From 298ec223947e2c4ae906c9f7984d923544e78187 Mon Sep 17 00:00:00 2001
From: ijnek <kenjibrameld@gmail.com>
Date: Sun, 7 Nov 2021 12:32:42 +0900
Subject: [PATCH] update models

Signed-off-by: ijnek <kenjibrameld@gmail.com>
---
 models/apple/materials/textures/apple.png     | Bin 1278 -> 0 bytes
 models/apple/model.sdf                        |  24 ----
 models/banana/materials/textures/banana.png   | Bin 1296 -> 0 bytes
 models/banana/model.sdf                       |  22 ----
 models/coffee/materials/textures/coffee.png   | Bin 3536 -> 0 bytes
 models/coffee/model.sdf                       |  24 ----
 models/{apple => dining-room}/.model.sdf.swp  | Bin
 .../materials/textures/dining-room.png        | Bin 0 -> 2168 bytes
 .../textures/dining-room_coffee_banana.png    | Bin 0 -> 4965 bytes
 .../meshes/dining-room.dae}                   |  14 +-
 models/{banana => dining-room}/model.config   |   4 +-
 models/{living_room => dining-room}/model.sdf |   6 +-
 .../materials/textures/dining_room.png        | Bin 2245 -> 0 bytes
 models/dining_room/meshes/dining_room.dae     | 123 ------------------
 models/dining_room/model.config               |  11 --
 models/fanta/.model.sdf.swp                   | Bin 12288 -> 0 bytes
 models/fanta/materials/textures/fanta.png     | Bin 2203 -> 0 bytes
 models/fanta/meshes/fanta.dae                 | 123 ------------------
 models/fanta/model.config                     |  11 --
 models/fanta/model.sdf                        |  24 ----
 .../textures/kitchen_fanta_apple.png          | Bin 0 -> 4962 bytes
 models/kitchen/meshes/kitchen.dae             |   2 +-
 models/{coffee => living-room}/.model.sdf.swp | Bin
 .../materials/textures/living-room.png        | Bin 0 -> 1333 bytes
 .../meshes/living-room.dae}                   |  14 +-
 models/{coffee => living-room}/model.config   |   4 +-
 models/{dining_room => living-room}/model.sdf |   6 +-
 models/living_room/.model.sdf.swp             | Bin 12288 -> 0 bytes
 .../materials/textures/living_room.png        | Bin 2153 -> 0 bytes
 models/living_room/meshes/living_room.dae     | 123 ------------------
 models/living_room/model.config               |  11 --
 models/orange/materials/textures/orange.png   | Bin 1273 -> 0 bytes
 models/orange/meshes/orange.dae               | 123 ------------------
 models/orange/model.config                    |  11 --
 models/orange/model.sdf                       |  22 ----
 models/snickers/.model.sdf.swp                | Bin 12288 -> 0 bytes
 .../snickers/materials/textures/snickers.png  | Bin 2244 -> 0 bytes
 models/snickers/meshes/snickers.dae           | 123 ------------------
 models/snickers/model.config                  |  11 --
 models/snickers/model.sdf                     |  24 ----
 .../.model.sdf.swp                            | Bin
 .../materials/textures/storage-room.png       | Bin 0 -> 2255 bytes
 .../meshes/storage-room.dae}                  |  14 +-
 models/{apple => storage-room}/model.config   |   4 +-
 .../{storage_room => storage-room}/model.sdf  |   6 +-
 models/storage_room/.model.sdf.swp            | Bin 12288 -> 0 bytes
 .../materials/textures/storage_room.png       | Bin 2253 -> 0 bytes
 models/storage_room/meshes/storage_room.dae   | 123 ------------------
 models/storage_room/model.config              |  11 --
 .../study/materials/textures/study_orange.png | Bin 0 -> 3953 bytes
 models/study/meshes/study.dae                 |   2 +-
 worlds/house1.model                           |  36 ++---
 52 files changed, 48 insertions(+), 1008 deletions(-)
 delete mode 100644 models/apple/materials/textures/apple.png
 delete mode 100644 models/apple/model.sdf
 delete mode 100644 models/banana/materials/textures/banana.png
 delete mode 100644 models/banana/model.sdf
 delete mode 100644 models/coffee/materials/textures/coffee.png
 delete mode 100644 models/coffee/model.sdf
 rename models/{apple => dining-room}/.model.sdf.swp (100%)
 create mode 100644 models/dining-room/materials/textures/dining-room.png
 create mode 100644 models/dining-room/materials/textures/dining-room_coffee_banana.png
 rename models/{coffee/meshes/coffee.dae => dining-room/meshes/dining-room.dae} (92%)
 rename models/{banana => dining-room}/model.config (75%)
 rename models/{living_room => dining-room}/model.sdf (72%)
 delete mode 100644 models/dining_room/materials/textures/dining_room.png
 delete mode 100644 models/dining_room/meshes/dining_room.dae
 delete mode 100644 models/dining_room/model.config
 delete mode 100644 models/fanta/.model.sdf.swp
 delete mode 100644 models/fanta/materials/textures/fanta.png
 delete mode 100644 models/fanta/meshes/fanta.dae
 delete mode 100644 models/fanta/model.config
 delete mode 100644 models/fanta/model.sdf
 create mode 100644 models/kitchen/materials/textures/kitchen_fanta_apple.png
 rename models/{coffee => living-room}/.model.sdf.swp (100%)
 create mode 100644 models/living-room/materials/textures/living-room.png
 rename models/{banana/meshes/banana.dae => living-room/meshes/living-room.dae} (92%)
 rename models/{coffee => living-room}/model.config (75%)
 rename models/{dining_room => living-room}/model.sdf (72%)
 delete mode 100644 models/living_room/.model.sdf.swp
 delete mode 100644 models/living_room/materials/textures/living_room.png
 delete mode 100644 models/living_room/meshes/living_room.dae
 delete mode 100644 models/living_room/model.config
 delete mode 100644 models/orange/materials/textures/orange.png
 delete mode 100644 models/orange/meshes/orange.dae
 delete mode 100644 models/orange/model.config
 delete mode 100644 models/orange/model.sdf
 delete mode 100644 models/snickers/.model.sdf.swp
 delete mode 100644 models/snickers/materials/textures/snickers.png
 delete mode 100644 models/snickers/meshes/snickers.dae
 delete mode 100644 models/snickers/model.config
 delete mode 100644 models/snickers/model.sdf
 rename models/{dining_room => storage-room}/.model.sdf.swp (100%)
 create mode 100644 models/storage-room/materials/textures/storage-room.png
 rename models/{apple/meshes/apple.dae => storage-room/meshes/storage-room.dae} (92%)
 rename models/{apple => storage-room}/model.config (75%)
 rename models/{storage_room => storage-room}/model.sdf (72%)
 delete mode 100644 models/storage_room/.model.sdf.swp
 delete mode 100644 models/storage_room/materials/textures/storage_room.png
 delete mode 100644 models/storage_room/meshes/storage_room.dae
 delete mode 100644 models/storage_room/model.config
 create mode 100644 models/study/materials/textures/study_orange.png

diff --git a/models/apple/materials/textures/apple.png b/models/apple/materials/textures/apple.png
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diff --git a/models/apple/model.sdf b/models/apple/model.sdf
deleted file mode 100644
index 50c2f5a..0000000
--- a/models/apple/model.sdf
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <model name="apple">
-    <static>true</static>
-    <link name="link">
-      <collision name="collision">
-		  <pose>0 0 0 0 0 0</pose>
-		  <geometry>
-			  <mesh>
-				  <uri>model://apple/meshes/apple.dae</uri>
-			  </mesh>
-		  </geometry>
-	  </collision>
-	  <visual name="visual">
-		  <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://apple/meshes/apple.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-  </model>
-</sdf>
diff --git a/models/banana/materials/textures/banana.png b/models/banana/materials/textures/banana.png
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diff --git a/models/banana/model.sdf b/models/banana/model.sdf
deleted file mode 100644
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--- a/models/banana/model.sdf
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-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-  </model>
-</sdf>
diff --git a/models/coffee/materials/textures/coffee.png b/models/coffee/materials/textures/coffee.png
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diff --git a/models/coffee/model.sdf b/models/coffee/model.sdf
deleted file mode 100644
index 512a37e..0000000
--- a/models/coffee/model.sdf
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <model name="coffee">
-    <static>true</static>
-    <link name="link">
-      <collision name="collision">
-		  <pose>0 0 0 0 0 0</pose>
-		  <geometry>
-			  <mesh>
-				  <uri>model://coffee/meshes/coffee.dae</uri>
-			  </mesh>
-		  </geometry>
-	  </collision>
-	  <visual name="visual">
-		  <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://coffee/meshes/coffee.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-  </model>
-</sdf>
diff --git a/models/apple/.model.sdf.swp b/models/dining-room/.model.sdf.swp
similarity index 100%
rename from models/apple/.model.sdf.swp
rename to models/dining-room/.model.sdf.swp
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diff --git a/models/coffee/meshes/coffee.dae b/models/dining-room/meshes/dining-room.dae
similarity index 92%
rename from models/coffee/meshes/coffee.dae
rename to models/dining-room/meshes/dining-room.dae
index def1bde..437eb49 100644
--- a/models/coffee/meshes/coffee.dae
+++ b/models/dining-room/meshes/dining-room.dae
@@ -11,21 +11,21 @@
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_images>
-    <image id="coffee_png" name="coffee_png">
-      <init_from>coffee.png</init_from>
+    <image id="dining-room_png" name="dining-room_png">
+      <init_from>dining-room_coffee_banana.png</init_from>
     </image>
   </library_images>
   <library_effects>
     <effect id="Material_001-effect">
       <profile_COMMON>
-        <newparam sid="coffee_png-surface">
+        <newparam sid="dining-room_png-surface">
           <surface type="2D">
-            <init_from>coffee_png</init_from>
+            <init_from>dining-room_png</init_from>
           </surface>
         </newparam>
-        <newparam sid="coffee_png-sampler">
+        <newparam sid="dining-room_png-sampler">
           <sampler2D>
-            <source>coffee_png-surface</source>
+            <source>dining-room_png-surface</source>
           </sampler2D>
         </newparam>
         <technique sid="common">
@@ -37,7 +37,7 @@
               <color sid="ambient">1 1 1 1</color>
             </ambient>
             <diffuse>
-              <texture texture="coffee_png-sampler"/>
+              <texture texture="dining-room_png-sampler"/>
             </diffuse>
             <specular>
               <color sid="specular">0.5 0.5 0.5 1</color>
diff --git a/models/banana/model.config b/models/dining-room/model.config
similarity index 75%
rename from models/banana/model.config
rename to models/dining-room/model.config
index 2cf859d..be5a1c5 100644
--- a/models/banana/model.config
+++ b/models/dining-room/model.config
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>banana</name>
+  <name>dining-room</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
   <description>
-    banana
+    dining-room
   </description>
 </model>
diff --git a/models/living_room/model.sdf b/models/dining-room/model.sdf
similarity index 72%
rename from models/living_room/model.sdf
rename to models/dining-room/model.sdf
index ad97649..7c2783c 100644
--- a/models/living_room/model.sdf
+++ b/models/dining-room/model.sdf
@@ -1,13 +1,13 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
-  <model name="living_room">
+  <model name="dining-room">
     <static>true</static>
     <link name="link">
       <collision name="collision">
 		  <pose>0 0 0 0 0 0</pose>
 		  <geometry>
 			  <mesh>
-				  <uri>model://living_room/meshes/living_room.dae</uri>
+				  <uri>model://dining-room/meshes/dining-room.dae</uri>
 			  </mesh>
 		  </geometry>
 	  </collision>
@@ -15,7 +15,7 @@
 		  <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://living_room/meshes/living_room.dae</uri>
+            <uri>model://dining-room/meshes/dining-room.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/models/dining_room/materials/textures/dining_room.png b/models/dining_room/materials/textures/dining_room.png
deleted file mode 100644
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GIT binary patch
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diff --git a/models/dining_room/meshes/dining_room.dae b/models/dining_room/meshes/dining_room.dae
deleted file mode 100644
index 2f48ef4..0000000
--- a/models/dining_room/meshes/dining_room.dae
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2020-06-02T16:50:12</created>
-    <modified>2020-06-02T16:50:12</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images>
-    <image id="dining_room_png" name="dining_room_png">
-      <init_from>dining_room.png</init_from>
-    </image>
-  </library_images>
-  <library_effects>
-    <effect id="Material_001-effect">
-      <profile_COMMON>
-        <newparam sid="dining_room_png-surface">
-          <surface type="2D">
-            <init_from>dining_room_png</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="dining_room_png-sampler">
-          <sampler2D>
-            <source>dining_room_png-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">1 1 1 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">1 1 1 1</color>
-            </ambient>
-            <diffuse>
-              <texture texture="dining_room_png-sampler"/>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">400</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="Material_001-material" name="Material_001">
-      <instance_effect url="#Material_001-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube-mesh" name="Cube">
-      <mesh>
-        <source id="Cube-mesh-positions">
-          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
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diff --git a/models/dining_room/model.config b/models/dining_room/model.config
deleted file mode 100644
index 082280f..0000000
--- a/models/dining_room/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
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-
-<model>
-  <name>dining_room</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <description>
-    dining_room
-  </description>
-</model>
diff --git a/models/fanta/.model.sdf.swp b/models/fanta/.model.sdf.swp
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diff --git a/models/fanta/materials/textures/fanta.png b/models/fanta/materials/textures/fanta.png
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diff --git a/models/fanta/meshes/fanta.dae b/models/fanta/meshes/fanta.dae
deleted file mode 100644
index 763727e..0000000
--- a/models/fanta/meshes/fanta.dae
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2020-06-02T16:50:12</created>
-    <modified>2020-06-02T16:50:12</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images>
-    <image id="fanta_png" name="fanta_png">
-      <init_from>fanta.png</init_from>
-    </image>
-  </library_images>
-  <library_effects>
-    <effect id="Material_001-effect">
-      <profile_COMMON>
-        <newparam sid="fanta_png-surface">
-          <surface type="2D">
-            <init_from>fanta_png</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="fanta_png-sampler">
-          <sampler2D>
-            <source>fanta_png-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">1 1 1 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">1 1 1 1</color>
-            </ambient>
-            <diffuse>
-              <texture texture="fanta_png-sampler"/>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">400</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="Material_001-material" name="Material_001">
-      <instance_effect url="#Material_001-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube-mesh" name="Cube">
-      <mesh>
-        <source id="Cube-mesh-positions">
-          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube-mesh-normals">
-          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube-mesh-map-0">
-          <float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube-mesh-vertices">
-          <input semantic="POSITION" source="#Cube-mesh-positions"/>
-        </vertices>
-        <triangles material="Material_001-material" count="12">
-          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
-          <p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Cube" name="Cube" type="NODE">
-        <matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cube-mesh" name="Cube">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
diff --git a/models/fanta/model.config b/models/fanta/model.config
deleted file mode 100644
index 4eeb001..0000000
--- a/models/fanta/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>fanta</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <description>
-    fanta
-  </description>
-</model>
diff --git a/models/fanta/model.sdf b/models/fanta/model.sdf
deleted file mode 100644
index 50483f6..0000000
--- a/models/fanta/model.sdf
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <model name="fanta">
-    <static>true</static>
-    <link name="link">
-      <collision name="collision">
-		  <pose>0 0 0 0 0 0</pose>
-		  <geometry>
-			  <mesh>
-				  <uri>model://fanta/meshes/fanta.dae</uri>
-			  </mesh>
-		  </geometry>
-	  </collision>
-	  <visual name="visual">
-		  <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://fanta/meshes/fanta.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-  </model>
-</sdf>
diff --git a/models/kitchen/materials/textures/kitchen_fanta_apple.png b/models/kitchen/materials/textures/kitchen_fanta_apple.png
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diff --git a/models/kitchen/meshes/kitchen.dae b/models/kitchen/meshes/kitchen.dae
index e288299..1094bea 100644
--- a/models/kitchen/meshes/kitchen.dae
+++ b/models/kitchen/meshes/kitchen.dae
@@ -12,7 +12,7 @@
   </asset>
   <library_images>
     <image id="kitchen_png" name="kitchen_png">
-      <init_from>kitchen.png</init_from>
+      <init_from>kitchen_fanta_apple.png</init_from>
     </image>
   </library_images>
   <library_effects>
diff --git a/models/coffee/.model.sdf.swp b/models/living-room/.model.sdf.swp
similarity index 100%
rename from models/coffee/.model.sdf.swp
rename to models/living-room/.model.sdf.swp
diff --git a/models/living-room/materials/textures/living-room.png b/models/living-room/materials/textures/living-room.png
new file mode 100644
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diff --git a/models/banana/meshes/banana.dae b/models/living-room/meshes/living-room.dae
similarity index 92%
rename from models/banana/meshes/banana.dae
rename to models/living-room/meshes/living-room.dae
index a692b65..1b5e504 100644
--- a/models/banana/meshes/banana.dae
+++ b/models/living-room/meshes/living-room.dae
@@ -11,21 +11,21 @@
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_images>
-    <image id="banana_png" name="banana_png">
-      <init_from>banana.png</init_from>
+    <image id="living-room_png" name="living-room_png">
+      <init_from>living-room.png</init_from>
     </image>
   </library_images>
   <library_effects>
     <effect id="Material_001-effect">
       <profile_COMMON>
-        <newparam sid="banana_png-surface">
+        <newparam sid="living-room_png-surface">
           <surface type="2D">
-            <init_from>banana_png</init_from>
+            <init_from>living-room_png</init_from>
           </surface>
         </newparam>
-        <newparam sid="banana_png-sampler">
+        <newparam sid="living-room_png-sampler">
           <sampler2D>
-            <source>banana_png-surface</source>
+            <source>living-room_png-surface</source>
           </sampler2D>
         </newparam>
         <technique sid="common">
@@ -37,7 +37,7 @@
               <color sid="ambient">1 1 1 1</color>
             </ambient>
             <diffuse>
-              <texture texture="banana_png-sampler"/>
+              <texture texture="living-room_png-sampler"/>
             </diffuse>
             <specular>
               <color sid="specular">0.5 0.5 0.5 1</color>
diff --git a/models/coffee/model.config b/models/living-room/model.config
similarity index 75%
rename from models/coffee/model.config
rename to models/living-room/model.config
index 551b468..d8daba2 100644
--- a/models/coffee/model.config
+++ b/models/living-room/model.config
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>coffee</name>
+  <name>living-room</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
   <description>
-    coffee
+    living-room
   </description>
 </model>
diff --git a/models/dining_room/model.sdf b/models/living-room/model.sdf
similarity index 72%
rename from models/dining_room/model.sdf
rename to models/living-room/model.sdf
index 9536b9b..ae8b73d 100644
--- a/models/dining_room/model.sdf
+++ b/models/living-room/model.sdf
@@ -1,13 +1,13 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
-  <model name="dining_room">
+  <model name="living-room">
     <static>true</static>
     <link name="link">
       <collision name="collision">
 		  <pose>0 0 0 0 0 0</pose>
 		  <geometry>
 			  <mesh>
-				  <uri>model://dining_room/meshes/dining_room.dae</uri>
+				  <uri>model://living-room/meshes/living-room.dae</uri>
 			  </mesh>
 		  </geometry>
 	  </collision>
@@ -15,7 +15,7 @@
 		  <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://dining_room/meshes/dining_room.dae</uri>
+            <uri>model://living-room/meshes/living-room.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/models/living_room/.model.sdf.swp b/models/living_room/.model.sdf.swp
deleted file mode 100644
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GIT binary patch
literal 0
HcmV?d00001

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diff --git a/models/living_room/materials/textures/living_room.png b/models/living_room/materials/textures/living_room.png
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diff --git a/models/living_room/meshes/living_room.dae b/models/living_room/meshes/living_room.dae
deleted file mode 100644
index 160b5d2..0000000
--- a/models/living_room/meshes/living_room.dae
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2020-06-02T16:50:12</created>
-    <modified>2020-06-02T16:50:12</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images>
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diff --git a/models/living_room/model.config b/models/living_room/model.config
deleted file mode 100644
index ec94ae8..0000000
--- a/models/living_room/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
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diff --git a/models/orange/meshes/orange.dae b/models/orange/meshes/orange.dae
deleted file mode 100644
index b1de704..0000000
--- a/models/orange/meshes/orange.dae
+++ /dev/null
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diff --git a/models/orange/model.config b/models/orange/model.config
deleted file mode 100644
index 6d2c838..0000000
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index 631f3fa..0000000
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diff --git a/models/snickers/meshes/snickers.dae b/models/snickers/meshes/snickers.dae
deleted file mode 100644
index a647921..0000000
--- a/models/snickers/meshes/snickers.dae
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2020-06-02T16:50:12</created>
-    <modified>2020-06-02T16:50:12</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images>
-    <image id="snickers_png" name="snickers_png">
-      <init_from>snickers.png</init_from>
-    </image>
-  </library_images>
-  <library_effects>
-    <effect id="Material_001-effect">
-      <profile_COMMON>
-        <newparam sid="snickers_png-surface">
-          <surface type="2D">
-            <init_from>snickers_png</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="snickers_png-sampler">
-          <sampler2D>
-            <source>snickers_png-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">1 1 1 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">1 1 1 1</color>
-            </ambient>
-            <diffuse>
-              <texture texture="snickers_png-sampler"/>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">400</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="Material_001-material" name="Material_001">
-      <instance_effect url="#Material_001-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube-mesh" name="Cube">
-      <mesh>
-        <source id="Cube-mesh-positions">
-          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube-mesh-normals">
-          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube-mesh-map-0">
-          <float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube-mesh-vertices">
-          <input semantic="POSITION" source="#Cube-mesh-positions"/>
-        </vertices>
-        <triangles material="Material_001-material" count="12">
-          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
-          <p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Cube" name="Cube" type="NODE">
-        <matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cube-mesh" name="Cube">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
diff --git a/models/snickers/model.config b/models/snickers/model.config
deleted file mode 100644
index 5d7432f..0000000
--- a/models/snickers/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>snickers</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <description>
-    snickers
-  </description>
-</model>
diff --git a/models/snickers/model.sdf b/models/snickers/model.sdf
deleted file mode 100644
index a7c6f7e..0000000
--- a/models/snickers/model.sdf
+++ /dev/null
@@ -1,24 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <model name="snickers">
-    <static>true</static>
-    <link name="link">
-      <collision name="collision">
-		  <pose>0 0 0 0 0 0</pose>
-		  <geometry>
-			  <mesh>
-				  <uri>model://snickers/meshes/snickers.dae</uri>
-			  </mesh>
-		  </geometry>
-	  </collision>
-	  <visual name="visual">
-		  <pose>0 0 0 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <uri>model://snickers/meshes/snickers.dae</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-  </model>
-</sdf>
diff --git a/models/dining_room/.model.sdf.swp b/models/storage-room/.model.sdf.swp
similarity index 100%
rename from models/dining_room/.model.sdf.swp
rename to models/storage-room/.model.sdf.swp
diff --git a/models/storage-room/materials/textures/storage-room.png b/models/storage-room/materials/textures/storage-room.png
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diff --git a/models/apple/meshes/apple.dae b/models/storage-room/meshes/storage-room.dae
similarity index 92%
rename from models/apple/meshes/apple.dae
rename to models/storage-room/meshes/storage-room.dae
index e475ec5..6a4c4e5 100644
--- a/models/apple/meshes/apple.dae
+++ b/models/storage-room/meshes/storage-room.dae
@@ -11,21 +11,21 @@
     <up_axis>Z_UP</up_axis>
   </asset>
   <library_images>
-    <image id="apple_png" name="apple_png">
-      <init_from>apple.png</init_from>
+    <image id="storage-room_png" name="storage-room_png">
+      <init_from>storage-room.png</init_from>
     </image>
   </library_images>
   <library_effects>
     <effect id="Material_001-effect">
       <profile_COMMON>
-        <newparam sid="apple_png-surface">
+        <newparam sid="storage-room_png-surface">
           <surface type="2D">
-            <init_from>apple_png</init_from>
+            <init_from>storage-room_png</init_from>
           </surface>
         </newparam>
-        <newparam sid="apple_png-sampler">
+        <newparam sid="storage-room_png-sampler">
           <sampler2D>
-            <source>apple_png-surface</source>
+            <source>storage-room_png-surface</source>
           </sampler2D>
         </newparam>
         <technique sid="common">
@@ -37,7 +37,7 @@
               <color sid="ambient">1 1 1 1</color>
             </ambient>
             <diffuse>
-              <texture texture="apple_png-sampler"/>
+              <texture texture="storage-room_png-sampler"/>
             </diffuse>
             <specular>
               <color sid="specular">0.5 0.5 0.5 1</color>
diff --git a/models/apple/model.config b/models/storage-room/model.config
similarity index 75%
rename from models/apple/model.config
rename to models/storage-room/model.config
index 25ff49e..3fdaa47 100644
--- a/models/apple/model.config
+++ b/models/storage-room/model.config
@@ -1,11 +1,11 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>apple</name>
+  <name>storage-room</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
   <description>
-    apple
+    storage-room
   </description>
 </model>
diff --git a/models/storage_room/model.sdf b/models/storage-room/model.sdf
similarity index 72%
rename from models/storage_room/model.sdf
rename to models/storage-room/model.sdf
index c7735ad..bfe08b0 100644
--- a/models/storage_room/model.sdf
+++ b/models/storage-room/model.sdf
@@ -1,13 +1,13 @@
 <?xml version="1.0" ?>
 <sdf version="1.6">
-  <model name="storage_room">
+  <model name="storage-room">
     <static>true</static>
     <link name="link">
       <collision name="collision">
 		  <pose>0 0 0 0 0 0</pose>
 		  <geometry>
 			  <mesh>
-				  <uri>model://storage_room/meshes/storage_room.dae</uri>
+				  <uri>model://storage-room/meshes/storage-room.dae</uri>
 			  </mesh>
 		  </geometry>
 	  </collision>
@@ -15,7 +15,7 @@
 		  <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://storage_room/meshes/storage_room.dae</uri>
+            <uri>model://storage-room/meshes/storage-room.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/models/storage_room/.model.sdf.swp b/models/storage_room/.model.sdf.swp
deleted file mode 100644
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GIT binary patch
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diff --git a/models/storage_room/meshes/storage_room.dae b/models/storage_room/meshes/storage_room.dae
deleted file mode 100644
index 55baf7a..0000000
--- a/models/storage_room/meshes/storage_room.dae
+++ /dev/null
@@ -1,123 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-  <asset>
-    <contributor>
-      <author>Blender User</author>
-      <authoring_tool>Blender 2.79.0</authoring_tool>
-    </contributor>
-    <created>2020-06-02T16:50:12</created>
-    <modified>2020-06-02T16:50:12</modified>
-    <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
-  </asset>
-  <library_images>
-    <image id="storage_room_png" name="storage_room_png">
-      <init_from>storage_room.png</init_from>
-    </image>
-  </library_images>
-  <library_effects>
-    <effect id="Material_001-effect">
-      <profile_COMMON>
-        <newparam sid="storage_room_png-surface">
-          <surface type="2D">
-            <init_from>storage_room_png</init_from>
-          </surface>
-        </newparam>
-        <newparam sid="storage_room_png-sampler">
-          <sampler2D>
-            <source>storage_room_png-surface</source>
-          </sampler2D>
-        </newparam>
-        <technique sid="common">
-          <phong>
-            <emission>
-              <color sid="emission">1 1 1 1</color>
-            </emission>
-            <ambient>
-              <color sid="ambient">1 1 1 1</color>
-            </ambient>
-            <diffuse>
-              <texture texture="storage_room_png-sampler"/>
-            </diffuse>
-            <specular>
-              <color sid="specular">0.5 0.5 0.5 1</color>
-            </specular>
-            <shininess>
-              <float sid="shininess">400</float>
-            </shininess>
-            <index_of_refraction>
-              <float sid="index_of_refraction">1</float>
-            </index_of_refraction>
-          </phong>
-        </technique>
-      </profile_COMMON>
-    </effect>
-  </library_effects>
-  <library_materials>
-    <material id="Material_001-material" name="Material_001">
-      <instance_effect url="#Material_001-effect"/>
-    </material>
-  </library_materials>
-  <library_geometries>
-    <geometry id="Cube-mesh" name="Cube">
-      <mesh>
-        <source id="Cube-mesh-positions">
-          <float_array id="Cube-mesh-positions-array" count="24">1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-positions-array" count="8" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube-mesh-normals">
-          <float_array id="Cube-mesh-normals-array" count="36">0 0 -1 0 0 1 1 0 -2.38419e-7 0 -1 -4.76837e-7 -1 2.38419e-7 -1.49012e-7 2.68221e-7 1 2.38419e-7 0 0 -1 0 0 1 1 -5.96046e-7 3.27825e-7 -4.76837e-7 -1 0 -1 2.38419e-7 -1.19209e-7 2.08616e-7 1 0</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-normals-array" count="12" stride="3">
-              <param name="X" type="float"/>
-              <param name="Y" type="float"/>
-              <param name="Z" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <source id="Cube-mesh-map-0">
-          <float_array id="Cube-mesh-map-0-array" count="72">0 0 1 1 0 1 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 0 1 1 0 1 1 0 0 1 0 0 0 0 1 0 1 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 1 0 1 0 0 1 0 1 1 1 0 1 1 0 1</float_array>
-          <technique_common>
-            <accessor source="#Cube-mesh-map-0-array" count="36" stride="2">
-              <param name="S" type="float"/>
-              <param name="T" type="float"/>
-            </accessor>
-          </technique_common>
-        </source>
-        <vertices id="Cube-mesh-vertices">
-          <input semantic="POSITION" source="#Cube-mesh-positions"/>
-        </vertices>
-        <triangles material="Material_001-material" count="12">
-          <input semantic="VERTEX" source="#Cube-mesh-vertices" offset="0"/>
-          <input semantic="NORMAL" source="#Cube-mesh-normals" offset="1"/>
-          <input semantic="TEXCOORD" source="#Cube-mesh-map-0" offset="2" set="0"/>
-          <p>0 0 0 2 0 1 3 0 2 7 1 3 5 1 4 4 1 5 4 2 6 1 2 7 0 2 8 5 3 9 2 3 10 1 3 11 2 4 12 7 4 13 3 4 14 0 5 15 7 5 16 4 5 17 0 6 18 1 6 19 2 6 20 7 7 21 6 7 22 5 7 23 4 8 24 5 8 25 1 8 26 5 9 27 6 9 28 2 9 29 2 10 30 6 10 31 7 10 32 0 11 33 3 11 34 7 11 35</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_controllers/>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Cube" name="Cube" type="NODE">
-        <matrix sid="transform">0.09000003 0 0 0 0 0.09000003 0 0 0 0 0.09000003 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cube-mesh" name="Cube">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material_001-material" target="#Material_001-material"/>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
diff --git a/models/storage_room/model.config b/models/storage_room/model.config
deleted file mode 100644
index cc9c020..0000000
--- a/models/storage_room/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>storage_room</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <description>
-    storage_room
-  </description>
-</model>
diff --git a/models/study/materials/textures/study_orange.png b/models/study/materials/textures/study_orange.png
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zTfEXv>b!^R`&!Malk=x5ZK{0zKiTZg^iK+xHbs`4T&H<jqjp*7Z|>ZXE6NhCLU*ME
zo_WT%Z*0t(uC+D0K+sAgmJME>oi1IgaVUA4{-)4Lla?y&ocWpe@YRQHyrJvgZkkzK
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aIQ~c8@_n*X)!bF>AT^$@elF{r5}E)rlt~Bx

literal 0
HcmV?d00001

diff --git a/models/study/meshes/study.dae b/models/study/meshes/study.dae
index 60c8922..404849b 100644
--- a/models/study/meshes/study.dae
+++ b/models/study/meshes/study.dae
@@ -12,7 +12,7 @@
   </asset>
   <library_images>
     <image id="study_png" name="study_png">
-      <init_from>study.png</init_from>
+      <init_from>study_orange.png</init_from>
     </image>
   </library_images>
   <library_effects>
diff --git a/worlds/house1.model b/worlds/house1.model
index dcd1df7..b702424 100644
--- a/worlds/house1.model
+++ b/worlds/house1.model
@@ -48,50 +48,34 @@
       <include>
         <uri>model://turtlebot3_house</uri>
       </include>
-      <include>
-        <pose>-3.0 0.5 0.1 0.0 0.0 0.0</pose>
-        <uri>model://living_room/</uri>
-      </include>
       <include>
         <pose>-7.0 2.0 0.1 0.0 0.0 0.0</pose>
-        <uri>model://storage_room/</uri>
+        <uri>model://storage-room/</uri>
       </include>
       <include>
-        <pose>-7.0 -3.5 0.1 0.0 0.0 0.0</pose>
+        <pose>-7.0 -2.0 0.1 0.0 0.0 0.0</pose>
         <uri>model://study/</uri>
       </include>
       <include>
-        <pose>2.0 3.0 0.1 0.0 0.0 0.0</pose>
+        <pose>0.5 3.0 0.1 0.0 0.0 0.0</pose>
         <uri>model://pantry/</uri>
       </include>
       <include>
-        <pose>5.0 1.5 0.1 0.0 0.0 0.0</pose>
-        <uri>model://dining_room/</uri>
+        <pose>4.0 1.5 0.1 0.0 0.0 0.0</pose>
+        <uri>model://dining-room/</uri>
       </include>
       <include>
-        <pose>6.0 -2.0 0.1 0.0 0.0 0.0</pose>
+        <pose>5.5 -1.0 0.1 0.0 0.0 0.0</pose>
         <uri>model://kitchen/</uri>
       </include>
       <include>
-        <pose>-4.0 3.5 0.1 0.0 0.0 0.0</pose>
-        <uri>model://apple/</uri>
-      </include>
-      <include>
-        <pose>4.0 4.5 0.1 0.0 0.0 0.0</pose>
-        <uri>model://banana/</uri>
-      </include>
-      <include>
-        <pose>-6.0 -0.5 0.1 0.0 0.0 0.0</pose>
-        <uri>model://orange/</uri>
-      </include>
-      <include>
-        <pose>3.5 2 0.1 0.0 0.0 0.0</pose>
-        <uri>model://coffee/</uri>
+        <pose>-3.0 4.2 0.1 0.0 0.0 0.0</pose>
+        <uri>model://living-room/</uri>
       </include>
     </model>
-     
+
     <include>
-      <pose>-2.0 -0.5 0.01 0.0 0.0 0.0</pose>
+      <pose>-2.0 -1.0 0.01 0.0 0.0 0.0</pose>
       <uri>model://turtlebot3_waffle_pi</uri>
     </include>
 
-- 
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