 3193 12186 2053 3193 12187 2040 3193 12188 2058 3194 12189 2056 3194 12190 1849 3194 12191 2058 3195 12192 2054 3195 12193 2052 3195 12194 2058 3196 12195 2052 3196 12196 2056 3196 12197 2059 3197 12198 1613 3197 12199 2055 3197 12200 2059 3198 12201 2049 3198 12202 2053 3198 12203 2059 3199 12204 1610 3199 12205 1609 3199 12206 2059 3200 12207 1609 3200 12208 1613 3200 12209 2059 3201 12210 2055 3201 12211 2049 3201 12212 2060 3202 12213 2058 3202 12214 1849 3202 12215 2060 3203 12216 1849 3203 12217 1848 3203 12218 2061 3204 12219 2044 3204 12220 2048 3204 12221 2061 3205 12222 2057 3205 12223 2044 3205 12224 2062 3206 12225 1635 3206 12226 1610 3206 12227 2062 3207 12228 2053 3207 12229 2057 3207 12230 2062 3208 12231 1610 3208 12232 2059 3208 12233 2062 3209 12234 2059 3209 12235 2053 3209 12236 2063 3210 12237 2060 3210 12238 1848 3210 12239 2063 3211 12240 1848 3211 12241 1847 3211 12242 2064 3212 12243 2061 3212 12244 2048 3212 12245 2064 3213 12246 2048 3213 12247 2051 3213 12248 2065 3214 12249 2063 3214 12250 1847 3214 12251 2066 3215 12252 1635 3215 12253 2062 3215 12254 2066 3216 12255 1633 3216 12256 1635 3216 12257 2066 3217 12258 2057 3217 12259 2061 3217 12260 2066 3218 12261 2062 3218 12262 2057 3218 12263 2067 3219 12264 2064 3219 12265 2051 3219 12266 2067 3220 12267 2051 3220 12268 2054 3220 12269 1982 3221 12270 2065 3221 12271 1847 3221 12272 1982 3222 12273 1847 3222 12274 1850 3222 12275 2068 3223 12276 1628 3223 12277 1633 3223 12278 2068 3224 12279 2061 3224 12280 2064 3224 12281 2068 3225 12282 1633 3225 12283 2066 3225 12284 2068 3226 12285 2066 3226 12286 2061 3226 12287 2069 3227 12288 2054 3227 12289 2058 3227 12290 2069 3228 12291 2067 3228 12292 2054 3228 12293 1983 3229 12294 1982 3229 12295 1850 3229 12296 1983 3230 12297 1850 3230 12298 1854 3230 12299 2070 3231 12300 2069 3231 12301 2058 3231 12302 2070 3232 12303 2058 3232 12304 2060 3232 12305 2071 3233 12306 1623 3233 12307 1628 3233 12308 2071 3234 12309 1628 3234 12310 2068 3234 12311 2071 3235 12312 2064 3235 12313 2067 3235 12314 2071 3236 12315 2068 3236 12316 2064 3236 12317 1992 3237 12318 1854 3237 12319 1859 3237 12320 1992 3238 12321 1983 3238 12322 1854 3238 12323 2072 3239 12324 2060 3239 12325 2063 3239 12326 2072 3240 12327 2070 3240 12328 2060 3240 12329 2073 3241 12330 1618 3241 12331 1623 3241 12332 2073 3242 12333 2067 3242 12334 2069 3242 12335 2073 3243 12336 2071 3243 12337 2067 3243 12338 2073 3244 12339 1623 3244 12340 2071 3244 12341 1996 3245 12342 1859 3245 12343 1858 3245 12344 1996 3246 12345 1992 3246 12346 1859 3246 12347 2074 3247 12348 1616 3247 12349 1618 3247 12350 2074 3248 12351 1618 3248 12352 2073 3248 12353 2074 3249 12354 2073 3249 12355 2069 3249 12356 2074 3250 12357 2069 3250 12358 2070 3250 12359 1990 3251 12360 2063 3251 12361 2065 3251 12362 1990 3252 12363 2072 3252 12364 2063 3252 12365 2003 3253 12366 1858 3253 12367 1863 3253 12368 2003 3254 12369 1996 3254 12370 1858 3254 12371 2075 3255 12372 1615 3255 12373 1616 3255 12374 2075 3256 12375 1616 3256 12376 2074 3256 12377 2075 3257 12378 2070 3257 12379 2072 3257 12380 2075 3258 12381 2074 3258 12382 2070 3258 12383 1984 3259 12384 2065 3259 12385 1982 3259 12386 1984 3260 12387 1990 3260 12388 2065 3260 12389 1987 3261 12390 1863 3261 12391 1871 3261 12392 1987 3262 12393 2003 3262 12394 1863 3262 12395 1989 3263 12396 1614 3263 12397 1615 3263 12398 1989 3264 12399 2072 3264 12400 1990 3264 12401 1989 3265 12402 1615 3265 12403 2075 3265 12404 1989 3266 12405 2075 3266 12406 2072 3266 12407</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Sun" name="Sun" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_light url="#Sun-light"/>
-      </node>
-      <node id="LandingFoam" name="LandingFoam" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#LandingFoam-mesh" name="LandingFoam">
-          <bind_material>
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-              <instance_material symbol="LandingFoam-material" target="#LandingFoam-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="LandingRubber" name="LandingRubber" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#LandingRubber-mesh" name="LandingRubber">
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-            <technique_common>
-              <instance_material symbol="LandingRubber-material" target="#LandingRubber-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
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-        <instance_geometry url="#CarbonFiber-mesh" name="CarbonFiber">
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-            <technique_common>
-              <instance_material symbol="CarbonFiber-material" target="#CarbonFiber-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="Metal" name="Metal" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#Metal-mesh" name="Metal">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Metal-material" target="#Metal-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
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-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#RailsRubber-mesh" name="RailsRubber">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="RailsRubber-material" target="#RailsRubber-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="FMUK66" name="FMUK66" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#FMUK66-mesh" name="FMUK66">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="FMUK66-material" target="#FMUK66-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
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-        <instance_geometry url="#RailsAntennaHolder-mesh" name="RailsAntennaHolder">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="RailsAntennaHolder-material" target="#RailsAntennaHolder-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-      <node id="LandingPlastic" name="LandingPlastic" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#LandingPlastic-mesh" name="LandingPlastic">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="LandingPlastic-material" target="#LandingPlastic-material">
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-              </instance_material>
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-          </bind_material>
-        </instance_geometry>
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-      <node id="FMURubber" name="FMURubber" type="NODE">
-        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
-        <instance_geometry url="#FMURubber-mesh" name="FMURubber">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="FMURubber-material" target="#FMURubber-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/Tools/simulation/ignition/models/x500-Base/model.config b/Tools/simulation/ignition/models/x500-Base/model.config
deleted file mode 100644
index e9b725806d..0000000000
--- a/Tools/simulation/ignition/models/x500-Base/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-Base</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Benjamin Perseghetti</name>
-    <email>bperseghetti@rudislabs.com</email>
-  </author>
-  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
-</model>
diff --git a/Tools/simulation/ignition/models/x500-Base/model.sdf b/Tools/simulation/ignition/models/x500-Base/model.sdf
deleted file mode 100644
index a265a7d7c2..0000000000
--- a/Tools/simulation/ignition/models/x500-Base/model.sdf
+++ /dev/null
@@ -1,516 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Base'>
-    <pose>0 0 .24 0 0 0</pose>
-    <self_collide>false</self_collide>
-    <static>false</static>
-    <link name="base_link">
-      <inertial>
-        <mass>2.0</mass>
-        <inertia>
-          <ixx>0.02166666666666667</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.02166666666666667</iyy>
-          <iyz>0</iyz>
-          <izz>0.04000000000000001</izz>
-        </inertia>
-      </inertial>
-      <gravity>true</gravity>
-      <velocity_decay/>
-      <visual name="base_link_visual">
-        <pose>0 0 .025 0 0 3.141592654</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/NXP-HGD-CF.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_0">
-        <pose>0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_1">
-        <pose>-0.174 0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_2">
-        <pose>0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="5010_motor_base_3">
-        <pose>-0.174 -0.174 .032 0 0 -.45</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>model://x500-Base/meshes/5010Base.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name="NXP_FMUK66_FRONT">
-        <pose>0.047 .001 .043 1 0 1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="NXP_FMUK66_TOP">
-        <pose>-0.023 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.013 .007</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-Base/materials/textures/nxp.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <visual name="RDDRONE_FMUK66_TOP">
-        <pose>-.03 0 .0515 0 0 -1.57</pose>
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>.032 .0034</size>
-          </plane>
-        </geometry>
-        <material>
-          <diffuse>1.0 1.0 1.0</diffuse>
-          <specular>1.0 1.0 1.0</specular>
-          <pbr>
-            <metal>
-              <albedo_map>model://x500-Base/materials/textures/rd.png</albedo_map>
-            </metal>
-          </pbr>
-        </material>
-      </visual>
-      <collision name="base_link_collision_0">
-        <pose>0 0 .007 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.35355339059327373 0.35355339059327373 0.05</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_1">
-        <pose>0 -0.098 -.123 -0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_2">
-        <pose>0 0.098 -.123 0.35 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.015 0.015 0.21</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_3">
-        <pose>0 -0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <collision name="base_link_collision_4">
-        <pose>0 0.132 -.2195 0 0 0</pose>
-        <geometry>
-          <box>
-            <size>0.25 0.015 0.015</size>
-          </box>
-        </geometry>
-        <surface>
-          <contact>
-            <ode>
-              <min_depth>0.001</min_depth>
-              <max_vel>0</max_vel>
-            </ode>
-          </contact>
-          <friction>
-            <ode/>
-          </friction>
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-      <parent>base_link</parent>
-      <child>rotor_3</child>
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diff --git a/Tools/simulation/ignition/models/x500-Depth/model.sdf b/Tools/simulation/ignition/models/x500-Depth/model.sdf
deleted file mode 100644
index e171c7a457..0000000000
--- a/Tools/simulation/ignition/models/x500-Depth/model.sdf
+++ /dev/null
@@ -1,85 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Depth'>
-    <include merge='true'>
-      <uri>model://x500-Base</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500-Depth</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <include merge='true'>
-      <uri>https://fuel.gazebosim.org/1.0/RudisLaboratories/models/OakD-Lite</uri>
-      <pose>.12 .03 .242 0 0 0</pose>
-    </include>
-    <joint name="CameraJoint" type="fixed">
-      <parent>base_link</parent>
-      <child>OakD-Lite/base_link</child>
-      <pose relative_to="base_link">.12 .03 .242 0 0 0</pose>
-    </joint>
-  </model>
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diff --git a/Tools/simulation/ignition/models/x500/model.sdf b/Tools/simulation/ignition/models/x500/model.sdf
deleted file mode 100644
index 5af082d173..0000000000
--- a/Tools/simulation/ignition/models/x500/model.sdf
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500'>
-    <include merge='true'>
-      <uri>model://x500-Base</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
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-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>model/x500</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-  </model>
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diff --git a/Tools/simulation/ignition/models/x500/thumbnails/1.png b/Tools/simulation/ignition/models/x500/thumbnails/1.png
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diff --git a/boards/px4/sitl/default.px4board b/boards/px4/sitl/default.px4board
index d3758b707f..876a97632d 100644
--- a/boards/px4/sitl/default.px4board
+++ b/boards/px4/sitl/default.px4board
@@ -41,7 +41,7 @@ CONFIG_MODULES_REPLAY=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_COMMON_SIMULATION=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
diff --git a/platforms/posix/Debug/launch_sitl.json.in b/platforms/posix/Debug/launch_sitl.json.in
index 887cd7c83d..f0261448da 100644
--- a/platforms/posix/Debug/launch_sitl.json.in
+++ b/platforms/posix/Debug/launch_sitl.json.in
@@ -2,7 +2,7 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "SITL (Ignition Gazebo)",
+            "name": "SITL (GZ)",
             "type": "cppdbg",
             "request": "launch",
             "program": "${command:cmake.launchTargetPath}",
@@ -15,7 +15,7 @@
             "environment": [
                 {
                     "name": "PX4_SIM_MODEL",
-                    "value": "${input:PX4_IGN_GZ_SIM_MODEL}"
+                    "value": "${input:PX4_GZ_MODEL}"
                 }
             ],
             "externalConsole": false,
@@ -226,8 +226,8 @@
     "inputs": [
         {
             "type": "pickString",
-            "id": "PX4_IGN_GZ_SIM_MODEL",
-            "description": "Ignition Gazebo vehicle model",
+            "id": "PX4_GZ_MODEL",
+            "description": "GZ vehicle model",
             "options": [
               "x500",
             ],
diff --git a/src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt b/src/modules/simulation/gz_bridge/CMakeLists.txt
similarity index 80%
rename from src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt
rename to src/modules/simulation/gz_bridge/CMakeLists.txt
index bf41da8a77..b70ca93e20 100644
--- a/src/modules/simulation/simulator_ignition_bridge/CMakeLists.txt
+++ b/src/modules/simulation/gz_bridge/CMakeLists.txt
@@ -48,13 +48,13 @@ if(ignition-transport_FOUND)
 	set(IGN_TRANSPORT_VER ${ignition-transport_VERSION_MAJOR})
 
 	px4_add_module(
-		MODULE modules__simulation__ignition_bridge
-		MAIN simulator_ignition_bridge
+		MODULE modules__simulation__gz_bridge
+		MAIN gz_bridge
 		COMPILE_FLAGS
 			${MAX_CUSTOM_OPT_LEVEL}
 		SRCS
-			SimulatorIgnitionBridge.cpp
-			SimulatorIgnitionBridge.hpp
+			GZBridge.cpp
+			GZBridge.hpp
 		DEPENDS
 			mixer_module
 			px4_work_queue
@@ -63,33 +63,33 @@ if(ignition-transport_FOUND)
 			module.yaml
 	)
 
-	file(GLOB ign_models
+	file(GLOB gz_models
 		LIST_DIRECTORIES true
-		RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/ignition/models
+		RELATIVE ${PX4_SOURCE_DIR}/Tools/simulation/gz/models
 		CONFIGURE_DEPENDS
-		${PX4_SOURCE_DIR}/Tools/simulation/ignition/models/*
+		${PX4_SOURCE_DIR}/Tools/simulation/gz/models/*
 	)
 
-	file(GLOB ign_worlds
+	file(GLOB gz_worlds
 		CONFIGURE_DEPENDS
-		${PX4_SOURCE_DIR}/Tools/simulation/ignition/worlds/*.sdf
+		${PX4_SOURCE_DIR}/Tools/simulation/gz/worlds/*.sdf
 	)
 
-	foreach(model ${ign_models})
-		foreach(world ${ign_worlds})
+	foreach(model ${gz_models})
+		foreach(world ${gz_worlds})
 
 			get_filename_component("world_name" ${world} NAME_WE)
 
 			if(world_name MATCHES "default")
-				add_custom_target(ign_${model}
+				add_custom_target(gz_${model}
 					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
 					DEPENDS px4
 				)
 			else()
-				add_custom_target(ign_${model}_${world_name}
-					COMMAND ${CMAKE_COMMAND} -E env PX4_SIM_MODEL=${model} PX4_SIM_WORLD=${world_name} $<TARGET_FILE:px4>
+				add_custom_target(gz_${model}_${world_name}
+					COMMAND ${CMAKE_COMMAND} -E env PX4_GZ_MODEL=${model} PX4_GZ_WORLD=${world_name} $<TARGET_FILE:px4>
 					WORKING_DIRECTORY ${SITL_WORKING_DIR}
 					USES_TERMINAL
 					DEPENDS px4
@@ -99,8 +99,8 @@ if(ignition-transport_FOUND)
 	endforeach()
 
 
-	# TODO: PX4_IGN_MODELS_PATH
-	# PX4_IGN_WORLDS_PATH
+	# TODO: PX4_GZ_MODELS_PATH
+	# PX4_GZ_WORLDS_PATH
 	configure_file(gazebo_env.sh.in ${PX4_BINARY_DIR}/rootfs/gazebo_env.sh)
 
 endif()
diff --git a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp b/src/modules/simulation/gz_bridge/GZBridge.cpp
similarity index 76%
rename from src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
rename to src/modules/simulation/gz_bridge/GZBridge.cpp
index 129e6decec..d6451328f0 100644
--- a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.cpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.cpp
@@ -31,7 +31,7 @@
  *
  ****************************************************************************/
 
-#include "SimulatorIgnitionBridge.hpp"
+#include "GZBridge.hpp"
 
 #include <uORB/Subscription.hpp>
 
@@ -42,10 +42,12 @@
 #include <iostream>
 #include <string>
 
-SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str) :
+GZBridge::GZBridge(const char *world, const char *name, const char *model,
+		   const char *pose_str) :
 	OutputModuleInterface(MODULE_NAME, px4::wq_configurations::hp_default),
 	_world_name(world),
-	_model_name(model),
+	_model_name(name),
+	_model_sim(model),
 	_model_pose(pose_str)
 {
 	pthread_mutex_init(&_mutex, nullptr);
@@ -53,7 +55,7 @@ SimulatorIgnitionBridge::SimulatorIgnitionBridge(const char *world, const char *
 	updateParams();
 }
 
-SimulatorIgnitionBridge::~SimulatorIgnitionBridge()
+GZBridge::~GZBridge()
 {
 	// TODO: unsubscribe
 
@@ -62,71 +64,73 @@ SimulatorIgnitionBridge::~SimulatorIgnitionBridge()
 	}
 }
 
-int SimulatorIgnitionBridge::init()
+int GZBridge::init()
 {
-	// service call to create model
-	// ign service -s /world/${PX4_SIM_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_SIM_MODEL}/model.sdf\""
-	ignition::msgs::EntityFactory req{};
-	req.set_sdf_filename(_model_name + "/model.sdf");
+	if (!_model_sim.empty()) {
 
-	// TODO: support model instances?
-	// req.set_name("model_instance_name"); // New name for the entity, overrides the name on the SDF.
-	req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
+		// service call to create model
+		// ign service -s /world/${PX4_GZ_WORLD}/create --reqtype ignition.msgs.EntityFactory --reptype ignition.msgs.Boolean --timeout 1000 --req "sdf_filename: \"${PX4_GZ_MODEL}/model.sdf\""
+		ignition::msgs::EntityFactory req{};
+		req.set_sdf_filename(_model_sim + "/model.sdf");
 
-	if (!_model_pose.empty()) {
-		PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
+		req.set_name(_model_name); // New name for the entity, overrides the name on the SDF.
 
-		std::vector<double> model_pose_v;
+		req.set_allow_renaming(false); // allowed to rename the entity in case of overlap with existing entities
 
-		std::stringstream ss(_model_pose);
+		if (!_model_pose.empty()) {
+			PX4_INFO("Requested Model Position: %s", _model_pose.c_str());
 
-		while (ss.good()) {
-			std::string substr;
-			std::getline(ss, substr, ',');
-			model_pose_v.push_back(std::stod(substr));
+			std::vector<float> model_pose_v;
+
+			std::stringstream ss(_model_pose);
+
+			while (ss.good()) {
+				std::string substr;
+				std::getline(ss, substr, ',');
+				model_pose_v.push_back(std::stof(substr));
+			}
+
+			while (model_pose_v.size() < 6) {
+				model_pose_v.push_back(0.0);
+			}
+
+			ignition::msgs::Pose *p = req.mutable_pose();
+			ignition::msgs::Vector3d *position = p->mutable_position();
+			position->set_x(model_pose_v[0]);
+			position->set_y(model_pose_v[1]);
+			position->set_z(model_pose_v[2]);
+
+			ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
+
+			q.Normalize();
+			ignition::msgs::Quaternion *orientation = p->mutable_orientation();
+			orientation->set_x(q.X());
+			orientation->set_y(q.Y());
+			orientation->set_z(q.Z());
+			orientation->set_w(q.W());
 		}
 
-		while (model_pose_v.size() < 6) {
-			model_pose_v.push_back(0.0);
-		}
+		//world/$WORLD/create service.
+		ignition::msgs::Boolean rep;
+		bool result;
+		std::string create_service = "/world/" + _world_name + "/create";
 
-		ignition::msgs::Pose *p = req.mutable_pose();
-		ignition::msgs::Vector3d *position = p->mutable_position();
-		position->set_x(model_pose_v[0]);
-		position->set_y(model_pose_v[1]);
-		position->set_z(model_pose_v[2]);
+		if (_node.Request(create_service, req, 1000, rep, result)) {
+			if (!rep.data() || !result) {
+				PX4_ERR("EntityFactory service call failed");
+				return PX4_ERROR;
+			}
 
-		ignition::math::Quaterniond q(model_pose_v[3], model_pose_v[4], model_pose_v[5]);
-
-		q.Normalize();
-		ignition::msgs::Quaternion *orientation = p->mutable_orientation();
-		orientation->set_x(q.X());
-		orientation->set_y(q.Y());
-		orientation->set_z(q.Z());
-		orientation->set_w(q.W());
-	}
-
-	//world/$WORLD/create service.
-	ignition::msgs::Boolean rep;
-	bool result;
-	std::string create_service = "/world/" + _world_name + "/create";
-
-	if (_node.Request(create_service, req, 1000, rep, result)) {
-		if (!rep.data() || !result) {
-			PX4_ERR("EntityFactory service call failed");
+		} else {
+			PX4_ERR("Service call timed out");
 			return PX4_ERROR;
 		}
-
-	} else {
-		PX4_ERR("Service call timed out");
-		return PX4_ERROR;
 	}
 
-
 	// clock
 	std::string clock_topic = "/world/" + _world_name + "/clock";
 
-	if (!_node.Subscribe(clock_topic, &SimulatorIgnitionBridge::clockCallback, this)) {
+	if (!_node.Subscribe(clock_topic, &GZBridge::clockCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", clock_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -134,7 +138,7 @@ int SimulatorIgnitionBridge::init()
 	// pose: /world/$WORLD/pose/info
 	std::string world_pose_topic = "/world/" + _world_name + "/pose/info";
 
-	if (!_node.Subscribe(world_pose_topic, &SimulatorIgnitionBridge::poseInfoCallback, this)) {
+	if (!_node.Subscribe(world_pose_topic, &GZBridge::poseInfoCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", world_pose_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -142,15 +146,15 @@ int SimulatorIgnitionBridge::init()
 	// IMU: /world/$WORLD/model/$MODEL/link/base_link/sensor/imu_sensor/imu
 	std::string imu_topic = "/world/" + _world_name + "/model/" + _model_name + "/link/base_link/sensor/imu_sensor/imu";
 
-	if (!_node.Subscribe(imu_topic, &SimulatorIgnitionBridge::imuCallback, this)) {
+	if (!_node.Subscribe(imu_topic, &GZBridge::imuCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", imu_topic.c_str());
 		return PX4_ERROR;
 	}
 
-	// ESC feedback: /model/X3/command/motor_speed
-	std::string motor_speed_topic = "/model/" + _model_name + "/command/motor_speed";
+	// ESC feedback: /x500/command/motor_speed
+	std::string motor_speed_topic = "/" + _model_name + "/command/motor_speed";
 
-	if (!_node.Subscribe(motor_speed_topic, &SimulatorIgnitionBridge::motorSpeedCallback, this)) {
+	if (!_node.Subscribe(motor_speed_topic, &GZBridge::motorSpeedCallback, this)) {
 		PX4_ERR("failed to subscribe to %s", motor_speed_topic.c_str());
 		return PX4_ERROR;
 	}
@@ -160,9 +164,8 @@ int SimulatorIgnitionBridge::init()
 		PX4_INFO("subscribed: %s", sub_topic.c_str());
 	}
 
-
-	// output eg /model/X3/command/motor_speed
-	std::string actuator_topic = "/model/" + _model_name + "/command/motor_speed";
+	// output eg /X500/command/motor_speed
+	std::string actuator_topic = "/" + _model_name + "/command/motor_speed";
 	_actuators_pub = _node.Advertise<ignition::msgs::Actuators>(actuator_topic);
 
 	if (!_actuators_pub.Valid()) {
@@ -174,11 +177,13 @@ int SimulatorIgnitionBridge::init()
 	return OK;
 }
 
-int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
+int GZBridge::task_spawn(int argc, char *argv[])
 {
 	const char *world_name = "default";
 	const char *model_name = nullptr;
 	const char *model_pose = nullptr;
+	const char *model_sim = nullptr;
+	const char *px4_instance = nullptr;
 
 
 	bool error_flag = false;
@@ -186,14 +191,14 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
-	while ((ch = px4_getopt(argc, argv, "w:m:p:", &myoptind, &myoptarg)) != EOF) {
+	while ((ch = px4_getopt(argc, argv, "w:m:p:i:n:", &myoptind, &myoptarg)) != EOF) {
 		switch (ch) {
 		case 'w':
 			// world
 			world_name = myoptarg;
 			break;
 
-		case 'm':
+		case 'n':
 			// model
 			model_name = myoptarg;
 			break;
@@ -203,6 +208,16 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 			model_pose = myoptarg;
 			break;
 
+		case 'm':
+			// pose
+			model_sim = myoptarg;
+			break;
+
+		case 'i':
+			// pose
+			px4_instance = myoptarg;
+			break;
+
 		case '?':
 			error_flag = true;
 			break;
@@ -218,13 +233,27 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	PX4_INFO("world: %s, model: %s", world_name, model_name);
-
 	if (!model_pose) {
 		model_pose = "";
 	}
 
-	SimulatorIgnitionBridge *instance = new SimulatorIgnitionBridge(world_name, model_name, model_pose);
+	if (!model_sim) {
+		model_sim = "";
+	}
+
+	if (!px4_instance) {
+		if (!model_name) {
+			model_name = model_sim;
+		}
+
+	} else if (!model_name) {
+		std::string model_name_std = std::string(model_sim) + "_" + std::string(px4_instance);
+		model_name = model_name_std.c_str();
+	}
+
+	PX4_INFO("world: %s, model name: %s, simulation model: %s", world_name, model_name, model_sim);
+
+	GZBridge *instance = new GZBridge(world_name, model_name, model_sim, model_pose);
 
 	if (instance) {
 		_object.store(instance);
@@ -270,7 +299,7 @@ int SimulatorIgnitionBridge::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }
 
-bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
+bool GZBridge::updateClock(const uint64_t tv_sec, const uint64_t tv_nsec)
 {
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
@@ -287,7 +316,7 @@ bool SimulatorIgnitionBridge::updateClock(const uint64_t tv_sec, const uint64_t
 	return false;
 }
 
-void SimulatorIgnitionBridge::clockCallback(const ignition::msgs::Clock &clock)
+void GZBridge::clockCallback(const ignition::msgs::Clock &clock)
 {
 	pthread_mutex_lock(&_mutex);
 
@@ -300,7 +329,7 @@ void SimulatorIgnitionBridge::clockCallback(const ignition::msgs::Clock &clock)
 	pthread_mutex_unlock(&_mutex);
 }
 
-void SimulatorIgnitionBridge::imuCallback(const ignition::msgs::IMU &imu)
+void GZBridge::imuCallback(const ignition::msgs::IMU &imu)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -355,7 +384,7 @@ void SimulatorIgnitionBridge::imuCallback(const ignition::msgs::IMU &imu)
 	pthread_mutex_unlock(&_mutex);
 }
 
-void SimulatorIgnitionBridge::poseInfoCallback(const ignition::msgs::Pose_V &pose)
+void GZBridge::poseInfoCallback(const ignition::msgs::Pose_V &pose)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -475,7 +504,7 @@ void SimulatorIgnitionBridge::poseInfoCallback(const ignition::msgs::Pose_V &pos
 	pthread_mutex_unlock(&_mutex);
 }
 
-void SimulatorIgnitionBridge::motorSpeedCallback(const ignition::msgs::Actuators &actuators)
+void GZBridge::motorSpeedCallback(const ignition::msgs::Actuators &actuators)
 {
 	if (hrt_absolute_time() == 0) {
 		return;
@@ -504,8 +533,8 @@ void SimulatorIgnitionBridge::motorSpeedCallback(const ignition::msgs::Actuators
 	pthread_mutex_unlock(&_mutex);
 }
 
-bool SimulatorIgnitionBridge::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
-		unsigned num_control_groups_updated)
+bool GZBridge::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs,
+			     unsigned num_control_groups_updated)
 {
 	unsigned active_output_count = 0;
 
@@ -534,7 +563,7 @@ bool SimulatorIgnitionBridge::updateOutputs(bool stop_motors, uint16_t outputs[M
 	return false;
 }
 
-void SimulatorIgnitionBridge::Run()
+void GZBridge::Run()
 {
 	if (should_exit()) {
 		ScheduleClear();
@@ -563,7 +592,7 @@ void SimulatorIgnitionBridge::Run()
 	pthread_mutex_unlock(&_mutex);
 }
 
-int SimulatorIgnitionBridge::print_status()
+int GZBridge::print_status()
 {
 	//perf_print_counter(_cycle_perf);
 	_mixing_output.printStatus();
@@ -571,12 +600,12 @@ int SimulatorIgnitionBridge::print_status()
 	return 0;
 }
 
-int SimulatorIgnitionBridge::custom_command(int argc, char *argv[])
+int GZBridge::custom_command(int argc, char *argv[])
 {
 	return print_usage("unknown command");
 }
 
-int SimulatorIgnitionBridge::print_usage(const char *reason)
+int GZBridge::print_usage(const char *reason)
 {
 	if (reason) {
 		PX4_WARN("%s\n", reason);
@@ -588,17 +617,19 @@ int SimulatorIgnitionBridge::print_usage(const char *reason)
 
 )DESCR_STR");
 
-	PRINT_MODULE_USAGE_NAME("simulator_ignition_bridge", "driver");
+	PRINT_MODULE_USAGE_NAME("gz_bridge", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Model name", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('m', nullptr, nullptr, "Fuel model name", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('p', nullptr, nullptr, "Model Pose", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('n', nullptr, nullptr, "Model name", false);
+	PRINT_MODULE_USAGE_PARAM_STRING('i', nullptr, nullptr, "PX4 instance", false);
 	PRINT_MODULE_USAGE_PARAM_STRING('w', nullptr, nullptr, "World name", true);
 	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
 
 	return 0;
 }
 
-extern "C" __EXPORT int simulator_ignition_bridge_main(int argc, char *argv[])
+extern "C" __EXPORT int gz_bridge_main(int argc, char *argv[])
 {
-	return SimulatorIgnitionBridge::main(argc, argv);
+	return GZBridge::main(argc, argv);
 }
diff --git a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp b/src/modules/simulation/gz_bridge/GZBridge.hpp
similarity index 90%
rename from src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp
rename to src/modules/simulation/gz_bridge/GZBridge.hpp
index bc3228ed03..e25cfaf044 100644
--- a/src/modules/simulation/simulator_ignition_bridge/SimulatorIgnitionBridge.hpp
+++ b/src/modules/simulation/gz_bridge/GZBridge.hpp
@@ -60,11 +60,11 @@
 
 using namespace time_literals;
 
-class SimulatorIgnitionBridge : public ModuleBase<SimulatorIgnitionBridge>, public OutputModuleInterface
+class GZBridge : public ModuleBase<GZBridge>, public OutputModuleInterface
 {
 public:
-	SimulatorIgnitionBridge(const char *world, const char *model, const char *pose_str);
-	~SimulatorIgnitionBridge() override;
+	GZBridge(const char *world, const char *name, const char *model, const char *pose_str);
+	~GZBridge() override;
 
 	/** @see ModuleBase */
 	static int custom_command(int argc, char *argv[]);
@@ -121,16 +121,17 @@ private:
 
 	const std::string _world_name;
 	const std::string _model_name;
+	const std::string _model_sim;
 	const std::string _model_pose;
 
-	MixingOutput _mixing_output{"SIM_IGN", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
+	MixingOutput _mixing_output{"SIM_GZ", 8, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 
 	ignition::transport::Node _node;
 	ignition::transport::Node::Publisher _actuators_pub;
 
 	DEFINE_PARAMETERS(
-		(ParamFloat<px4::params::SIM_IGN_HOME_LAT>) _param_sim_home_lat,
-		(ParamFloat<px4::params::SIM_IGN_HOME_LON>) _param_sim_home_lon,
-		(ParamFloat<px4::params::SIM_IGN_HOME_ALT>) _param_sim_home_alt
+		(ParamFloat<px4::params::SIM_GZ_HOME_LAT>) _param_sim_home_lat,
+		(ParamFloat<px4::params::SIM_GZ_HOME_LON>) _param_sim_home_lon,
+		(ParamFloat<px4::params::SIM_GZ_HOME_ALT>) _param_sim_home_alt
 	)
 };
diff --git a/src/modules/simulation/gz_bridge/Kconfig b/src/modules/simulation/gz_bridge/Kconfig
new file mode 100644
index 0000000000..b3e4c38096
--- /dev/null
+++ b/src/modules/simulation/gz_bridge/Kconfig
@@ -0,0 +1,5 @@
+menuconfig MODULES_SIMULATION_GZ_BRIDGE
+	bool "gz_bridge"
+	default n
+	---help---
+		Enable support for gz_bridge
diff --git a/src/modules/simulation/gz_bridge/gazebo_env.sh.in b/src/modules/simulation/gz_bridge/gazebo_env.sh.in
new file mode 100644
index 0000000000..dbd008cba2
--- /dev/null
+++ b/src/modules/simulation/gz_bridge/gazebo_env.sh.in
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+export PX4_GZ_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/gz/models
+export PX4_GZ_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/gz/worlds
+
+export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_GZ_MODELS:$PX4_GZ_WORLDS
diff --git a/src/modules/simulation/simulator_ignition_bridge/module.yaml b/src/modules/simulation/gz_bridge/module.yaml
similarity index 84%
rename from src/modules/simulation/simulator_ignition_bridge/module.yaml
rename to src/modules/simulation/gz_bridge/module.yaml
index 1bc301a44b..674a4ed3f9 100644
--- a/src/modules/simulation/simulator_ignition_bridge/module.yaml
+++ b/src/modules/simulation/gz_bridge/module.yaml
@@ -1,7 +1,7 @@
-module_name: SIM_IGN
+module_name: SIM_GZ
 actuator_output:
   output_groups:
-    - param_prefix: SIM_IGN
+    - param_prefix: SIM_GZ
       channel_label: Channel
       num_channels: 8
       standard_params:
diff --git a/src/modules/simulation/simulator_ignition_bridge/parameters.c b/src/modules/simulation/gz_bridge/parameters.c
similarity index 93%
rename from src/modules/simulation/simulator_ignition_bridge/parameters.c
rename to src/modules/simulation/gz_bridge/parameters.c
index 035ed911f5..cc45872f07 100644
--- a/src/modules/simulation/simulator_ignition_bridge/parameters.c
+++ b/src/modules/simulation/gz_bridge/parameters.c
@@ -37,7 +37,7 @@
  * @unit deg
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LAT, 47.397742f);
+PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LAT, 47.397742f);
 
 /**
  * simulator origin longitude
@@ -45,7 +45,7 @@ PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LAT, 47.397742f);
  * @unit deg
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LON, 8.545594);
+PARAM_DEFINE_FLOAT(SIM_GZ_HOME_LON, 8.545594);
 
 /**
  * simulator origin altitude
@@ -53,4 +53,4 @@ PARAM_DEFINE_FLOAT(SIM_IGN_HOME_LON, 8.545594);
  * @unit m
  * @group Simulator
  */
-PARAM_DEFINE_FLOAT(SIM_IGN_HOME_ALT, 488.0);
+PARAM_DEFINE_FLOAT(SIM_GZ_HOME_ALT, 488.0);
diff --git a/src/modules/simulation/simulator_ignition_bridge/Kconfig b/src/modules/simulation/simulator_ignition_bridge/Kconfig
deleted file mode 100644
index 33c692e354..0000000000
--- a/src/modules/simulation/simulator_ignition_bridge/Kconfig
+++ /dev/null
@@ -1,5 +0,0 @@
-menuconfig MODULES_SIMULATION_SIMULATOR_IGNITION_BRIDGE
-	bool "simulator_ignition_bridge"
-	default n
-	---help---
-		Enable support for simulator_ignition_bridge
diff --git a/src/modules/simulation/simulator_ignition_bridge/gazebo_env.sh.in b/src/modules/simulation/simulator_ignition_bridge/gazebo_env.sh.in
deleted file mode 100644
index 52d0252fda..0000000000
--- a/src/modules/simulation/simulator_ignition_bridge/gazebo_env.sh.in
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/usr/bin/env bash
-
-export PX4_IGN_GAZEBO_MODELS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/models
-export PX4_IGN_GAZEBO_WORLDS=@PX4_SOURCE_DIR@/Tools/simulation/ignition/worlds
-
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:$PX4_IGN_GAZEBO_MODELS