diff --git a/README.md b/README.md
index 8a0fabe..304eeee 100644
--- a/README.md
+++ b/README.md
@@ -77,17 +77,17 @@ source devel/setup.bash
 
 - Launch SLAM node to map a world. Can move the robot with goals or with the keyboard control node:
     ```
-    $ roslaunch noah_gazebo  noah_slam.launch database_name:=<DATABASE_NAME>
+    $ roslaunch noah_simulation  noah_slam.launch database_name:=<DATABASE_NAME>
     ```
 
 - Launch navigation node. Includes wayposes publisher node:
     ```
-    $ roslaunch noah_gazebo noah_navigation.launch map_name:=<MAP_NAME>
+    $ roslaunch noah_simulation noah_simulation.launch map_name:=<MAP_NAME>
     ```
 
 - Launch mapless navigation node:
     ```
-    $ roslaunch noah_gazebo noah_navigation_mapless.launch
+    $ roslaunch noah_simulation noah_simulation_mapless.launch
     ```
 
 - Launch keyboard control (useful to move robot when generating the SLAM):
diff --git a/noah_2dnav/CHANGELOG.rst b/noah_2dnav/CHANGELOG.rst
index 4fedb7b..d9d09aa 100644
--- a/noah_2dnav/CHANGELOG.rst
+++ b/noah_2dnav/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package noah_2dnav
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0
+------------------
+* Package and launchfiles re-organization
+
 0.1.0
 ------------------
 * Initial release of noah_2dnav package
diff --git a/noah_2dnav/launch/2dnav.launch b/noah_2dnav/launch/2dnav.launch
index c8c5af4..8823035 100644
--- a/noah_2dnav/launch/2dnav.launch
+++ b/noah_2dnav/launch/2dnav.launch
@@ -42,4 +42,4 @@
    <!-- Move base sequence -->
    <include file="$(find noah_control_utils)/launch/move_base_sequence.launch" />
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/noah_2dnav/package.xml b/noah_2dnav/package.xml
index a50174b..6cc304f 100644
--- a/noah_2dnav/package.xml
+++ b/noah_2dnav/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>noah_2dnav</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>The noah_2dnav package</description>
 
   <author email="juancarosella96@ekumenlabs.com">JuanCarosella</author>
diff --git a/noah_control_utils/CHANGELOG.rst b/noah_control_utils/CHANGELOG.rst
index e02e6c9..e4b4996 100644
--- a/noah_control_utils/CHANGELOG.rst
+++ b/noah_control_utils/CHANGELOG.rst
@@ -1,7 +1,11 @@
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package move_base_utils
+Changelog for package move_control_utils
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0
+------------------
+* Package and launchfiles re-organization
+
 0.1.0
 ------------------
 * Initial release of move_base_utils package
diff --git a/noah_control_utils/package.xml b/noah_control_utils/package.xml
index 49112a9..cf560bc 100644
--- a/noah_control_utils/package.xml
+++ b/noah_control_utils/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>noah_control_utils</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>The noah_control_utils package</description>
 
   <author email="juancarosella96@ekumenlabs.com">JuanCarosella</author>
diff --git a/noah_gazebo/CHANGELOG.rst b/noah_gazebo/CHANGELOG.rst
deleted file mode 100644
index 77a7d6e..0000000
--- a/noah_gazebo/CHANGELOG.rst
+++ /dev/null
@@ -1,7 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package noah_gazebo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.0
-------------------
-* Initial release of noah_gazebo package
diff --git a/noah_rtabmap/CHANGELOG.rst b/noah_rtabmap/CHANGELOG.rst
index 683f1df..0a2bbf6 100644
--- a/noah_rtabmap/CHANGELOG.rst
+++ b/noah_rtabmap/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package noah_rtabmap
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0
+------------------
+* Package and launchfiles re-organization
+
 0.1.0
 ------------------
 * Initial release of noah_rtabmap package
diff --git a/noah_rtabmap/README.md b/noah_rtabmap/README.md
index 4cfd6a7..7436f16 100644
--- a/noah_rtabmap/README.md
+++ b/noah_rtabmap/README.md
@@ -2,5 +2,5 @@
 
 This package contains:
 
-- The launch file used to launch the rtab node and nodelet used for SLAM. This launchfile is called in the higher level "noah_slam.launch" launch file in the noah_gazebo package.
+- The launch file used to launch the rtab node and nodelet used for SLAM. This launchfile is called in the higher level "noah_slam.launch" launch file in the noah_simulation package.
 - A user script (database2pgm.sh) to convert from the database that rtab generates to the 2D map.pgm and map.yaml files used for the map server. This script accepts the name (without extension) of the database as a first and only argument and assumes the database is saves in its default location in "~/.ros/<DBNAME>.db".
diff --git a/noah_rtabmap/package.xml b/noah_rtabmap/package.xml
index e1c9757..0ffacbd 100644
--- a/noah_rtabmap/package.xml
+++ b/noah_rtabmap/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>noah_rtabmap</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>The noah_rtabmap package</description>
 
   <author email="juancarosella96@ekumenlabs.com">JuanCarosella</author>
diff --git a/noah_rviz/CHANGELOG.rst b/noah_rviz/CHANGELOG.rst
index 8fae948..4494632 100644
--- a/noah_rviz/CHANGELOG.rst
+++ b/noah_rviz/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package noah_rviz
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.2.0
+------------------
+* Package and launchfiles re-organization
+
 0.1.0
 ------------------
 * Initial release of noah_rviz package
diff --git a/noah_rviz/package.xml b/noah_rviz/package.xml
index 12e1095..1de7ad2 100644
--- a/noah_rviz/package.xml
+++ b/noah_rviz/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>noah_rviz</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>
     Rviz visualization for noah robot.
   </description>
diff --git a/noah_simulation/CHANGELOG.rst b/noah_simulation/CHANGELOG.rst
new file mode 100644
index 0000000..640cb04
--- /dev/null
+++ b/noah_simulation/CHANGELOG.rst
@@ -0,0 +1,11 @@
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package noah_simulation
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.0
+------------------
+* Package name change to noah_simulation. Package re-organization
+
+0.1.0
+------------------
+* Initial release of noah_gazebo package
diff --git a/noah_gazebo/CMakeLists.txt b/noah_simulation/CMakeLists.txt
similarity index 93%
rename from noah_gazebo/CMakeLists.txt
rename to noah_simulation/CMakeLists.txt
index 1dda6c6..ec0a830 100644
--- a/noah_gazebo/CMakeLists.txt
+++ b/noah_simulation/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8.3)
 
-project(noah_gazebo)
+project(noah_simulation)
 
 find_package(catkin REQUIRED COMPONENTS
 	gazebo_ros
diff --git a/noah_gazebo/README.md b/noah_simulation/README.md
similarity index 90%
rename from noah_gazebo/README.md
rename to noah_simulation/README.md
index 0692237..8620835 100644
--- a/noah_gazebo/README.md
+++ b/noah_simulation/README.md
@@ -1,4 +1,4 @@
-# noah_gazebo
+# noah_simulation
 
 Package containing the top level simulation launch files, worlds and models for the [AWS small_house world](https://github.com/aws-robotics/aws-robomaker-small-house-world).
 
diff --git a/noah_gazebo/launch/noah_navigation.launch b/noah_simulation/launch/noah_simulation.launch
similarity index 96%
rename from noah_gazebo/launch/noah_navigation.launch
rename to noah_simulation/launch/noah_simulation.launch
index bd89959..f5a44ee 100644
--- a/noah_gazebo/launch/noah_navigation.launch
+++ b/noah_simulation/launch/noah_simulation.launch
@@ -3,7 +3,7 @@
     <!-- Testing world in gazebo (spawns robot) -->
     <arg name="gui" default="false" />
     <arg name="world_name" default="small_house" />
-    <include file="$(find noah_gazebo)/launch/noah_test_world.launch">
+    <include file="$(find noah_simulation)/launch/noah_test_world.launch">
         <arg name="gui" default="$(arg gui)" />
         <arg name="world_name" value="$(arg world_name)" />
     </include>
diff --git a/noah_gazebo/launch/noah_test_world.launch b/noah_simulation/launch/noah_test_world.launch
similarity index 79%
rename from noah_gazebo/launch/noah_test_world.launch
rename to noah_simulation/launch/noah_test_world.launch
index 0931ba9..70cc5bb 100644
--- a/noah_gazebo/launch/noah_test_world.launch
+++ b/noah_simulation/launch/noah_test_world.launch
@@ -4,7 +4,7 @@
   <arg name="gui" default="false" />
   <arg name="world_name" default="empty_world" />
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name" value="$(find noah_gazebo)/worlds/$(arg world_name).world" />
+    <arg name="world_name" value="$(find noah_simulation)/worlds/$(arg world_name).world" />
     <arg name="paused" value="false" />
     <arg name="use_sim_time" value="true" />
     <arg name="gui" value="$(arg gui)" />
@@ -15,7 +15,7 @@
 
   <!-- Spawn Noah bot in the Gazebo world -->
   <arg name="robot_model" default="accurate_noah" />
-  <include file="$(find noah_gazebo)/launch/spawn_noah.launch">
+  <include file="$(find noah_simulation)/launch/spawn_noah.launch">
     <arg name="robot_model" value="$(arg robot_model)" />
   </include>
 
diff --git a/noah_gazebo/launch/spawn_noah.launch b/noah_simulation/launch/spawn_noah.launch
similarity index 100%
rename from noah_gazebo/launch/spawn_noah.launch
rename to noah_simulation/launch/spawn_noah.launch
diff --git a/noah_gazebo/models/.DS_Store b/noah_simulation/models/.DS_Store
similarity index 100%
rename from noah_gazebo/models/.DS_Store
rename to noah_simulation/models/.DS_Store
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/materials/textures/aws_AirconditionerA_01.png b/noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/materials/textures/aws_AirconditionerA_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/materials/textures/aws_AirconditionerA_01.png
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/materials/textures/aws_AirconditionerA_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/meshes/aws_AirconditionerA_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/model.config b/noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerA_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerA_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/materials/textures/aws_AirconditionerB_01.png b/noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/materials/textures/aws_AirconditionerB_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/materials/textures/aws_AirconditionerB_01.png
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/materials/textures/aws_AirconditionerB_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/meshes/aws_AirconditionerB_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/model.config b/noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_AirconditionerB_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_AirconditionerB_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/materials/textures/aws_BalconyTable_01.png b/noah_simulation/models/aws_robomaker_residential_BalconyTable_01/materials/textures/aws_BalconyTable_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/materials/textures/aws_BalconyTable_01.png
rename to noah_simulation/models/aws_robomaker_residential_BalconyTable_01/materials/textures/aws_BalconyTable_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_BalconyTable_01/meshes/aws_BalconyTable_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/model.config b/noah_simulation/models/aws_robomaker_residential_BalconyTable_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_BalconyTable_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_BalconyTable_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_BalconyTable_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_BalconyTable_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Ball_01/materials/textures/aws_Ball_01.png b/noah_simulation/models/aws_robomaker_residential_Ball_01/materials/textures/aws_Ball_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Ball_01/materials/textures/aws_Ball_01.png
rename to noah_simulation/models/aws_robomaker_residential_Ball_01/materials/textures/aws_Ball_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Ball_01/meshes/aws_Ball_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Ball_01/model.config b/noah_simulation/models/aws_robomaker_residential_Ball_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Ball_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Ball_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Ball_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Ball_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Ball_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Ball_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedA_01.png b/noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedA_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedA_01.png
rename to noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedA_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedB_01.png b/noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedB_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedB_01.png
rename to noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedB_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedC_01.png b/noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedC_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedC_01.png
rename to noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_BedC_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_Bed_01.png b/noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_Bed_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Bed_01/materials/textures/aws_Bed_01.png
rename to noah_simulation/models/aws_robomaker_residential_Bed_01/materials/textures/aws_Bed_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Bed_01/meshes/aws_Bed_01_visual.DAE
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rename to noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/meshes/aws_FoldingDoor_02_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_FoldingDoor_02/meshes/aws_FoldingDoor_02_visual.DAE b/noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/meshes/aws_FoldingDoor_02_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_FoldingDoor_02/meshes/aws_FoldingDoor_02_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/meshes/aws_FoldingDoor_02_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_FoldingDoor_02/model.config b/noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_FoldingDoor_02/model.config
rename to noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_FoldingDoor_02/model.sdf b/noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_FoldingDoor_02/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_FoldingDoor_02/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Handle_01/materials/textures/aws_Handle_01.png b/noah_simulation/models/aws_robomaker_residential_Handle_01/materials/textures/aws_Handle_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Handle_01/materials/textures/aws_Handle_01.png
rename to noah_simulation/models/aws_robomaker_residential_Handle_01/materials/textures/aws_Handle_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Handle_01/meshes/aws_Handle_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Handle_01/model.config b/noah_simulation/models/aws_robomaker_residential_Handle_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Handle_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Handle_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Handle_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Handle_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Handle_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Handle_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/materials/textures/aws_HouseWallB_01.png b/noah_simulation/models/aws_robomaker_residential_HouseWallB_01/materials/textures/aws_HouseWallB_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/materials/textures/aws_HouseWallB_01.png
rename to noah_simulation/models/aws_robomaker_residential_HouseWallB_01/materials/textures/aws_HouseWallB_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_HouseWallB_01/meshes/aws_HouseWallB_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/model.config b/noah_simulation/models/aws_robomaker_residential_HouseWallB_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_HouseWallB_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_HouseWallB_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_HouseWallB_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_HouseWallB_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/materials/textures/aws_KitchenCabinet_01.png b/noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/materials/textures/aws_KitchenCabinet_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/materials/textures/aws_KitchenCabinet_01.png
rename to noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/materials/textures/aws_KitchenCabinet_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/meshes/aws_KitchenCabinet_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/model.config b/noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenCabinet_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_KitchenCabinet_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/materials/textures/aws_KitchenTable_01.png b/noah_simulation/models/aws_robomaker_residential_KitchenTable_01/materials/textures/aws_KitchenTable_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/materials/textures/aws_KitchenTable_01.png
rename to noah_simulation/models/aws_robomaker_residential_KitchenTable_01/materials/textures/aws_KitchenTable_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_KitchenTable_01/meshes/aws_KitchenTable_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/model.config b/noah_simulation/models/aws_robomaker_residential_KitchenTable_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_KitchenTable_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_KitchenTable_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenTable_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_KitchenTable_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/materials/textures/aws_KitchenUtensils_01.png b/noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/materials/textures/aws_KitchenUtensils_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/materials/textures/aws_KitchenUtensils_01.png
rename to noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/materials/textures/aws_KitchenUtensils_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/meshes/aws_KitchenUtensils_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/model.config b/noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_KitchenUtensils_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_KitchenUtensils_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_LightC_01/materials/textures/aws_LightC_01.png b/noah_simulation/models/aws_robomaker_residential_LightC_01/materials/textures/aws_LightC_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_LightC_01/materials/textures/aws_LightC_01.png
rename to noah_simulation/models/aws_robomaker_residential_LightC_01/materials/textures/aws_LightC_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_LightC_01/meshes/aws_LightC_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_LightC_01/model.config b/noah_simulation/models/aws_robomaker_residential_LightC_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_LightC_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_LightC_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_LightC_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_LightC_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_LightC_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_LightC_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_NightStand_01/materials/textures/aws_NightStand_01.png b/noah_simulation/models/aws_robomaker_residential_NightStand_01/materials/textures/aws_NightStand_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_NightStand_01/materials/textures/aws_NightStand_01.png
rename to noah_simulation/models/aws_robomaker_residential_NightStand_01/materials/textures/aws_NightStand_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_NightStand_01/meshes/aws_NightStand_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_NightStand_01/model.config b/noah_simulation/models/aws_robomaker_residential_NightStand_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_NightStand_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_NightStand_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_NightStand_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_NightStand_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_NightStand_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_NightStand_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Pillow_01/materials/textures/aws_Pillow_01.png b/noah_simulation/models/aws_robomaker_residential_Pillow_01/materials/textures/aws_Pillow_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Pillow_01/materials/textures/aws_Pillow_01.png
rename to noah_simulation/models/aws_robomaker_residential_Pillow_01/materials/textures/aws_Pillow_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Pillow_01/meshes/aws_Pillow_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Pillow_01/model.config b/noah_simulation/models/aws_robomaker_residential_Pillow_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Pillow_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Pillow_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Pillow_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Pillow_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Pillow_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Pillow_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_PortraitA_01/materials/textures/PortraitA_01.jpg b/noah_simulation/models/aws_robomaker_residential_PortraitA_01/materials/textures/PortraitA_01.jpg
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_PortraitA_01/materials/textures/PortraitA_01.jpg
rename to noah_simulation/models/aws_robomaker_residential_PortraitA_01/materials/textures/PortraitA_01.jpg
diff --git a/noah_gazebo/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_01.png b/noah_simulation/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_01.png
rename to noah_simulation/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_02.png b/noah_simulation/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_02.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_02.png
rename to noah_simulation/models/aws_robomaker_residential_PortraitA_01/materials/textures/aws_PortraitA_02.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_PortraitA_01/meshes/aws_PortraitA_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_PortraitA_01/model.config b/noah_simulation/models/aws_robomaker_residential_PortraitA_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_PortraitA_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_PortraitA_01/model.config
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diff --git a/noah_gazebo/models/aws_robomaker_residential_Quilt_01/materials/textures/aws_Quilt_01.png b/noah_simulation/models/aws_robomaker_residential_Quilt_01/materials/textures/aws_Quilt_01.png
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diff --git a/noah_gazebo/models/aws_robomaker_residential_ReadingDesk_01/materials/textures/aws_ReadingDesk_01.png b/noah_simulation/models/aws_robomaker_residential_ReadingDesk_01/materials/textures/aws_ReadingDesk_01.png
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rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/.DS_Store
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/.DS_Store
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tablet_01/materials/.DS_Store b/noah_simulation/models/aws_robomaker_residential_Tablet_01/materials/.DS_Store
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/materials/.DS_Store
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/materials/.DS_Store
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tablet_01/materials/textures/aws_Tablet_01_nologo.png b/noah_simulation/models/aws_robomaker_residential_Tablet_01/materials/textures/aws_Tablet_01_nologo.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/materials/textures/aws_Tablet_01_nologo.png
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/materials/textures/aws_Tablet_01_nologo.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/meshes/aws_Tablet_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tablet_01/model.config b/noah_simulation/models/aws_robomaker_residential_Tablet_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tablet_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Tablet_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tablet_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Tablet_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tableware_01/materials/textures/aws_Tableware_01.png b/noah_simulation/models/aws_robomaker_residential_Tableware_01/materials/textures/aws_Tableware_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tableware_01/materials/textures/aws_Tableware_01.png
rename to noah_simulation/models/aws_robomaker_residential_Tableware_01/materials/textures/aws_Tableware_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Tableware_01/meshes/aws_Tableware_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tableware_01/model.config b/noah_simulation/models/aws_robomaker_residential_Tableware_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tableware_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Tableware_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Tableware_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Tableware_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Tableware_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Tableware_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Trash_01/materials/textures/aws_Trash_01.png b/noah_simulation/models/aws_robomaker_residential_Trash_01/materials/textures/aws_Trash_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Trash_01/materials/textures/aws_Trash_01.png
rename to noah_simulation/models/aws_robomaker_residential_Trash_01/materials/textures/aws_Trash_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Trash_01/meshes/aws_Trash_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Trash_01/model.config b/noah_simulation/models/aws_robomaker_residential_Trash_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Trash_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Trash_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Trash_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Trash_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Trash_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Trash_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Vase_01/materials/textures/aws_Vase_01.png b/noah_simulation/models/aws_robomaker_residential_Vase_01/materials/textures/aws_Vase_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Vase_01/materials/textures/aws_Vase_01.png
rename to noah_simulation/models/aws_robomaker_residential_Vase_01/materials/textures/aws_Vase_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Vase_01/meshes/aws_Vase_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Vase_01/model.config b/noah_simulation/models/aws_robomaker_residential_Vase_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Vase_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Vase_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Vase_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Vase_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Vase_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Vase_01/model.sdf
diff --git a/noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/materials/textures/aws_Wardrobe_01.png b/noah_simulation/models/aws_robomaker_residential_Wardrobe_01/materials/textures/aws_Wardrobe_01.png
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/materials/textures/aws_Wardrobe_01.png
rename to noah_simulation/models/aws_robomaker_residential_Wardrobe_01/materials/textures/aws_Wardrobe_01.png
diff --git a/noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_collision.DAE b/noah_simulation/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_collision.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_collision.DAE
rename to noah_simulation/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_collision.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_visual.DAE b/noah_simulation/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_visual.DAE
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_visual.DAE
rename to noah_simulation/models/aws_robomaker_residential_Wardrobe_01/meshes/aws_Wardrobe_01_visual.DAE
diff --git a/noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/model.config b/noah_simulation/models/aws_robomaker_residential_Wardrobe_01/model.config
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/model.config
rename to noah_simulation/models/aws_robomaker_residential_Wardrobe_01/model.config
diff --git a/noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/model.sdf b/noah_simulation/models/aws_robomaker_residential_Wardrobe_01/model.sdf
similarity index 100%
rename from noah_gazebo/models/aws_robomaker_residential_Wardrobe_01/model.sdf
rename to noah_simulation/models/aws_robomaker_residential_Wardrobe_01/model.sdf
diff --git a/noah_gazebo/package.xml b/noah_simulation/package.xml
similarity index 96%
rename from noah_gazebo/package.xml
rename to noah_simulation/package.xml
index 89c076a..6765fea 100644
--- a/noah_gazebo/package.xml
+++ b/noah_simulation/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>noah_gazebo</name>
+  <name>noah_simulation</name>
   <version>0.1.0</version>
   <description>
     Gazebo simulation for noah robot.
diff --git a/noah_gazebo/photos/DeskPortraitA_01.jpg b/noah_simulation/photos/DeskPortraitA_01.jpg
similarity index 100%
rename from noah_gazebo/photos/DeskPortraitA_01.jpg
rename to noah_simulation/photos/DeskPortraitA_01.jpg
diff --git a/noah_gazebo/photos/DeskPortraitA_02.jpg b/noah_simulation/photos/DeskPortraitA_02.jpg
similarity index 100%
rename from noah_gazebo/photos/DeskPortraitA_02.jpg
rename to noah_simulation/photos/DeskPortraitA_02.jpg
diff --git a/noah_gazebo/photos/DeskPortraitB_01.jpg b/noah_simulation/photos/DeskPortraitB_01.jpg
similarity index 100%
rename from noah_gazebo/photos/DeskPortraitB_01.jpg
rename to noah_simulation/photos/DeskPortraitB_01.jpg
diff --git a/noah_gazebo/photos/DeskPortraitB_02.jpg b/noah_simulation/photos/DeskPortraitB_02.jpg
similarity index 100%
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rename to noah_simulation/photos/DeskPortraitB_02.jpg
diff --git a/noah_gazebo/photos/DeskPortraitC_01.jpg b/noah_simulation/photos/DeskPortraitC_01.jpg
similarity index 100%
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diff --git a/noah_gazebo/photos/DeskPortraitC_02.jpg b/noah_simulation/photos/DeskPortraitC_02.jpg
similarity index 100%
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rename to noah_simulation/photos/DeskPortraitC_02.jpg
diff --git a/noah_gazebo/photos/DeskPortraitD_01.jpg b/noah_simulation/photos/DeskPortraitD_01.jpg
similarity index 100%
rename from noah_gazebo/photos/DeskPortraitD_01.jpg
rename to noah_simulation/photos/DeskPortraitD_01.jpg
diff --git a/noah_gazebo/photos/DeskPortraitD_02.jpg b/noah_simulation/photos/DeskPortraitD_02.jpg
similarity index 100%
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rename to noah_simulation/photos/DeskPortraitD_02.jpg
diff --git a/noah_gazebo/photos/DeskPortraitD_03.jpg b/noah_simulation/photos/DeskPortraitD_03.jpg
similarity index 100%
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rename to noah_simulation/photos/DeskPortraitD_03.jpg
diff --git a/noah_gazebo/photos/DeskPortraitD_04.jpg b/noah_simulation/photos/DeskPortraitD_04.jpg
similarity index 100%
rename from noah_gazebo/photos/DeskPortraitD_04.jpg
rename to noah_simulation/photos/DeskPortraitD_04.jpg
diff --git a/noah_gazebo/photos/PortraitA_01.jpg b/noah_simulation/photos/PortraitA_01.jpg
similarity index 100%
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similarity index 100%
rename from noah_gazebo/photos/PortraitA_02.jpg
rename to noah_simulation/photos/PortraitA_02.jpg
diff --git a/noah_gazebo/photos/PortraitB_01.jpg b/noah_simulation/photos/PortraitB_01.jpg
similarity index 100%
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diff --git a/noah_gazebo/photos/PortraitB_02.jpg b/noah_simulation/photos/PortraitB_02.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitB_02.jpg
rename to noah_simulation/photos/PortraitB_02.jpg
diff --git a/noah_gazebo/photos/PortraitB_03.jpg b/noah_simulation/photos/PortraitB_03.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitB_03.jpg
rename to noah_simulation/photos/PortraitB_03.jpg
diff --git a/noah_gazebo/photos/PortraitC_01.jpg b/noah_simulation/photos/PortraitC_01.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitC_01.jpg
rename to noah_simulation/photos/PortraitC_01.jpg
diff --git a/noah_gazebo/photos/PortraitD_01.jpg b/noah_simulation/photos/PortraitD_01.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitD_01.jpg
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diff --git a/noah_gazebo/photos/PortraitD_02.jpg b/noah_simulation/photos/PortraitD_02.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitD_02.jpg
rename to noah_simulation/photos/PortraitD_02.jpg
diff --git a/noah_gazebo/photos/PortraitE_01.jpg b/noah_simulation/photos/PortraitE_01.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitE_01.jpg
rename to noah_simulation/photos/PortraitE_01.jpg
diff --git a/noah_gazebo/photos/PortraitE_02.jpg b/noah_simulation/photos/PortraitE_02.jpg
similarity index 100%
rename from noah_gazebo/photos/PortraitE_02.jpg
rename to noah_simulation/photos/PortraitE_02.jpg
diff --git a/noah_gazebo/worlds/small_house.world b/noah_simulation/worlds/small_house.world
similarity index 100%
rename from noah_gazebo/worlds/small_house.world
rename to noah_simulation/worlds/small_house.world
diff --git a/noah_gazebo/worlds/test.world b/noah_simulation/worlds/test.world
similarity index 100%
rename from noah_gazebo/worlds/test.world
rename to noah_simulation/worlds/test.world
diff --git a/noah_gazebo/worlds/willowgarage.world b/noah_simulation/worlds/willowgarage.world
similarity index 100%
rename from noah_gazebo/worlds/willowgarage.world
rename to noah_simulation/worlds/willowgarage.world