diff --git a/README.md b/README.md
index 671f292..146f21c 100644
--- a/README.md
+++ b/README.md
@@ -1,14 +1,14 @@
-# VRX Automated Evaluation
+# VORC Automated Evaluation
 
-This repository contains scripts and infrastructure that will be used for automatic evaluation of Virtual RobotX (VRX) teams' submissions. 
+This repository contains scripts and infrastructure that will be used for automatic evaluation of Virtual Ocean Robotics Challenge (VORC) teams' submissions. 
 
 This repository consists of two major components: 
 
-1. The VRX server system, which runs the VRX Gazebo simulation
+1. The VORC server system, which runs the VORC Gazebo simulation
 
-2. The VRX competitor system, which runs a team's control software.
+2. The VORC competitor system, which runs a team's control software.
 
-For security and reproducibility, the VRX server and the VRX competitor's systems will be run in separate, isolated environments called Docker containers.
+For security and reproducibility, the VORC server and the VORC competitor's systems will be run in separate, isolated environments called Docker containers.
 
 ## Overview
 
@@ -16,17 +16,17 @@ For security and reproducibility, the VRX server and the VRX competitor's system
 
 This repository primarily consists of the following main scripts:
 
-* `vrx_server/vrx-server/build_image.bash` - A script that runs `docker build ...` on the files in `vrx_server/vrx-server` to build the image. This script may take 30-60 minutes to run the first time, but is cached afterwards. It must be run every time the files in `vrx_server/vrx-server` are modified to not simply use the old cached versions.
+* `vorc_server/vorc-server/build_image.bash` - A script that runs `docker build ...` on the files in `vorc_server/vorc-server` to build the image. This script may take 30-60 minutes to run the first time, but is cached afterwards. It must be run every time the files in `vorc_server/vorc-server` are modified to not simply use the old cached versions.
 
-* `prepare_team_wamv.bash` - A script that runs `roslaunch vrx_gazebo generate_wamv.launch ...` and stores the generated files appropriately.
+* `prepare_team.bash` - A script that sets up the directory structure for a given team
 
 * `prepare_task_trials.bash` - A script that runs `roslaunch vrx_gazebo generated_worlds.launch ...` and stores the generated files appropriately
 
-* `run_trial.bash` - A script that runs a vrx trial with a given team, task and environmental condition. It requires that the above prepare scripts be called before using it. It is the script that runs the simulation and the competitor container. This is the most important script of this repository.
+* `run_trial.bash` - A script that runs a vorc trial with a given team, task and environmental condition. It requires that the above prepare scripts be called before using it. It is the script that runs the simulation and the competitor container. This is the most important script of this repository.
 
-* `vrx_server/vrx-server/run_vrx_trial.sh` - A script that the vrx-server container runs after entry. This is the code that starts the simulation. Please note that you must run the build image script every time you modify this file to see the changes. This script is automatically called when running `run_trial.bash`
+* `vorc_server/vorc-server/run_vorc_trial.sh` - A script that the vorc-server container runs after entry. This is the code that starts the simulation. Please note that you must run the build image script every time you modify this file to see the changes. This script is automatically called when running `run_trial.bash`
 
-* `generate_trial_video.bash` - A script that runs `roslaunch vrx_gazebo playback.launch ...` to playback a trial and also record it with `recordmydesktop`. It requires that the above run script be called before using. This script is not important for the running of the competition, but for visualizing and documenting progress.
+* `generate_trial_video.bash` - A script that runs `roslaunch vorc_gazebo playback.launch ...` to playback a trial and also record it with `recordmydesktop`. It requires that the above run script be called before using. This script is not important for the running of the competition, but for visualizing and documenting progress.
 
 Every other script is either:
 
@@ -40,9 +40,9 @@ The average user should not need to modify any files, but may want to change som
 
 This section will give descriptions of the directories in this repository:
 
-* `vrx_server` - contains scripts for building and running the vrx-server container, as well as its Docker files
+* `vorc_server` - contains scripts for building and running the vorc-server container, as well as its Docker files
 
-* `team_config` - stores the team config files. The prepare team scripts look inside of this directory to generate the WAM-V URDF files. More details about this below.
+* `team_config` - stores the team config files. For VORC, this is just a stub file for bookkeeping purpose.
 
 * `task_config` - stores the task config files. The prepare task scripts look inside of this directory to generate the trial world files. More details about this below.
 
@@ -50,7 +50,7 @@ This section will give descriptions of the directories in this repository:
 
 * `multi_scripts` - contains convenience scripts that call the main scripts multiple times
 
-* `generated` - contains generated files from all the scripts. This includes command outputs, scores, ROS logs, Gazebo logs, videos, WAM-V URDFs, trial worlds etc. More details about this below.
+* `generated` - contains generated files from all the scripts. This includes command outputs, scores, ROS logs, Gazebo logs, videos, trial worlds etc. More details about this below.
 
 ## Quick Start Instructions For a Single Trial: Setting up workspace to run automated evaluation
 
@@ -60,11 +60,11 @@ Docker is required to run the automated evaluation.
 Please follow the [VRX Docker install tutorial](https://github.com/osrf/vrx/wiki/tutorials-installDocker) and the [Nvidia Docker install tutorial](https://github.com/osrf/vrx/wiki/tutorials-installNvidiaDocker) if you are
 using an Nvidia GPU.
 
-### Setting up vrx\_gazebo
+### Setting up vorc\_gazebo
 
-`vrx_gazebo` must be setup on your machine to run these scripts. As of July 23, 2019, having vrx from source is required (this is related to Issue#1 of this repository). 
-If you have not done so already, please follow the [VRX System Setup Tutorial](https://github.com/osrf/vrx/wiki/tutorials-SystemSetupInstall) sections __Install all prerequisites in your host system__ and __Option 2: Build VRX from source__. 
-Make sure it is sourced so that you can run launch files from `vrx_gazebo`. Make sure that your file structure is `/home/<username>/vrx_ws`, as this will assure reliable functionality.
+`vorc_gazebo` must be set up on your machine to run these scripts. As of July 23, 2019, having vorc from source is required (this is related to Issue#1 of this repository). 
+If you have not done so already, please follow the [VORC Installation on Host](https://github.com/osrf/vorc/wiki/Installation-on-Host) tutorial.
+Make sure it is sourced so that you can run launch files from `vorc_gazebo`. Make sure that your file structure is `/home/<username>/vorc_ws`, as this will assure reliable functionality.
 
 ### Installing dependencies
 
@@ -72,97 +72,66 @@ Make sure it is sourced so that you can run launch files from `vrx_gazebo`. Make
 
 * `sudo apt-get install recordmydesktop wmctrl psmisc vlc` - for generating and viewing videos
 
-### Setting up vrx-docker
+### Setting up vorc-docker
 
-`vrx-docker` must be setup on your machine to run these scripts. Please note that most of the commands listed here are written to be run from the vrx-docker directory. These scripts should be able to be run from other directories, but you will need to change the command paths accordingly.
+`vorc-docker` must be setup on your machine to run these scripts. Please note that most of the commands listed here are written to be run from the vorc-docker directory. These scripts should be able to be run from other directories, but you will need to change the command paths accordingly.
 
 ```
-git clone https://github.com/osrf/vrx-docker.git
+git clone -b vorc https://github.com/osrf/vrx-docker.git
 cd vrx-docker
 ```
 
-### Building your vrx-server image
+### Building your vorc-server image
 
-The next step is to build your vrx-server image. This involves running
+The next step is to build your vorc-server image. This involves running
 
 ```
-./vrx_server/build_image.bash -n # for Nvidia computers
+./vorc_server/build_image.bash -n # for Nvidia computers
 
 OR
 
-./vrx_server/build_image.bash # for non-Nvidia computers (not recommended, runs slower than real-time.)
+./vorc_server/build_image.bash # for non-Nvidia computers (not recommended, runs slower than real-time.)
 
 
-# Usage: ./vrx_server/build_image.bash [-n --nvidia]
+# Usage: ./vorc_server/build_image.bash [-n --nvidia]
 ```
 
-This will create the image for the vrx server that runs the simulation. This step may take 30-60 minutes the first time, but it will be cached in the future calls.
+This will create the image for the vorc server that runs the simulation. This step may take 30-60 minutes the first time, but it will be cached in the future calls.
 
-### Adding VRX team files
+### Adding team files
 
-To run the competition with a VRX team's configuration, the team's folder containing its configuration files must be put into the `team_config` directory.
+To run the competition with a team's configuration, the team's folder containing its configuration files must be put into the `team_config` directory.
 
 We have provided example submissions in the `team_config` directory of this repository. 
-You should see that there is a directory called `example_team` that has the following configuration files in it:
+You should see that there is a directory called `ghostship` that has the following configuration files in it:
 
 ```
-$ ls team_config/example_team/
-dockerhub_image.txt sensor_config.yaml thruster_config.yaml
+$ ls team_config/ghostship/
+dockerhub_image.txt
 ```
 
-Together these files constitute a submission. The files are explained in the __Files Required From VRX Teams For Submission__ section below. 
-We will work with the files of the `example_team` submission for this tutorial; you can use them as a template for your own team's submission.
+This constitutes a submission. The files are explained in the __Files Required from Teams for Submission__ section below. 
+We will work with the files of the `ghostship` submission for this tutorial; you can use them as a template for your own team's submission.
 
-### Preparing a team's system
-
-To prepare a team's system, call:
+### Preparing a team
 
+To prepare a team, call
 ```
-./prepare_team_wamv.bash example_team
-
-# For your team you will run:
-# ./prepare_team_wamv.bash <your_team_name>
+./prepare_team.bash ghostship
 ```
 
-This will call `generate_wamv.launch` on the files in `team_config/example_team` and store the generated files in `generated/team_generated/example_team`.
-
-The end of the output for this command should look something like this:
+The end of the output should look something like
 ```
-[INFO] [1570212125.006407]: 
-Using /home/bsb/vrx_comp/vrx-docker/team_config/example_team/sensor_config.yaml as the sensor configuration yaml file
-
-
-WAM-V urdf file sucessfully generated. File location: /home/bsb/vrx_comp/vrx-docker/generated/team_generated/example_team/example_team.urdf
-================================================================================REQUIRED process [wamv_config/wamv_generator-2] has died!
-process has finished cleanly
-log file: /home/bsb/.ros/log/123992a6-e6d1-11e9-af7a-408d5c555554/wamv_config-wamv_generator-2*.log
-Initiating shutdown!
-================================================================================
-[wamv_config/wamv_generator-2] killing on exit
-[rosout-1] killing on exit
-[master] killing on exit
-shutting down processing monitor...
-... shutting down processing monitor complete
-done
-OK
-
-Checking /home/bsb/.ros/log/latest/wamv_config-wamv_generator-2.log for compliance
-Compliant? true. Writing to /home/bsb/vrx_comp/vrx-docker/generated/team_generated/example_team/compliant.txt
+Preparing team: ghostship
 OK
-```
-Note that the `REQUIRED process [wamv_config/wamv_generator-2] has died!` message is expected.
-
-This will also create a file `generated/team_generated/example_team/compliant.txt` that says `true` is the configuration was compliant or `false` otherwise. By compliant, we are refering to the limitations for sensor and propulsion configuration described in the [VRX competition documentation](https://github.com/osrf/vrx/wiki/documentation) .You can view this result by:
-
-```
-cat generated/team_generated/example_team/compliant.txt
+File generated in /home/developer/vrx_ws/src/vrx-docker/generated/team_generated/ghostship
 ```
 
 ### Preparing trials for a task
 
 In this README, we will be using some vocabulary that will be clearly defined here.
 
-* `task`: One of the major competition tasks, e.g., `stationkeeping`, `wayfinding`, `perception`, `nav_challenge`, `dock` or `scan_and_dock`.
+* `task`: One of the major competition tasks, e.g., `stationkeeping`, `wayfinding`, `perception`, or `gymkhana`.
 
 * `trial`: A specific task with a specific set of environmental conditions (e.g., sea state, wind magnitude and direction, lighting, etc.). Each task has multiple trials. Each trial will have a specific world file associated with it.
 
@@ -178,19 +147,19 @@ To prepare all of the trials for a task, call:
 
 This will call `generate_worlds.launch` on `task_config/stationkeeping.yaml` and store the generated files in `generated/task_generated/stationkeeping`.
 
-The last part of the output of this should look something 
+The last part of the output of this should look something like
 ```
-setting /run_id to 172c61c0-e6cd-11e9-af7a-408d5c555554
-process[rosout-1]: started with pid [30491]
+setting /run_id to 2be372d2-2003-11eb-b028-0242ac110002
+process[rosout-1]: started with pid [5982]
 started core service [/rosout]
-process[world_gen-2]: started with pid [30505]
+process[world_gen-2]: started with pid [5989]
 
 
 
-All  3  worlds generated
+All 3 worlds generated
 ================================================================================REQUIRED process [world_gen-2] has died!
 process has finished cleanly
-log file: /home/bsb/.ros/log/172c61c0-e6cd-11e9-af7a-408d5c555554/world_gen-2*.log
+log file: /home/developer/.ros/log/2be372d2-2003-11eb-b028-0242ac110002/world_gen-2*.log
 Initiating shutdown!
 ================================================================================
 [world_gen-2] killing on exit
@@ -200,6 +169,10 @@ shutting down processing monitor...
 ... shutting down processing monitor complete
 done
 OK
+
+Worlds generated in 
+  /home/developer/vrx_ws/src/vrx-docker/generated/task_generated/stationkeeping/world_xacros/ and 
+  /home/developer/vrx_ws/src/vrx-docker/generated/task_generated/stationkeeping/worlds/
 ```
 where the important parts are `All  3  worlds generated` indicating success.  Also note that the `REQUIRED process [world_gen-2] has died!` message is expected.
 
@@ -212,11 +185,7 @@ After running the prepare scripts, you should have the following file structure
 
 ```
 generated/team_generated
-├── example_team
-│   ├── compliant.txt
-│   ├── example_team.urdf
-│   ├── sensor_config.xacro
-│   └── thruster_config.xacro
+├── ghostship
 ```
 
 After running the prepare scripts, you should have the following file structure in `generated/task_generated`:
@@ -236,12 +205,12 @@ If you are missing these files, please review the command output (either in term
 
 ## Quick Start Instructions For a Single Trial: Running a single trial for a single team
 
-In order to run a trial with a specific team, the prepare scripts above must have been called on the associated task and team before running. To run a single trial with a specific team (in this case the team from`team_config/example_team` and the trial with trial\_number 0 associated with `task_config/stationkeeping.yaml`), call:
+In order to run a trial with a specific team, the prepare scripts above must have been called on the associated task and team before running. To run a single trial with a specific team (in this case the team from`team_config/ghostship` and the trial with trial\_number 0 associated with `task_config/stationkeeping.yaml`), call:
 
 ```
-./run_trial.bash -n example_team stationkeeping 0 # for Nvidia computers
+./run_trial.bash -n ghostship stationkeeping 0 # for Nvidia computers
 # OR
-./run_trial.bash example_team stationkeeping 0 # for non-Nvidia computers
+./run_trial.bash ghostship stationkeeping 0 # for non-Nvidia computers
 
 
 # For your team you will run:
@@ -250,9 +219,9 @@ In order to run a trial with a specific team, the prepare scripts above must hav
 
 This will instantiate two Docker containers.
 
-1. The simulation server container, which runs the VRX Gazebo simulation with the desired team WAM-V and desired task trial world.
+1. The simulation server container, which runs the VORC Gazebo simulation with the desired task trial world.
 
-2. The VRX team's container, which runs their system from the Dockerhub image in `team_config/<your_team_name>/dockerhub_image.txt`.
+2. The team's container, which runs their system from the Dockerhub image in `team_config/<your_team_name>/dockerhub_image.txt`.
 
 After the trial is over, it stores log files of the results. More about logs in a section below.
 
@@ -268,7 +237,7 @@ The `generated/logs` directory has the following structure:
 
 ```
 generated/logs
-└── example_team
+└── ghostship
     ├── stationkeeping
     │   └── 0
     │       ├── gazebo-server
@@ -289,7 +258,7 @@ generated/logs
     │       │   └── spawn_model-3-stdout.log
     │       ├── trial_score.txt
     │       ├── verbose_output.txt
-    │       └── vrx_rostopics.bag
+    │       └── vorc_rostopics.bag
 ```
 
 The `generated/logs` directory will have numerous directories with the date and time of creation. In each of those directories are the log files of each trial.
@@ -300,11 +269,11 @@ The `generated/logs` directory will have numerous directories with the date and
 
 * ros-server-latest - contains the log files from the ros server
 
-* vrx_rostopics.bag - a bag file containing rostopics from the vrx trial. Currently only stores `/vrx/task/info` to save space, but this can be edited in `vrx_server/vrx-server/run_vrx_trial.sh`. Note: to apply any changes to this file, you must also run ./vrx_server/build_image.bash to use the updated file, instead of cache.
+* vorc_rostopics.bag - a bag file containing rostopics from the vorc trial. Currently only stores `/vorc/task/info` to save space, but this can be edited in `vorc_server/vorc-server/run_vorc_trial.sh`. Note: to apply any changes to this file, you must also run `./vorc_server/build_image.bash` to use the updated file, instead of cache.
 
 * verbose_output.txt - verbose Gazebo log output from the competition
 
-* trial_score.txt - text file with one number representing the final score of the trial (from the last message of vrx_rostopics.bag)
+* trial_score.txt - text file with one number representing the final score of the trial (from the last message of vorc_rostopics.bag)
 
 * task_score.txt - (only created when running multi_scripts, how to do so in section below) text file with comma separated values, which are the trial scores of one task for a given team
 
@@ -315,7 +284,7 @@ The `generated/logs` directory will have numerous directories with the date and
 View the score of the trial by running
 
 ```
-cat generated/logs/example_team/stationkeeping/0/trial_score.txt
+cat generated/logs/ghostship/stationkeeping/0/trial_score.txt
 ```
 
 ## Quick Start Instructions For a Single Trial: Trial videos and playback
@@ -323,10 +292,10 @@ cat generated/logs/example_team/stationkeeping/0/trial_score.txt
 ### Generating a single trial video
 
 After running a trial, a `state.log` file is stored under `generated/logs/<team>/<task>/<trial_num>/gazebo-server`. This is a playback log file that allows you to play back the trial. 
-To generate a trial video, please run the trial using the steps above, source vrx, and then run
+To generate a trial video, please run the trial using the steps above, source vorc, and then run
 
 ```
-./generate_trial_video.bash example_team stationkeeping 0
+./generate_trial_video.bash ghostship stationkeeping 0
 
 # For your team you will run:
 # ./generate_trial_video.bash <your_team_name> <task_name> <trial_number>
@@ -339,7 +308,7 @@ it may find that window, instead of the actual Gazebo simulation window.
 There should be a new directory called `generated/logs/<team>/<task>/<trial_num>/video` that contains the following:
 
 ```
-generated/logs/example_team/stationkeeping/0/video/
+generated/logs/ghostship/stationkeeping/0/video/
 ├── playback_video.ogv
 ├── playback_video.ogv.playback_output.txt
 └── playback_video.ogv.record_output.txt
@@ -348,31 +317,31 @@ generated/logs/example_team/stationkeeping/0/video/
 You can play the video with
 
 ```
-vlc generated/logs/example_team/stationkeeping/0/video/playback_video.ogv
+vlc generated/logs/ghostship/stationkeeping/0/video/playback_video.ogv
 ```
 
 ### Playing back the simulation
 
-To play back a specific trial's log file, move to `vrx-docker` and call:
+To play back a specific trial's log file, move to `vorc-docker` and call:
 
 ```
-roslaunch vrx_gazebo playback.launch log_file:=`pwd`/generated/logs/example_team/stationkeeping/0/gazebo-server/state.log
+roslaunch vorc_gazebo playback.launch log_file:=`pwd`/generated/logs/ghostship/stationkeeping/0/gazebo-server/state.log
 
 # For your team you will run:
-# roslaunch vrx_gazebo playback.launch log_file:=`pwd`/generated/logs/<your_team_name>/<task_name>/<trial_number>/gazebo-server/state.log
+# roslaunch vorc_gazebo playback.launch log_file:=`pwd`/generated/logs/<your_team_name>/<task_name>/<trial_number>/gazebo-server/state.log
 ```
 
 ## Important information
 
 * All generated files will be stored in the `generated` directory. This will include team and task generated files, log files, scoring, playback videos, etc. These files may get overwritten if scripts are called more than once. Remember to delete these generated files if you want to start fresh.
 
-* After calling `./vrx_server/build_image.bash` the first time, your image will be cached. This means that it will use the old image until this script is called again. If you update `vrx_server/vrx-server/run_vrx_trial.sh` or any file in `vrx_server/vrx-server`, those changes will not affect things until you call `./vrx_server/build_image.bash` again after making the change
+* After calling `./vorc_server/build_image.bash` the first time, your image will be cached. This means that it will use the old image until this script is called again. If you update `vorc_server/vorc-server/run_vorc_trial.sh` or any file in `vorc_server/vorc-server`, those changes will not affect things until you call `./vorc_server/build_image.bash` again after making the change
 
 * For video generation, you can edit `generate_trial_video.bash` to change the `x, y, width, height, or BLACK_WINDOW_TIME` variables to change the position and size of recording as well as the length of time that is waited before recording starts.
 
-* Currently, only the `/vrx/task/info` topic is recorded in the generated rosbag to save space. You can change this by editing `vrx_server/vrx-server/run_vrx_trial.sh` and changing the `rosbag record ...` line to `rosbag record -O ~/vrx_rostopics.bag --all &`
+* Currently, only the `/vorc/task/info` topic is recorded in the generated rosbag to save space. You can change this by editing `vorc_server/vorc-server/run_vorc_trial.sh` and changing the `rosbag record ...` line to `rosbag record -O ~/vorc_rostopics.bag --all &`
 
-* Currently, the playback log files are always played back at the same speed. To change the speed of playback, you must change the rate of recording. You can change this by editing `vrx_server/vrx-server/run_vrx_trial.sh` and changing the `RECORD_PERIOD=...`. A higher number means faster playback. A lower number means slower playback. 
+* Currently, the playback log files are always played back at the same speed. To change the speed of playback, you must change the rate of recording. You can change this by editing `vorc_server/vorc-server/run_vorc_trial.sh` and changing the `RECORD_PERIOD=...`. A higher number means faster playback. A lower number means slower playback. 
 
 * Note that some scripts (build_image.bash, run_container.bash, run_trial.bash, all multi_scripts for running) have an optional \[-n --nvidia\] argument that should be set for Nvidia devices. Please create an issue if there are any difficulties with this.
 
@@ -399,7 +368,7 @@ The parse error message comes from recording, and is a known issue that does not
 
 * As well, during video generation you cannot have any other windows related to Gazebo open. The script looks for a window with Gazebo in the name to move to the front for recooding, but this can be ruined by another window.
 
-* When building the vrx server image with `./vrx_server/build_image.bash [-n --nvidia]`, you can expect to see the following types errors, which are normal:
+* When building the vorc server image with `./vorc_server/build_image.bash [-n --nvidia]`, you can expect to see the following types errors, which are normal:
 
 ```
 WARNING: apt does not have a stable CLI interface…
@@ -433,9 +402,9 @@ For the purpose of competition, we have a convenience script to run prepare all
 
 Prepare all teams:
 ```
-./multi_scripts/prepare_all_team_wamvs.bash
+./multi_scripts/prepare_all_teams.bash
 
-# Runs ./prepare_team_wamv.bash on all teams in team_config
+# Runs ./prepare_team.bash on all teams in team_config
 ```
 
 Prepare all tasks:
@@ -452,9 +421,9 @@ To keep the terminal output clean, all of the output will be stored in `generate
 To run all trials for a given task, call:
 
 ```
-./multi_scripts/run_one_team_one_task.bash example_team example_task # for non-Nvidia computers
+./multi_scripts/run_one_team_one_task.bash -n ghostship example_task # for Nvidia computers
 # or
-./multi_scripts/run_one_team_one_task.bash -n example_team example_task # for Nvidia computers
+./multi_scripts/run_one_team_one_task.bash ghostship example_task # for non-Nvidia computers
 
 # For your team you will run:
 # ./multi_scripts/run_one_team_one_task.bash [-n --nvidia] <your_team_name> <task_name>
@@ -467,9 +436,9 @@ This will run `run_trial.bash` on all trials in `generated/task_generated/<task>
 To run all trials for all tasks listed in the `task_generated` directory, call:
 
 ```
-./multi_scripts/run_one_team_all_tasks.bash example_team # for non-Nvidia computers
+./multi_scripts/run_one_team_all_tasks.bash -n ghostship # for Nvidia computers
 # or
-./multi_scripts/run_one_team_all_tasks.bash -n example_team # for Nvidia computers
+./multi_scripts/run_one_team_all_tasks.bash ghostship # for non-Nvidia computers
 
 # For your team you will run:
 # ./multi_scripts/run_one_team_all_tasks.bash [-n --nvidia] <your_team_name>
@@ -479,18 +448,18 @@ This will run `run_one_team_one_task.bash` on all tasks in `generated/task_gener
 
 ### Running all trials for all tasks for all teams
 
-To run all trials for all tasks listed in the `task_generated` directory for all teams in `team_generated`, call:
+To run all trials for all tasks listed in the `task_generated` directory for all teams, call:
 
 ```
-./multi_scripts/run_all_teams_all_tasks.bash # for non-Nvidia computers
-# or
 ./multi_scripts/run_all_teams_all_tasks.bash -n # for Nvidia computers
+# or
+./multi_scripts/run_all_teams_all_tasks.bash # for non-Nvidia computers
 
 # For your team you will run:
 # ./multi_scripts/run_all_teams_all_tasks.bash [-n --nvidia]
 ```
 
-This will run `run_one_team_all_tasks.bash` on all teams in `generated/team_generated`. This is the invocation that will be used to test submissions for the Finals: your system will not be provided with any information about the conditions of the trials. If your system performs correctly with this invocation, regardless of the set of configuration files in the `task_config` directory, you're ready for the competition.
+This will run `run_one_team_all_tasks.bash` on all teams. This is the invocation that will be used to test submissions for the Finals: your system will not be provided with any information about the conditions of the trials. If your system performs correctly with this invocation, regardless of the set of configuration files in the `task_config` directory, you're ready for the competition.
 
 Note: To keep the terminal output clean, all of the output from `multi_scripts` will be stored in `generated/multi_scripts/run_output/`. These convenience scripts are more bug-prone, so if you notice any issues, please submit an issue [here](https://github.com/osrf/vrx-docker/issues).
 
@@ -500,7 +469,7 @@ Note: To keep the terminal output clean, all of the output from `multi_scripts`
 To generate all trial videos for one team and one task, run
 
 ```
-./multi_scripts/generate_one_team_one_task_videos.bash example_team example_task
+./multi_scripts/generate_one_team_one_task_videos.bash ghostship example_task
 
 # For your team you will run:
 # ./multi_scripts/generate_one_team_one_task_videos.bash <your_team_name> <task_name>
@@ -512,7 +481,7 @@ This will run `generate_trial_video.bash` for all trials in `generated/logs/<tea
 To generate all trial videos for one team and all its tasks, run
 
 ```
-./multi_scripts/generate_one_team_all_task_videos.bash example_team
+./multi_scripts/generate_one_team_all_task_videos.bash ghostship
 
 # For your team you will run:
 # ./multi_scripts/generate_one_team_all_task_videos.bash <your_team_name>
@@ -539,21 +508,21 @@ Note: To keep the terminal output clean, all of the output from multi_scripts wi
 If you are confident your setup is working, you can run
 
 ```
-./vrx_server/build_image.bash && ./multi_scripts/prepare_all_team_wamvs.bash && ./multi_scripts/prepare_all_task_trials.bash && ./multi_scripts/run_all_teams_all_tasks.bash && ./multi_scripts/generate_all_team_all_task_videos.bash
+./vorc_server/build_image.bash && ./multi_scripts/prepare_all_task_trials.bash && ./multi_scripts/run_all_teams_all_tasks.bash && ./multi_scripts/generate_all_team_all_task_videos.bash
 ```
 
 After running this, you should expect your `generated` directory to look like
 
 ```
 ls generated
-logs  multi_scripts  task_generated  team_generated
+logs  multi_scripts  task_generated
 ```
 
 and your `generated/logs` directory to look like 
 
 ```
 generated/logs
-├── example_team
+├── ghostship
 │   ├── stationkeeping
 │   │   ├── 0
 │   │   │   ├── gazebo-server
@@ -578,7 +547,7 @@ generated/logs
 │   │   │   │   ├── playback_video.ogv
 │   │   │   │   ├── playback_video.ogv.playback_output.txt
 │   │   │   │   └── playback_video.ogv.record_output.txt
-│   │   │   └── vrx_rostopics.bag
+│   │   │   └── vorc_rostopics.bag
 │   │   ├── 1
 │   │   │   ├── gazebo-server
 │   │   │   │   ├── ogre.log
@@ -602,7 +571,7 @@ generated/logs
 │   │   │   │   ├── playback_video.ogv
 │   │   │   │   ├── playback_video.ogv.playback_output.txt
 │   │   │   │   └── playback_video.ogv.record_output.txt
-│   │   │   └── vrx_rostopics.bag
+│   │   │   └── vorc_rostopics.bag
 │   │   └── task_score.txt
 │   │   ....
 │   └── team_score.txt
@@ -622,7 +591,7 @@ cat generated/logs/<team>/<task>/<trial_num>/verbose_output.txt
 or investigate the generated rosbag by running:
 
 ```
-rosbag info generated/logs/<team>/<task>/<trial_num>/vrx_rostopics.bag
+rosbag info generated/logs/<team>/<task>/<trial_num>/vorc_rostopics.bag
 ```
 
 or if you ran a multi_script, run
@@ -650,10 +619,10 @@ You can even run these commands while the script is still running to investigate
 If during your development you need to kill the server and competitor containers, you can do so with:
 
 ```
-./utils/kill_vrx_containers.bash
+./utils/kill_vorc_containers.bash
 ```
 
-This will kill and remove all VRX containers.
+This will kill and remove all VORC containers.
 
 ### Investigating issues in the competitor container
 
@@ -662,13 +631,13 @@ If you are having difficulties running your team's system, you can open a termin
 To create a new container for investigation, run:
 
 ```
-docker run -it --rm --name vrx-competitor-system <image_name>
+docker run -it --rm --name vorc-competitor-system <image_name>
 ```
 
 To investigate a running container for investigation, run:
 
 ```
-docker exec -it vrx-competitor-system bash
+docker exec -it vorc-competitor-system bash
 ```
 
 
@@ -676,15 +645,11 @@ From here, you can investigate what is happening inside of your container.
 
 ## Submission Details
 
-### Files Required From VRX Teams For Submission
-
-All VRX teams must submit one folder containing three files for automated evaluation. The name of the folder should be the name of the team. Please note that the filenames must be identical with how they are listed below.
-
-1. `sensor_config.yaml`: The team's sensor configuration yaml file. One sensor configuration is used for all trials. For more information about this file, please refer to the [Creating a Custom WAM-V](https://github.com/osrf/vrx/wiki/tutorials-Creating%20a%20custom%20WAM-V%20Thruster%20and%20Sensor%20Configuration%20For%20Competition) tutorial.
+### Files Required from Teams for Submission
 
-2. `thruster_config.yaml`: The team's thruster configuration yaml file. One thruster configuration is used for all trials. For more information about this file, please refer to the [Creating a Custom WAM-V](https://github.com/osrf/vrx/wiki/tutorials-Creating%20a%20custom%20WAM-V%20Thruster%20and%20Sensor%20Configuration%20For%20Competition) tutorial.
+All teams must submit a folder containing one file for automated evaluation. The name of the folder should be the name of the team. Please note that the file name must be identical with how they are listed below.
 
-3. `dockerhub_image.txt`: A text file containing only the name of their docker image publicly available on Dockerhub, e.g., `tylerlum/vrx-competitor-example:v2.2019`. For more information about this file, please refer to the [Creating a Dockerhub image for submission](https://github.com/osrf/vrx/wiki/tutorials-Creating%20a%20Dockerhub%20image%20for%20submission)
+`dockerhub_image.txt`: A text file containing only the name of the team's docker image publicly available on Dockerhub, e.g., `crvogt/ghostship:v1`. For more information about this file, please refer to the [Creating a Dockerhub image for submission](https://github.com/osrf/vrx/wiki/tutorials-Creating%20a%20Dockerhub%20image%20for%20submission)
 
 ### Testing Your Submission
 
diff --git a/generate_trial_video.bash b/generate_trial_video.bash
index 98cb651..28c922b 100755
--- a/generate_trial_video.bash
+++ b/generate_trial_video.bash
@@ -33,7 +33,7 @@ is_gzclient_running()
   fi
 }
 
-# Wait until the gazebo world stats topic (eg. /gazebo/robotx_example_course/world_stats /gazebo/<world>/world_stats)
+# Wait until the gazebo world stats topic (eg. /gazebo/<world>/world_stats)
 # tells us that the playback has been paused. This event will trigger the end of the recording.
 wait_until_playback_ends()
 {
@@ -108,14 +108,14 @@ x=$x
 y=$y" > ~/.gazebo/gui.ini
 
 # Start Gazebo in playback mode
-roslaunch vrx_gazebo playback.launch log_file:=$GZ_LOG_FILE paused:=true verbose:=true \
+roslaunch vorc_gazebo playback.launch log_file:=$GZ_LOG_FILE paused:=true verbose:=true \
   > $OUTPUT.playback_output.txt 2>&1 &
 sleep 1s
 
 # Check if the log file has errors, likely forgot to source ws
 if grep -Fq "RLException" $OUTPUT.playback_output.txt
 then
-  echo "Failed to find playback launch file. Did you source your vrx_ws?"
+  echo "Failed to find playback launch file. Did you source your vorc_ws?"
   exit 1
 fi
 
diff --git a/generated/task_generated/dock/world_xacros/dock0.world.xacro b/generated/task_generated/dock/world_xacros/dock0.world.xacro
deleted file mode 100644
index aad4d1e..0000000
--- a/generated/task_generated/dock/world_xacros/dock0.world.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === dock === -->
-      <xacro:dock bay1_symbol="blue_circle" bay2_allowed="True" uri="vrx_dock_blue_circle__red_cross" y="103" task_name="scan" enable_color_checker="False" Y="-2.76" x="138" z="-0.2" bay1_allowed="False" model_name="vrx_dock_blue_circle__red_cross" bay2_symbol="red_cross" />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="0.0" direction_x="1.0" gain="0.0" period="7.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="270" seed="10" mean_vel="0.0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
diff --git a/generated/task_generated/dock/world_xacros/dock1.world.xacro b/generated/task_generated/dock/world_xacros/dock1.world.xacro
deleted file mode 100644
index 6bed662..0000000
--- a/generated/task_generated/dock/world_xacros/dock1.world.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === dock === -->
-      <xacro:dock bay1_symbol="green_triangle" bay2_allowed="False" uri="vrx_dock_green_triangle__blue_cross" y="-23" task_name="scan" enable_color_checker="False" Y="-2.2" x="79" z="-0.2" bay1_allowed="True" model_name="vrx_dock_green_triangle__blue_cross" bay2_symbol="blue_cross" />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="0.0" direction_x="1.0" gain="0.2" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="-160" seed="11" mean_vel="4.0" var_gain="2.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-0.8 0.8 0.8 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/dock/world_xacros/dock2.world.xacro b/generated/task_generated/dock/world_xacros/dock2.world.xacro
deleted file mode 100644
index b73aa15..0000000
--- a/generated/task_generated/dock/world_xacros/dock2.world.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === dock === -->
-      <xacro:dock bay1_symbol="red_cross" bay2_allowed="True" uri="vrx_dock_red_cross__red_triangle" task_name="scan" enable_color_checker="False" y="85" x="45" z="-0.2" bay1_allowed="False" model_name="vrx_dock_red_cross__red_triangle" bay2_symbol="red_triangle" />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="-0.92" direction_x="0.37" gain="0.7" period="3.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="-160" seed="12" mean_vel="8.0" var_gain="8.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-' <fog> <type> linear</type> <color> 0.7 0.7 0.7 1 </color> <density> 0.1 </density> </fog>    </fog>
-    <ambient>
-0.4 0.4 0.4 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/dock/worlds/dock0.world b/generated/task_generated/dock/worlds/dock0.world
deleted file mode 100644
index e85bf06..0000000
--- a/generated/task_generated/dock/worlds/dock0.world
+++ /dev/null
@@ -1,295 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_ws/src/vrx-docker/generated/task_generated/dock/world_xacros/dock0.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The 2018 dock with the two placards -->
-    <include>
-      <uri>model://vrx_dock_blue_circle__red_cross</uri>
-      <pose>138 103 -0.2 0 0 -2.76</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libscan_dock_scoring_plugin.so" name="scan_dock_scoring_plugin">
-      <!-- Parameters for scoring_plugin -->
-      <vehicle>wamv</vehicle>
-      <task_name>scan</task_name>
-      <initial_state_duration>3</initial_state_duration>
-      <ready_state_duration>3</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <!-- Color sequence checker -->
-      <enable_color_checker>False</enable_color_checker>
-      <robot_namespace>vrx</robot_namespace>
-      <color_sequence_service>scan_dock/color_sequence</color_sequence_service>
-      <color_1>red</color_1>
-      <color_2>green</color_2>
-      <color_3>blue</color_3>
-      <!-- Dock checkers -->
-      <bays>
-        <bay>
-          <name>bay1</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_1_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_1_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard1/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>False</dock_allowed>
-          <symbol>blue_circle</symbol>
-        </bay>
-        <bay>
-          <name>bay2</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_2_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_2_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard2/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>True</dock_allowed>
-          <symbol>red_cross</symbol>
-        </bay>
-      </bays>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_internal</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard1::placard::link">0 -5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_external</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #2 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_internal</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard2::placard::link">0 5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_external</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard1::placard::link">0 10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>7.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.0</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>7.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.0</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0.0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/dock/worlds/dock1.world b/generated/task_generated/dock/worlds/dock1.world
deleted file mode 100644
index 04a9d2e..0000000
--- a/generated/task_generated/dock/worlds/dock1.world
+++ /dev/null
@@ -1,297 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_ws/src/vrx-docker/generated/task_generated/dock/world_xacros/dock1.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The 2018 dock with the two placards -->
-    <include>
-      <uri>model://vrx_dock_green_triangle__blue_cross</uri>
-      <pose>79 -23 -0.2 0 0 -2.2</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libscan_dock_scoring_plugin.so" name="scan_dock_scoring_plugin">
-      <!-- Parameters for scoring_plugin -->
-      <vehicle>wamv</vehicle>
-      <task_name>scan</task_name>
-      <initial_state_duration>3</initial_state_duration>
-      <ready_state_duration>3</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <!-- Color sequence checker -->
-      <enable_color_checker>False</enable_color_checker>
-      <robot_namespace>vrx</robot_namespace>
-      <color_sequence_service>scan_dock/color_sequence</color_sequence_service>
-      <color_1>red</color_1>
-      <color_2>green</color_2>
-      <color_3>blue</color_3>
-      <!-- Dock checkers -->
-      <bays>
-        <bay>
-          <name>bay1</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_1_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_1_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard1/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>True</dock_allowed>
-          <symbol>green_triangle</symbol>
-        </bay>
-        <bay>
-          <name>bay2</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_2_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_2_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard2/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>False</dock_allowed>
-          <symbol>blue_cross</symbol>
-        </bay>
-      </bays>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_internal</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard1::placard::link">0 -5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_external</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #2 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_internal</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard2::placard::link">0 5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_external</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard1::placard::link">0 10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.2</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.2</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>-160</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>4.0</wind_mean_velocity>
-      <var_wind_gain_constants>2.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>11</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-        
-0.8 0.8 0.8 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/dock/worlds/dock2.world b/generated/task_generated/dock/worlds/dock2.world
deleted file mode 100644
index 7aa1561..0000000
--- a/generated/task_generated/dock/worlds/dock2.world
+++ /dev/null
@@ -1,304 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_ws/src/vrx-docker/generated/task_generated/dock/world_xacros/dock2.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The 2018 dock with the two placards -->
-    <include>
-      <uri>model://vrx_dock_red_cross__red_triangle</uri>
-      <pose>45 85 -0.2 0 0 0</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libscan_dock_scoring_plugin.so" name="scan_dock_scoring_plugin">
-      <!-- Parameters for scoring_plugin -->
-      <vehicle>wamv</vehicle>
-      <task_name>scan</task_name>
-      <initial_state_duration>3</initial_state_duration>
-      <ready_state_duration>3</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <!-- Color sequence checker -->
-      <enable_color_checker>False</enable_color_checker>
-      <robot_namespace>vrx</robot_namespace>
-      <color_sequence_service>scan_dock/color_sequence</color_sequence_service>
-      <color_1>red</color_1>
-      <color_2>green</color_2>
-      <color_3>blue</color_3>
-      <!-- Dock checkers -->
-      <bays>
-        <bay>
-          <name>bay1</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_1_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_1_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard1/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>False</dock_allowed>
-          <symbol>red_cross</symbol>
-        </bay>
-        <bay>
-          <name>bay2</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_2_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_2_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard2/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>True</dock_allowed>
-          <symbol>red_triangle</symbol>
-        </bay>
-      </bays>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_internal</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard1::placard::link">0 -5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_external</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #2 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_internal</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard2::placard::link">0 5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_external</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard1::placard::link">0 10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>3.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.7</gain>
-          <direction>0.37 -0.92</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>3.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.7</gain>
-              <direction>0.37 -0.92</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>-160</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>8.0</wind_mean_velocity>
-      <var_wind_gain_constants>8.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>12</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      
-' 
-      <fog>
-        <type> linear</type>
-        <color> 0.7 0.7 0.7 1 </color>
-        <density> 0.1 </density>
-      </fog>
-      <ambient>
-        
-0.4 0.4 0.4 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/nav_challenge/world_xacros/nav_challenge0.world.xacro b/generated/task_generated/nav_challenge/world_xacros/nav_challenge0.world.xacro
deleted file mode 100644
index 7fbb22b..0000000
--- a/generated/task_generated/nav_challenge/world_xacros/nav_challenge0.world.xacro
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === nav_challenge === -->
-      <xacro:nav_challenge running_duration="200" name="vrx_navigation_course_0" y="87" x="120" uri="navigation_course0" >
-    <gates>
- <gate> <left_marker>red_bound_0</left_marker> <right_marker>green_bound_0</right_marker> </gate> <gate> <left_marker>red_bound_1</left_marker> <right_marker>green_bound_1</right_marker> </gate> <gate> <left_marker>red_bound_2</left_marker> <right_marker>green_bound_2</right_marker> </gate>    </gates>
-  </xacro:nav_challenge>
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.0" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" seed="10" mean_vel="0.0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-1 1 1 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/nav_challenge/world_xacros/nav_challenge1.world.xacro b/generated/task_generated/nav_challenge/world_xacros/nav_challenge1.world.xacro
deleted file mode 100644
index e3e60bb..0000000
--- a/generated/task_generated/nav_challenge/world_xacros/nav_challenge1.world.xacro
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === nav_challenge === -->
-      <xacro:nav_challenge running_duration="500" name="vrx_navigation_course_1" y="87" x="120" uri="navigation_course1" >
-    <gates>
- <gate> <left_marker>red_bound_0</left_marker> <right_marker>green_bound_0</right_marker> </gate> <gate> <left_marker>red_bound_1</left_marker> <right_marker>green_bound_1</right_marker> </gate> <gate> <left_marker>red_bound_2</left_marker> <right_marker>green_bound_2</right_marker> </gate> <gate> <left_marker>red_bound_3</left_marker> <right_marker>green_bound_3</right_marker> </gate> <gate> <left_marker>red_bound_4</left_marker> <right_marker>green_bound_4</right_marker> </gate> <gate> <left_marker>red_bound_5</left_marker> <right_marker>green_bound_5</right_marker> </gate>    </gates>
-  </xacro:nav_challenge>
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="0.37" direction_x="0.92" gain="0.3" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="10" seed="10" mean_vel="4.0" var_gain="4" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-0.9 0.9 0.9 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/nav_challenge/world_xacros/nav_challenge2.world.xacro b/generated/task_generated/nav_challenge/world_xacros/nav_challenge2.world.xacro
deleted file mode 100644
index 6784149..0000000
--- a/generated/task_generated/nav_challenge/world_xacros/nav_challenge2.world.xacro
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === nav_challenge === -->
-      <xacro:nav_challenge running_duration="600" name="vrx_navigation_course_2" y="87" x="120" uri="navigation_course2" >
-    <gates>
- <gate> <left_marker>red_bound_0</left_marker> <right_marker>green_bound_0</right_marker> </gate> <gate> <left_marker>red_bound_1</left_marker> <right_marker>green_bound_1</right_marker> </gate> <gate> <left_marker>red_bound_2</left_marker> <right_marker>green_bound_2</right_marker> </gate> <gate> <left_marker>red_bound_3</left_marker> <right_marker>green_bound_3</right_marker> </gate> <gate> <left_marker>red_bound_4</left_marker> <right_marker>green_bound_4</right_marker> </gate>    </gates>
-  </xacro:nav_challenge>
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="-0.92" direction_x="0.37" gain="0.7" period="3" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="12" direction="143" seed="10" mean_vel="8.0" var_gain="8" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
- <fog> <type> linear</type> <color> 0.7 0.7 0.7 1 </color> <density> 0.0 </density> </fog>    </fog>
-    <ambient>
-0.8 0.8 0.8 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/nav_challenge/worlds/nav_challenge0.world b/generated/task_generated/nav_challenge/worlds/nav_challenge0.world
deleted file mode 100644
index 108e2af..0000000
--- a/generated/task_generated/nav_challenge/worlds/nav_challenge0.world
+++ /dev/null
@@ -1,242 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/nav_challenge/world_xacros/nav_challenge0.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The VRX navigation course -->
-    <include>
-      <name>vrx_navigation_course_0</name>
-      <uri>model://navigation_course0</uri>
-      <pose>120 87 2 0 0 0.4</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libnavigation_scoring_plugin.so" name="navigation_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>navigation_course</task_name>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>200</running_state_duration>
-      <collision_buffer>10</collision_buffer>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <course_name>vrx_navigation_course_0</course_name>
-      <obstacle_penalty>10.0</obstacle_penalty>
-      <gates>
-        <gate>
-          <left_marker>red_bound_0</left_marker>
-          <right_marker>green_bound_0</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_1</left_marker>
-          <right_marker>green_bound_1</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_2</left_marker>
-          <right_marker>green_bound_2</right_marker>
-        </gate>
-      </gates>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.0</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.0</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0.0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-        
-1 1 1 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/nav_challenge/worlds/nav_challenge1.world b/generated/task_generated/nav_challenge/worlds/nav_challenge1.world
deleted file mode 100644
index 7dc0680..0000000
--- a/generated/task_generated/nav_challenge/worlds/nav_challenge1.world
+++ /dev/null
@@ -1,254 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/nav_challenge/world_xacros/nav_challenge1.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The VRX navigation course -->
-    <include>
-      <name>vrx_navigation_course_1</name>
-      <uri>model://navigation_course1</uri>
-      <pose>120 87 2 0 0 0.4</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libnavigation_scoring_plugin.so" name="navigation_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>navigation_course</task_name>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>500</running_state_duration>
-      <collision_buffer>10</collision_buffer>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <course_name>vrx_navigation_course_1</course_name>
-      <obstacle_penalty>10.0</obstacle_penalty>
-      <gates>
-        <gate>
-          <left_marker>red_bound_0</left_marker>
-          <right_marker>green_bound_0</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_1</left_marker>
-          <right_marker>green_bound_1</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_2</left_marker>
-          <right_marker>green_bound_2</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_3</left_marker>
-          <right_marker>green_bound_3</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_4</left_marker>
-          <right_marker>green_bound_4</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_5</left_marker>
-          <right_marker>green_bound_5</right_marker>
-        </gate>
-      </gates>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.3</gain>
-          <direction>0.92 0.37</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.3</gain>
-              <direction>0.92 0.37</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>4.0</wind_mean_velocity>
-      <var_wind_gain_constants>4</var_wind_gain_constants>
-      <var_wind_time_constants>10</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-        
-0.9 0.9 0.9 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/nav_challenge/worlds/nav_challenge2.world b/generated/task_generated/nav_challenge/worlds/nav_challenge2.world
deleted file mode 100644
index c98afc5..0000000
--- a/generated/task_generated/nav_challenge/worlds/nav_challenge2.world
+++ /dev/null
@@ -1,255 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/nav_challenge/world_xacros/nav_challenge2.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The VRX navigation course -->
-    <include>
-      <name>vrx_navigation_course_2</name>
-      <uri>model://navigation_course2</uri>
-      <pose>120 87 2 0 0 0.4</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libnavigation_scoring_plugin.so" name="navigation_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>navigation_course</task_name>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>600</running_state_duration>
-      <collision_buffer>10</collision_buffer>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <course_name>vrx_navigation_course_2</course_name>
-      <obstacle_penalty>10.0</obstacle_penalty>
-      <gates>
-        <gate>
-          <left_marker>red_bound_0</left_marker>
-          <right_marker>green_bound_0</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_1</left_marker>
-          <right_marker>green_bound_1</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_2</left_marker>
-          <right_marker>green_bound_2</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_3</left_marker>
-          <right_marker>green_bound_3</right_marker>
-        </gate>
-        <gate>
-          <left_marker>red_bound_4</left_marker>
-          <right_marker>green_bound_4</right_marker>
-        </gate>
-      </gates>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>3</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.7</gain>
-          <direction>0.37 -0.92</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>3</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.7</gain>
-              <direction>0.37 -0.92</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>143</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>8.0</wind_mean_velocity>
-      <var_wind_gain_constants>8</var_wind_gain_constants>
-      <var_wind_time_constants>12</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <fog>
-        <type> linear</type>
-        <color> 0.7 0.7 0.7 1 </color>
-        <density> 0.0 </density>
-      </fog>
-      <ambient>
-        
-0.8 0.8 0.8 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/perception/world_xacros/perception0.world.xacro b/generated/task_generated/perception/world_xacros/perception0.world.xacro
deleted file mode 100644
index 236157c..0000000
--- a/generated/task_generated/perception/world_xacros/perception0.world.xacro
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.0" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" seed="10" mean_vel="0.0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-1 1 1 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === perception === -->
-      <xacro:perception >
-    <object_sequence>
- <include> <name>red_0</name> <pose>-200 100 1 0 0 0</pose> <uri>model://surmark950410</uri> </include> <include> <name>green_0</name> <pose>-200 102 1 0 0 0</pose> <uri>model://surmark950400</uri> </include> <include> <name>yellow_0</name> <pose>-200 104 1 0 0 0</pose> <uri>model://yellow_totem</uri> </include>    </object_sequence>
-    <model_includes>
- <object> <time>5.0</time> <type>surmark950410</type> <name>red_0</name> <pose>7.8 2.1 0.7 0 0 0</pose> </object> <object> <time>15.0</time> <type>surmark950400</type> <name>green_0</name> <pose>8.3 0.1 0.7 0 0 0</pose> </object> <object> <time>25.0</time> <type>yellow_totem</type> <name>yellow_0</name> <pose>4.9 -2.32 0.2 0 0 0</pose> </object>    </model_includes>
-  </xacro:perception>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/perception/world_xacros/perception1.world.xacro b/generated/task_generated/perception/world_xacros/perception1.world.xacro
deleted file mode 100644
index 7111869..0000000
--- a/generated/task_generated/perception/world_xacros/perception1.world.xacro
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="0.37" direction_x="0.92" gain="0.3" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" seed="10" mean_vel="0.0" var_gain="0.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector> .5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-0.8 0.8 0.8 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === perception === -->
-      <xacro:perception >
-    <object_sequence>
- <include> <name>white_0</name> <pose>-200 100 1 0 0 0</pose> <uri>model://surmark46104</uri> </include> <include> <name>a5_0</name> <pose>-200 102 1 0 0 0</pose> <uri>model://polyform_a5</uri> </include> <include> <name>red_0</name> <pose>-200 104 1 0 0 0</pose> <uri>model://surmark950410</uri> </include> <include> <name>red_1</name> <pose>-200 106 1 0 0 0</pose> <uri>model://surmark950410</uri> </include> <include> <name>blue_0</name> <pose>-200 108 1 0 0 0</pose> <uri>model://blue_totem</uri> </include> <include> <name>green_0</name> <pose>-200 110 1 0 0 0</pose> <uri>model://green_totem</uri> </include> <include> <name>green_1</name> <pose>-200 112 1 0 0 0</pose> <uri>model://green_totem</uri> </include> <include> <name>black_0</name> <pose>-200 114 1 0 0 0</pose> <uri>model://black_totem</uri> </include>    </object_sequence>
-    <model_includes>
- <object> <time>5.0</time> <type>surmark46104</type> <name>white_0</name> <pose>6 1 0.4 0 0 0</pose> </object> <object> <time>5.0</time> <type>polyform_a5</type> <name>a5_0</name> <pose>4.53 -1.75 0.4 0 0 0</pose> </object> <object> <time>15.0</time> <type>black_totem</type> <name>black_0</name> <pose>10 2.8 0.3 0 0 0</pose> </object> <object> <time>15.0</time> <type>blue_totem</type> <name>blue_0</name> <pose>4.54 -1.02 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>green_totem</type> <name>green_0</name> <pose>7.43 4.67 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>green_totem</type> <name>green_1</name> <pose>8 -0.54 0.3 0 0 0</pose> </object> <object> <time>35.0</time> <type>red_totem</type> <name>red_0</name> <pose>5.46 0.56 0.7 0 0 0</pose> </object> <object> <time>35.0</time> <type>red_totem</type> <name>red_1</name> <pose>4.67 0.11 0.7 0 0 0</pose> </object>    </model_includes>
-  </xacro:perception>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/perception/world_xacros/perception2.world.xacro b/generated/task_generated/perception/world_xacros/perception2.world.xacro
deleted file mode 100644
index 3edb577..0000000
--- a/generated/task_generated/perception/world_xacros/perception2.world.xacro
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="-0.92" direction_x="0.37" gain="0.7" period="3" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" seed="10" mean_vel="0.0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-' <fog> <type> linear</type> <color> 0.7 0.7 0.7 1 </color> <density> 0.1 </density> </fog>    </fog>
-    <ambient>
-0.3 0.3 0.3 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === perception === -->
-      <xacro:perception >
-    <object_sequence>
- <include> <name>a3_0</name> <pose>-200 100 1 0 0 0</pose> <uri>model://polyform_a3</uri> </include> <include> <name>a3_1</name> <pose>-200 102 1 0 0 0</pose> <uri>model://polyform_a3</uri> </include> <include> <name>a5_0</name> <pose>-200 104 1 0 0 0</pose> <uri>model://polyform_a5</uri> </include> <include> <name>a7_0</name> <pose>-200 106 1 0 0 0</pose> <uri>model://polyform_a7</uri> </include> <include> <name>green_0</name> <pose>-200 108 1 0 0 0</pose> <uri>model://surmark950400</uri> </include> <include> <name>green_1</name> <pose>-200 110 1 0 0 0</pose> <uri>model://surmark950400</uri> </include> <include> <name>red_0</name> <pose>-200 112 1 0 0 0</pose> <uri>model://surmark950410</uri> </include> <include> <name>white_0</name> <pose>-200 114 1 0 0 0</pose> <uri>model://surmark46104</uri> </include> <include> <name>yellowt_0</name> <pose>-200 116 1 0 0 0</pose> <uri>model://yellow_totem</uri> </include> <include> <name>blackt_0</name> <pose>-200 118 1 0 0 0</pose> <uri>model://black_totem</uri> </include> <include> <name>bluet_0</name> <pose>-200 120 1 0 0 0</pose> <uri>model://blue_totem</uri> </include> <include> <name>greent_0</name> <pose>-200 122 1 0 0 0</pose> <uri>model://green_totem</uri> </include> <include> <name>redt_0</name> <pose>-200 124 1 0 0 0</pose> <uri>model://red_totem</uri> </include> <include> <name>redt_1</name> <pose>-200 126 1 0 0 0</pose> <uri>model://red_totem</uri> </include> <include> <name>red_1</name> <pose>-200 128 1 0 0 0</pose> <uri>model://surmark950410</uri> </include> <include> <name>red_2</name> <pose>-200 130 1 0 0 0</pose> <uri>model://surmark950410</uri> </include> <include> <name>red_3</name> <pose>-200 132 1 0 0 0</pose> <uri>model://surmark950410</uri> </include>    </object_sequence>
-    <model_includes>
- <object> <time>5.0</time> <type>polyform_a3</type> <name>a3_0</name> <pose>8 0.4 0.4 0 0 0</pose> </object> <object> <time>5.0</time> <type>polyform_a3</type> <name>a3_1</name> <pose>7.5 1 0.4 0 0 0</pose> </object> <object> <time>5.0</time> <type>polyform_a5</type> <name>a5_0</name> <pose>7.23 1.7 0.4 0 0 0</pose> </object> <object> <time>5.0</time> <type>polyform_a7</type> <name>a7_0</name> <pose>6.4 2.34 0.4 0 0 0</pose> </object> <object> <time>15.0</time> <type>surmark950400</type> <name>green_0</name> <pose>9 0.1 0.7 0 0 0</pose> </object> <object> <time>15.0</time> <type>surmark950400</type> <name>green_1</name> <pose>6.5 0.7 0.7 0 0 0</pose> </object> <object> <time>15.0</time> <type>surmark950410</type> <name>red_0</name> <pose>8.63 1.9 0.7 0 0 0</pose> </object> <object> <time>15.0</time> <type>surmark46104</type> <name>white_0</name> <pose>4.4 2.37 0.7 0 0 0</pose> </object> <object> <time>25.0</time> <type>yellow_totem</type> <name>yellowt_0</name> <pose>10 0.15 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>black_totem</type> <name>blackt_0</name> <pose>16.5 0.7 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>blue_totem</type> <name>bluet_0</name> <pose>7.63 1.85 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>green_totem</type> <name>greent_0</name> <pose>12.4 2.37 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>red_totem</type> <name>redt_0</name> <pose>5.4 2.1 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>red_totem</type> <name>redt_1</name> <pose>4.4 -0.43 0.3 0 0 0</pose> </object> <object> <time>25.0</time> <type>blue_totem</type> <name>bluet_0</name> <pose>7.63 1.85 0.3 0 0 0</pose> </object> <object> <time>35.0</time> <type>surmark950410</type> <name>red_0</name> <pose>8.63 1.9 0.7 0 0 0</pose> </object> <object> <time>35.0</time> <type>surmark950410</type> <name>red_1</name> <pose>7.43 2.1 0.7 0 0 0</pose> </object> <object> <time>35.0</time> <type>surmark950410</type> <name>red_2</name> <pose>7 1.68 0.7 0 0 0</pose> </object> <object> <time>35.0</time> <type>surmark950410</type> <name>red_3</name> <pose>30 -1.99 0.7 0 0 0</pose> </object>    </model_includes>
-  </xacro:perception>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/perception/worlds/perception0.world b/generated/task_generated/perception/worlds/perception0.world
deleted file mode 100644
index e1df9fc..0000000
--- a/generated/task_generated/perception/worlds/perception0.world
+++ /dev/null
@@ -1,254 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/perception/world_xacros/perception0.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.0</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.0</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0.0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-        
-1 1 1 1    
-      </ambient>
-    </scene>
-    <include>
-      <name>red_0</name>
-      <pose>-200 100 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    <include>
-      <name>green_0</name>
-      <pose>-200 102 1 0 0 0</pose>
-      <uri>model://surmark950400</uri>
-    </include>
-    <include>
-      <name>yellow_0</name>
-      <pose>-200 104 1 0 0 0</pose>
-      <uri>model://yellow_totem</uri>
-    </include>
-    &quot;
-      
-    <plugin filename="libperception_scoring_plugin.so" name="perception_scoring_plugin">
-      <!-- Parameters for ScoringPlugin base class -->
-      <vehicle>wamv</vehicle>
-      <task_name>perception</task_name>
-      <initial_state_duration>10.0</initial_state_duration>
-      <ready_state_duration>10.0</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <!-- Parameters for PopulationPlugin -->
-      <loop_forever>false</loop_forever>
-      <frame>wamv</frame>
-      <!-- Pose of each object is expressed relative to the body frame
-           of the object named in the frame field - i.e., relative to
-           the wam-v-->
-      <object_sequence>
-        <object>
-          <time>5.0</time>
-          <type>surmark950410</type>
-          <name>red_0</name>
-          <pose>7.8 2.1 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>surmark950400</type>
-          <name>green_0</name>
-          <pose>8.3 0.1 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>yellow_totem</type>
-          <name>yellow_0</name>
-          <pose>4.9 -2.32 0.2 0 0 0</pose>
-        </object>
-      </object_sequence>
-    </plugin>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/perception/worlds/perception1.world b/generated/task_generated/perception/worlds/perception1.world
deleted file mode 100644
index 710c7cb..0000000
--- a/generated/task_generated/perception/worlds/perception1.world
+++ /dev/null
@@ -1,309 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/perception/world_xacros/perception1.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.3</gain>
-          <direction>0.92 0.37</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.3</gain>
-              <direction>0.92 0.37</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector> .5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0.0</wind_mean_velocity>
-      <var_wind_gain_constants>0.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-        
-0.8 0.8 0.8 1    
-      </ambient>
-    </scene>
-    <include>
-      <name>white_0</name>
-      <pose>-200 100 1 0 0 0</pose>
-      <uri>model://surmark46104</uri>
-    </include>
-    <include>
-      <name>a5_0</name>
-      <pose>-200 102 1 0 0 0</pose>
-      <uri>model://polyform_a5</uri>
-    </include>
-    <include>
-      <name>red_0</name>
-      <pose>-200 104 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    <include>
-      <name>red_1</name>
-      <pose>-200 106 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    <include>
-      <name>blue_0</name>
-      <pose>-200 108 1 0 0 0</pose>
-      <uri>model://blue_totem</uri>
-    </include>
-    <include>
-      <name>green_0</name>
-      <pose>-200 110 1 0 0 0</pose>
-      <uri>model://green_totem</uri>
-    </include>
-    <include>
-      <name>green_1</name>
-      <pose>-200 112 1 0 0 0</pose>
-      <uri>model://green_totem</uri>
-    </include>
-    <include>
-      <name>black_0</name>
-      <pose>-200 114 1 0 0 0</pose>
-      <uri>model://black_totem</uri>
-    </include>
-    &quot;
-      
-    <plugin filename="libperception_scoring_plugin.so" name="perception_scoring_plugin">
-      <!-- Parameters for ScoringPlugin base class -->
-      <vehicle>wamv</vehicle>
-      <task_name>perception</task_name>
-      <initial_state_duration>10.0</initial_state_duration>
-      <ready_state_duration>10.0</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <!-- Parameters for PopulationPlugin -->
-      <loop_forever>false</loop_forever>
-      <frame>wamv</frame>
-      <!-- Pose of each object is expressed relative to the body frame
-           of the object named in the frame field - i.e., relative to
-           the wam-v-->
-      <object_sequence>
-        <object>
-          <time>5.0</time>
-          <type>surmark46104</type>
-          <name>white_0</name>
-          <pose>6 1 0.4 0 0 0</pose>
-        </object>
-        <object>
-          <time>5.0</time>
-          <type>polyform_a5</type>
-          <name>a5_0</name>
-          <pose>4.53 -1.75 0.4 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>black_totem</type>
-          <name>black_0</name>
-          <pose>10 2.8 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>blue_totem</type>
-          <name>blue_0</name>
-          <pose>4.54 -1.02 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>green_totem</type>
-          <name>green_0</name>
-          <pose>7.43 4.67 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>green_totem</type>
-          <name>green_1</name>
-          <pose>8 -0.54 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>35.0</time>
-          <type>red_totem</type>
-          <name>red_0</name>
-          <pose>5.46 0.56 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>35.0</time>
-          <type>red_totem</type>
-          <name>red_1</name>
-          <pose>4.67 0.11 0.7 0 0 0</pose>
-        </object>
-      </object_sequence>
-    </plugin>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/perception/worlds/perception2.world b/generated/task_generated/perception/worlds/perception2.world
deleted file mode 100644
index 23fd1f7..0000000
--- a/generated/task_generated/perception/worlds/perception2.world
+++ /dev/null
@@ -1,427 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/perception/world_xacros/perception2.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>3</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.7</gain>
-          <direction>0.37 -0.92</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>3</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.7</gain>
-              <direction>0.37 -0.92</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0.0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      
-' 
-      <fog>
-        <type> linear</type>
-        <color> 0.7 0.7 0.7 1 </color>
-        <density> 0.1 </density>
-      </fog>
-      <ambient>
-        
-0.3 0.3 0.3 1    
-      </ambient>
-    </scene>
-    <include>
-      <name>a3_0</name>
-      <pose>-200 100 1 0 0 0</pose>
-      <uri>model://polyform_a3</uri>
-    </include>
-    <include>
-      <name>a3_1</name>
-      <pose>-200 102 1 0 0 0</pose>
-      <uri>model://polyform_a3</uri>
-    </include>
-    <include>
-      <name>a5_0</name>
-      <pose>-200 104 1 0 0 0</pose>
-      <uri>model://polyform_a5</uri>
-    </include>
-    <include>
-      <name>a7_0</name>
-      <pose>-200 106 1 0 0 0</pose>
-      <uri>model://polyform_a7</uri>
-    </include>
-    <include>
-      <name>green_0</name>
-      <pose>-200 108 1 0 0 0</pose>
-      <uri>model://surmark950400</uri>
-    </include>
-    <include>
-      <name>green_1</name>
-      <pose>-200 110 1 0 0 0</pose>
-      <uri>model://surmark950400</uri>
-    </include>
-    <include>
-      <name>red_0</name>
-      <pose>-200 112 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    <include>
-      <name>white_0</name>
-      <pose>-200 114 1 0 0 0</pose>
-      <uri>model://surmark46104</uri>
-    </include>
-    <include>
-      <name>yellowt_0</name>
-      <pose>-200 116 1 0 0 0</pose>
-      <uri>model://yellow_totem</uri>
-    </include>
-    <include>
-      <name>blackt_0</name>
-      <pose>-200 118 1 0 0 0</pose>
-      <uri>model://black_totem</uri>
-    </include>
-    <include>
-      <name>bluet_0</name>
-      <pose>-200 120 1 0 0 0</pose>
-      <uri>model://blue_totem</uri>
-    </include>
-    <include>
-      <name>greent_0</name>
-      <pose>-200 122 1 0 0 0</pose>
-      <uri>model://green_totem</uri>
-    </include>
-    <include>
-      <name>redt_0</name>
-      <pose>-200 124 1 0 0 0</pose>
-      <uri>model://red_totem</uri>
-    </include>
-    <include>
-      <name>redt_1</name>
-      <pose>-200 126 1 0 0 0</pose>
-      <uri>model://red_totem</uri>
-    </include>
-    <include>
-      <name>red_1</name>
-      <pose>-200 128 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    <include>
-      <name>red_2</name>
-      <pose>-200 130 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    <include>
-      <name>red_3</name>
-      <pose>-200 132 1 0 0 0</pose>
-      <uri>model://surmark950410</uri>
-    </include>
-    &quot;
-      
-    <plugin filename="libperception_scoring_plugin.so" name="perception_scoring_plugin">
-      <!-- Parameters for ScoringPlugin base class -->
-      <vehicle>wamv</vehicle>
-      <task_name>perception</task_name>
-      <initial_state_duration>10.0</initial_state_duration>
-      <ready_state_duration>10.0</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <!-- Parameters for PopulationPlugin -->
-      <loop_forever>false</loop_forever>
-      <frame>wamv</frame>
-      <!-- Pose of each object is expressed relative to the body frame
-           of the object named in the frame field - i.e., relative to
-           the wam-v-->
-      <object_sequence>
-        <object>
-          <time>5.0</time>
-          <type>polyform_a3</type>
-          <name>a3_0</name>
-          <pose>8 0.4 0.4 0 0 0</pose>
-        </object>
-        <object>
-          <time>5.0</time>
-          <type>polyform_a3</type>
-          <name>a3_1</name>
-          <pose>7.5 1 0.4 0 0 0</pose>
-        </object>
-        <object>
-          <time>5.0</time>
-          <type>polyform_a5</type>
-          <name>a5_0</name>
-          <pose>7.23 1.7 0.4 0 0 0</pose>
-        </object>
-        <object>
-          <time>5.0</time>
-          <type>polyform_a7</type>
-          <name>a7_0</name>
-          <pose>6.4 2.34 0.4 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>surmark950400</type>
-          <name>green_0</name>
-          <pose>9 0.1 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>surmark950400</type>
-          <name>green_1</name>
-          <pose>6.5 0.7 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>surmark950410</type>
-          <name>red_0</name>
-          <pose>8.63 1.9 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>15.0</time>
-          <type>surmark46104</type>
-          <name>white_0</name>
-          <pose>4.4 2.37 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>yellow_totem</type>
-          <name>yellowt_0</name>
-          <pose>10 0.15 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>black_totem</type>
-          <name>blackt_0</name>
-          <pose>16.5 0.7 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>blue_totem</type>
-          <name>bluet_0</name>
-          <pose>7.63 1.85 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>green_totem</type>
-          <name>greent_0</name>
-          <pose>12.4 2.37 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>red_totem</type>
-          <name>redt_0</name>
-          <pose>5.4 2.1 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>red_totem</type>
-          <name>redt_1</name>
-          <pose>4.4 -0.43 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>25.0</time>
-          <type>blue_totem</type>
-          <name>bluet_0</name>
-          <pose>7.63 1.85 0.3 0 0 0</pose>
-        </object>
-        <object>
-          <time>35.0</time>
-          <type>surmark950410</type>
-          <name>red_0</name>
-          <pose>8.63 1.9 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>35.0</time>
-          <type>surmark950410</type>
-          <name>red_1</name>
-          <pose>7.43 2.1 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>35.0</time>
-          <type>surmark950410</type>
-          <name>red_2</name>
-          <pose>7 1.68 0.7 0 0 0</pose>
-        </object>
-        <object>
-          <time>35.0</time>
-          <type>surmark950410</type>
-          <name>red_3</name>
-          <pose>30 -1.99 0.7 0 0 0</pose>
-        </object>
-      </object_sequence>
-    </plugin>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock0.world.xacro b/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock0.world.xacro
deleted file mode 100644
index e6a55c9..0000000
--- a/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock0.world.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === dock === -->
-      <xacro:dock bay1_symbol="blue_circle" Y="-2.76" color_3="blue" color_2="green" color_1="red" z="-0.2" light_buoy_present="True" bay2_allowed="True" bay1_allowed="False" uri="vrx_dock_blue_circle__red_cross" y="80" x="90" lb_y="103" lb_x="138" model_name="vrx_dock_blue_circle__red_cross" bay2_symbol="red_cross" />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="0.0" direction_x="1.0" gain="0.0" period="7.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="270" seed="10" mean_vel="0.0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock1.world.xacro b/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock1.world.xacro
deleted file mode 100644
index cff67fe..0000000
--- a/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock1.world.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === dock === -->
-      <xacro:dock bay1_symbol="green_triangle" Y="-2.2" color_3="green" color_2="blue" color_1="green" z="-0.2" light_buoy_present="True" bay2_allowed="False" bay1_allowed="True" uri="vrx_dock_green_triangle__blue_cross" y="-23" x="79" lb_y="70" lb_x="90" model_name="vrx_dock_green_triangle__blue_cross" bay2_symbol="blue_cross" />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="0.0" direction_x="1.0" gain="0.2" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="-160" seed="11" mean_vel="4.0" var_gain="2.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-    </fog>
-    <ambient>
-0.8 0.8 0.8 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock2.world.xacro b/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock2.world.xacro
deleted file mode 100644
index efa55ca..0000000
--- a/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock2.world.xacro
+++ /dev/null
@@ -1,35 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === dock === -->
-      <xacro:dock bay1_symbol="red_cross" Y="-1.2" color_3="green" color_2="blue" color_1="red" z="-0.2" light_buoy_present="True" bay2_allowed="True" bay1_allowed="False" uri="vrx_dock_red_cross__red_triangle" y="85" x="45" lb_y="65" lb_x="-10" model_name="vrx_dock_red_cross__red_triangle" bay2_symbol="red_triangle" />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves direction_y="-0.92" direction_x="0.37" gain="0.7" period="3.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="-160" seed="12" mean_vel="8.0" var_gain="8.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === scene_macro === -->
-      <xacro:scene_macro >
-    <fog>
-' <fog> <type> linear</type> <color> 0.7 0.7 0.7 1 </color> <density> 0.1 </density> </fog>    </fog>
-    <ambient>
-0.4 0.4 0.4 1    </ambient>
-  </xacro:scene_macro>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/scan_and_dock/worlds/scan_and_dock0.world b/generated/task_generated/scan_and_dock/worlds/scan_and_dock0.world
deleted file mode 100644
index 4e57096..0000000
--- a/generated/task_generated/scan_and_dock/worlds/scan_and_dock0.world
+++ /dev/null
@@ -1,299 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock0.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 0, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The 2018 dock with the two placards -->
-    <include>
-      <uri>model://vrx_dock_blue_circle__red_cross</uri>
-      <pose>90 80 -0.2 0 0 -2.76</pose>
-    </include>
-    <include>
-      <uri>model://robotx_light_buoy</uri>
-      <pose>138 103 0 0 0 0</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libscan_dock_scoring_plugin.so" name="scan_dock_scoring_plugin">
-      <!-- Parameters for scoring_plugin -->
-      <vehicle>wamv</vehicle>
-      <task_name>scan_dock</task_name>
-      <initial_state_duration>3</initial_state_duration>
-      <ready_state_duration>3</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <!-- Color sequence checker -->
-      <enable_color_checker>True</enable_color_checker>
-      <robot_namespace>vrx</robot_namespace>
-      <color_sequence_service>scan_dock/color_sequence</color_sequence_service>
-      <color_1>red</color_1>
-      <color_2>green</color_2>
-      <color_3>blue</color_3>
-      <!-- Dock checkers -->
-      <bays>
-        <bay>
-          <name>bay1</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_1_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_1_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard1/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>False</dock_allowed>
-          <symbol>blue_circle</symbol>
-        </bay>
-        <bay>
-          <name>bay2</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_2_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_2_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard2/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>True</dock_allowed>
-          <symbol>red_cross</symbol>
-        </bay>
-      </bays>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_internal</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard1::placard::link">0 -5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_external</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #2 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_internal</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard2::placard::link">0 5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_external</namespace>
-      <pose frame="vrx_dock_blue_circle__red_cross::dock_2018_placard1::placard::link">0 10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>7.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.0</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>7.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.0</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>270</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0.0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/scan_and_dock/worlds/scan_and_dock1.world b/generated/task_generated/scan_and_dock/worlds/scan_and_dock1.world
deleted file mode 100644
index be73c19..0000000
--- a/generated/task_generated/scan_and_dock/worlds/scan_and_dock1.world
+++ /dev/null
@@ -1,301 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock1.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 1, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The 2018 dock with the two placards -->
-    <include>
-      <uri>model://vrx_dock_green_triangle__blue_cross</uri>
-      <pose>79 -23 -0.2 0 0 -2.2</pose>
-    </include>
-    <include>
-      <uri>model://robotx_light_buoy</uri>
-      <pose>90 70 0 0 0 0</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libscan_dock_scoring_plugin.so" name="scan_dock_scoring_plugin">
-      <!-- Parameters for scoring_plugin -->
-      <vehicle>wamv</vehicle>
-      <task_name>scan_dock</task_name>
-      <initial_state_duration>3</initial_state_duration>
-      <ready_state_duration>3</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <!-- Color sequence checker -->
-      <enable_color_checker>True</enable_color_checker>
-      <robot_namespace>vrx</robot_namespace>
-      <color_sequence_service>scan_dock/color_sequence</color_sequence_service>
-      <color_1>green</color_1>
-      <color_2>blue</color_2>
-      <color_3>green</color_3>
-      <!-- Dock checkers -->
-      <bays>
-        <bay>
-          <name>bay1</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_1_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_1_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard1/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>True</dock_allowed>
-          <symbol>green_triangle</symbol>
-        </bay>
-        <bay>
-          <name>bay2</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_2_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_2_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard2/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>False</dock_allowed>
-          <symbol>blue_cross</symbol>
-        </bay>
-      </bays>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_internal</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard1::placard::link">0 -5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_external</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #2 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_internal</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard2::placard::link">0 5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_external</namespace>
-      <pose frame="vrx_dock_green_triangle__blue_cross::dock_2018_placard1::placard::link">0 10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.2</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.2</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>-160</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>4.0</wind_mean_velocity>
-      <var_wind_gain_constants>2.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>11</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      <ambient>
-        
-0.8 0.8 0.8 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/scan_and_dock/worlds/scan_and_dock2.world b/generated/task_generated/scan_and_dock/worlds/scan_and_dock2.world
deleted file mode 100644
index c65e020..0000000
--- a/generated/task_generated/scan_and_dock/worlds/scan_and_dock2.world
+++ /dev/null
@@ -1,308 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/scan_and_dock/world_xacros/scan_and_dock2.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'tasks': 2, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- The 2018 dock with the two placards -->
-    <include>
-      <uri>model://vrx_dock_red_cross__red_triangle</uri>
-      <pose>45 85 -0.2 0 0 -1.2</pose>
-    </include>
-    <include>
-      <uri>model://robotx_light_buoy</uri>
-      <pose>-10 65 0 0 0 0</pose>
-    </include>
-    <!-- The scoring plugin -->
-    <plugin filename="libscan_dock_scoring_plugin.so" name="scan_dock_scoring_plugin">
-      <!-- Parameters for scoring_plugin -->
-      <vehicle>wamv</vehicle>
-      <task_name>scan_dock</task_name>
-      <initial_state_duration>3</initial_state_duration>
-      <ready_state_duration>3</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <!-- Color sequence checker -->
-      <enable_color_checker>True</enable_color_checker>
-      <robot_namespace>vrx</robot_namespace>
-      <color_sequence_service>scan_dock/color_sequence</color_sequence_service>
-      <color_1>red</color_1>
-      <color_2>blue</color_2>
-      <color_3>green</color_3>
-      <!-- Dock checkers -->
-      <bays>
-        <bay>
-          <name>bay1</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_1_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_1_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard1/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>False</dock_allowed>
-          <symbol>red_cross</symbol>
-        </bay>
-        <bay>
-          <name>bay2</name>
-          <internal_activation_topic>/vrx/dock_2018/bay_2_internal/contain</internal_activation_topic>
-          <external_activation_topic>/vrx/dock_2018/bay_2_external/contain</external_activation_topic>
-          <symbol_topic>/vrx/dock_2018_placard2/symbol</symbol_topic>
-          <min_dock_time>10.0</min_dock_time>
-          <dock_allowed>True</dock_allowed>
-          <symbol>red_triangle</symbol>
-        </bay>
-      </bays>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_internal</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard1::placard::link">0 -5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay1_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_1_external</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard1::placard::link">0 -10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #2 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_internal</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard2::placard::link">0 5 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>4 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <!-- Triggers a message when the vehicle enters and exits the bay #1 -->
-    <plugin filename="libContainPlugin.so" name="vehicle_docked_bay2_exterior">
-      <entity>wamv::base_link</entity>
-      <namespace>vrx/dock_2018/bay_2_external</namespace>
-      <pose frame="vrx_dock_red_cross__red_triangle::dock_2018_placard1::placard::link">0 10 -1.5 0 0 0</pose>
-      <geometry>
-        <box>
-          <size>8 1.5 2</size>
-        </box>
-      </geometry>
-    </plugin>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>3.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.7</gain>
-          <direction>0.37 -0.92</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>3.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.7</gain>
-              <direction>0.37 -0.92</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>-160</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>8.0</wind_mean_velocity>
-      <var_wind_gain_constants>8.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>12</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <scene>
-      <sky>
-        <clouds>
-          <speed>12</speed>
-        </clouds>
-      </sky>
-      <grid>0</grid>
-      <origin_visual> 0 </origin_visual>
-      
-' 
-      <fog>
-        <type> linear</type>
-        <color> 0.7 0.7 0.7 1 </color>
-        <density> 0.1 </density>
-      </fog>
-      <ambient>
-        
-0.4 0.4 0.4 1    
-      </ambient>
-    </scene>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/stationkeeping/world_xacros/stationkeeping0.world.xacro b/generated/task_generated/stationkeeping/world_xacros/stationkeeping0.world.xacro
deleted file mode 100644
index 231e4a1..0000000
--- a/generated/task_generated/stationkeeping/world_xacros/stationkeeping0.world.xacro
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'environment': 0, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.0" period="7.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="1" direction="240" seed="10" mean_vel="0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === stationkeeping === -->
-      <xacro:stationkeeping lat="21.31085" lon="-157.88860" heading="1.05" >
-    <wp_markers>
- <markers>
-<scaling>0.2 0.2 2.0</scaling>
-<height>0.5</height>
-</markers>    </wp_markers>
-  </xacro:stationkeeping>
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/stationkeeping/world_xacros/stationkeeping1.world.xacro b/generated/task_generated/stationkeeping/world_xacros/stationkeeping1.world.xacro
deleted file mode 100644
index f852301..0000000
--- a/generated/task_generated/stationkeeping/world_xacros/stationkeeping1.world.xacro
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'environment': 1, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.2" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="192" seed="15" mean_vel="4.0" var_gain="2.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector> .5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === stationkeeping === -->
-      <xacro:stationkeeping lat="21.31099" lon="-157.88870" heading="3" >
-    <wp_markers>
- <markers>
-<scaling>0.2 0.2 2.0</scaling>
-<height>0.5</height>
-</markers>    </wp_markers>
-  </xacro:stationkeeping>
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/stationkeeping/world_xacros/stationkeeping2.world.xacro b/generated/task_generated/stationkeeping/world_xacros/stationkeeping2.world.xacro
deleted file mode 100644
index 8f645ca..0000000
--- a/generated/task_generated/stationkeeping/world_xacros/stationkeeping2.world.xacro
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'environment': 2, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.7" period="3.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="45" seed="11" mean_vel="8.0" var_gain="8.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector> .5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === stationkeeping === -->
-      <xacro:stationkeeping lat="21.31092" lon="-157.88874" heading="2.35" >
-    <wp_markers>
- <markers>
-<scaling>0.2 0.2 2.0</scaling>
-<height>0.5</height>
-</markers>    </wp_markers>
-  </xacro:stationkeeping>
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/stationkeeping/worlds/stationkeeping0.world b/generated/task_generated/stationkeeping/worlds/stationkeeping0.world
deleted file mode 100644
index 1b14b32..0000000
--- a/generated/task_generated/stationkeeping/worlds/stationkeeping0.world
+++ /dev/null
@@ -1,211 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/stationkeeping/world_xacros/stationkeeping0.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'environment': 0, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>7.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.0</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>7.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.0</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>240</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>1</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <plugin filename="libstationkeeping_scoring_plugin.so" name="stationkeeping_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>stationkeeping</task_name>
-      <!-- Goal as Latitude, Longitude, Yaw -->
-      <goal_pose>21.31085 -157.8886 1.05 </goal_pose>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <markers>
-        <scaling>0.2 0.2 2.0</scaling>
-        <height>0.5</height>
-      </markers>
-    </plugin>
-  </world>
-</sdf>
diff --git a/generated/task_generated/stationkeeping/worlds/stationkeeping1.world b/generated/task_generated/stationkeeping/worlds/stationkeeping1.world
deleted file mode 100644
index 74e04e3..0000000
--- a/generated/task_generated/stationkeeping/worlds/stationkeeping1.world
+++ /dev/null
@@ -1,211 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/stationkeeping/world_xacros/stationkeeping1.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'environment': 1, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.2</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.2</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector> .5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>192</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>4.0</wind_mean_velocity>
-      <var_wind_gain_constants>2.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>15</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <plugin filename="libstationkeeping_scoring_plugin.so" name="stationkeeping_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>stationkeeping</task_name>
-      <!-- Goal as Latitude, Longitude, Yaw -->
-      <goal_pose>21.31099 -157.8887 3 </goal_pose>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <markers>
-        <scaling>0.2 0.2 2.0</scaling>
-        <height>0.5</height>
-      </markers>
-    </plugin>
-  </world>
-</sdf>
diff --git a/generated/task_generated/stationkeeping/worlds/stationkeeping2.world b/generated/task_generated/stationkeeping/worlds/stationkeeping2.world
deleted file mode 100644
index 8a9c242..0000000
--- a/generated/task_generated/stationkeeping/worlds/stationkeeping2.world
+++ /dev/null
@@ -1,211 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/stationkeeping/world_xacros/stationkeeping2.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'environment': 2, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>3.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.7</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>3.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.7</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector> .5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>45</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>8.0</wind_mean_velocity>
-      <var_wind_gain_constants>8.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>11</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <plugin filename="libstationkeeping_scoring_plugin.so" name="stationkeeping_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>stationkeeping</task_name>
-      <!-- Goal as Latitude, Longitude, Yaw -->
-      <goal_pose>21.31092 -157.88874 2.35 </goal_pose>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <markers>
-        <scaling>0.2 0.2 2.0</scaling>
-        <height>0.5</height>
-      </markers>
-    </plugin>
-  </world>
-</sdf>
diff --git a/generated/task_generated/wayfinding/world_xacros/wayfinding0.world.xacro b/generated/task_generated/wayfinding/world_xacros/wayfinding0.world.xacro
deleted file mode 100644
index d41f018..0000000
--- a/generated/task_generated/wayfinding/world_xacros/wayfinding0.world.xacro
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'environment': 0, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.0" period="7.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="1" direction="240" seed="10" mean_vel="0" var_gain="0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector>.5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === wayfinding === -->
-      <xacro:wayfinding >
-    <wp_markers>
- <markers> <scaling>0.2 0.2 2.0</scaling> <height>0.5</height> </markers>    </wp_markers>
-    <waypoints>
- <waypoint> <pose>21.3109331464 -157.888776027 3.14</pose> </waypoint> <waypoint> <pose>21.3109331464 -157.888976027 3.4</pose> </waypoint> <waypoint> <pose>21.3109331464 -157.889176027 2.88</pose> </waypoint>     </waypoints>
-  </xacro:wayfinding>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/wayfinding/world_xacros/wayfinding1.world.xacro b/generated/task_generated/wayfinding/world_xacros/wayfinding1.world.xacro
deleted file mode 100644
index 2711423..0000000
--- a/generated/task_generated/wayfinding/world_xacros/wayfinding1.world.xacro
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'environment': 1, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.2" period="8.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="192" seed="15" mean_vel="4.0" var_gain="2.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector> .5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === wayfinding === -->
-      <xacro:wayfinding >
-    <wp_markers>
- <markers> <scaling>0.2 0.2 2.0</scaling> <height>0.5</height> </markers>    </wp_markers>
-    <waypoints>
- <waypoint> <pose>21.3099 -157.8887 0</pose> </waypoint> <waypoint> <pose>21.3107 -157.8891 3.4</pose> </waypoint> <waypoint> <pose>21.3099 -157.8891 4.9</pose> </waypoint> <waypoint> <pose>21.3103 -157.8887 0.5</pose> </waypoint>     </waypoints>
-  </xacro:wayfinding>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/wayfinding/world_xacros/wayfinding2.world.xacro b/generated/task_generated/wayfinding/world_xacros/wayfinding2.world.xacro
deleted file mode 100644
index 4bf5ba1..0000000
--- a/generated/task_generated/wayfinding/world_xacros/wayfinding2.world.xacro
+++ /dev/null
@@ -1,32 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-<!-- COORDINATE: {'environment': 2, 'constant': 0} -->
-<world name="robotx_example_course">
-  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/include_all_xacros.xacro" />
-  <xacro:include_all_xacros />
-    <!-- === ocean_waves === -->
-      <xacro:ocean_waves gain="0.7" period="3.0" />
-
-    <!-- === usv_wind_gazebo === -->
-      <xacro:usv_wind_gazebo var_time="2" direction="45" seed="11" mean_vel="8.0" var_gain="8.0" >
-    <wind_objs>
- <wind_obj>
-<name>wamv</name>
-<link_name>base_link</link_name>
-<coeff_vector> .5 .5 .33</coeff_vector>
-</wind_obj>    </wind_objs>
-  </xacro:usv_wind_gazebo>
-
-    <!-- === wayfinding === -->
-      <xacro:wayfinding >
-    <wp_markers>
- <markers> <scaling>0.2 0.2 2.0</scaling> <height>0.5</height> </markers>    </wp_markers>
-    <waypoints>
- <waypoint> <pose>21.3091 -157.8895 1.57</pose> </waypoint> <waypoint> <pose>21.3105 -157.8891 2.356</pose> </waypoint> <waypoint> <pose>21.3100 -157.8895 4.7</pose> </waypoint> <waypoint> <pose>21.3109 -157.8897 3.14</pose> </waypoint> <waypoint> <pose>21.3099 -157.8901 5.5</pose> </waypoint>     </waypoints>
-  </xacro:wayfinding>
-
-    <!-- === sandisland_minus_scene === -->
-      <xacro:sandisland_minus_scene />
-
-</world>
-</sdf>
\ No newline at end of file
diff --git a/generated/task_generated/wayfinding/worlds/wayfinding0.world b/generated/task_generated/wayfinding/worlds/wayfinding0.world
deleted file mode 100644
index 5314ae6..0000000
--- a/generated/task_generated/wayfinding/worlds/wayfinding0.world
+++ /dev/null
@@ -1,221 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/wayfinding/world_xacros/wayfinding0.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'environment': 0, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>7.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.0</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>7.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.0</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector>.5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>240</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>0</wind_mean_velocity>
-      <var_wind_gain_constants>0</var_wind_gain_constants>
-      <var_wind_time_constants>1</var_wind_time_constants>
-      <random_seed>10</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <plugin filename="libwayfinding_scoring_plugin.so" name="wayfinding_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>wayfinding</task_name>
-      <!-- Goal as Latitude, Longitude, Yaw -->
-      <waypoints>
-        <waypoint>
-          <pose>21.3109331464 -157.888776027 3.14</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3109331464 -157.888976027 3.4</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3109331464 -157.889176027 2.88</pose>
-        </waypoint>
-      </waypoints>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <markers>
-        <scaling>0.2 0.2 2.0</scaling>
-        <height>0.5</height>
-      </markers>
-    </plugin>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/wayfinding/worlds/wayfinding1.world b/generated/task_generated/wayfinding/worlds/wayfinding1.world
deleted file mode 100644
index 2abc5a5..0000000
--- a/generated/task_generated/wayfinding/worlds/wayfinding1.world
+++ /dev/null
@@ -1,224 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/wayfinding/world_xacros/wayfinding1.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'environment': 1, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>8.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.2</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>8.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.2</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector> .5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>192</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>4.0</wind_mean_velocity>
-      <var_wind_gain_constants>2.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>15</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <plugin filename="libwayfinding_scoring_plugin.so" name="wayfinding_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>wayfinding</task_name>
-      <!-- Goal as Latitude, Longitude, Yaw -->
-      <waypoints>
-        <waypoint>
-          <pose>21.3099 -157.8887 0</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3107 -157.8891 3.4</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3099 -157.8891 4.9</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3103 -157.8887 0.5</pose>
-        </waypoint>
-      </waypoints>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <markers>
-        <scaling>0.2 0.2 2.0</scaling>
-        <height>0.5</height>
-      </markers>
-    </plugin>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/generated/task_generated/wayfinding/worlds/wayfinding2.world b/generated/task_generated/wayfinding/worlds/wayfinding2.world
deleted file mode 100644
index e734cb8..0000000
--- a/generated/task_generated/wayfinding/worlds/wayfinding2.world
+++ /dev/null
@@ -1,227 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/michael/vrx_comp/vrx-docker/generated/task_generated/wayfinding/world_xacros/wayfinding2.world.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<sdf version="1.6" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- COORDINATE: {'environment': 2, 'constant': 0} -->
-  <world name="robotx_example_course" xmlns:xacro="http://ros.org/wiki/xacro">
-    <model name="ocean_waves">
-      <static>true</static>
-      <plugin filename="libWavefieldModelPlugin.so" name="wavefield_plugin">
-        <static>false</static>
-        <update_rate>30</update_rate>
-        <size>1000 1000</size>
-        <cell_count>50 50</cell_count>
-        <wave>
-          <model>PMS</model>
-          <period>3.0</period>
-          <number>3</number>
-          <scale>1.5</scale>
-          <gain>0.7</gain>
-          <direction>1.0 0.0</direction>
-          <angle>0.4</angle>
-          <tau>2.0</tau>
-          <amplitude>0.0</amplitude>
-          <!-- No effect for the PMS model -->
-          <steepness>0.0</steepness>
-        </wave>
-      </plugin>
-      <link name="ocean_waves_link">
-        <visual name="ocean_waves_visual">
-          <plugin filename="libWavefieldVisualPlugin.so" name="ocean_waves_visual_plugin">
-            <enableRtt>true</enableRtt>
-            <rttNoise>0.1</rttNoise>
-            <refractOpacity>0.2</refractOpacity>
-            <reflectOpacity>0.2</reflectOpacity>
-            <wave>
-              <model>PMS</model>
-              <period>3.0</period>
-              <number>3</number>
-              <scale>1.5</scale>
-              <gain>0.7</gain>
-              <direction>1.0 0.0</direction>
-              <angle>0.4</angle>
-              <tau>2.0</tau>
-              <amplitude>0.0</amplitude>
-              <!-- No effect for the PMS model -->
-              <steepness>0.0</steepness>
-            </wave>
-          </plugin>
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-        <visual name="ocean_waves_below_visual">
-          <pose>0 0 -0.05 0 0 0</pose>
-          <!-- Offset to prevent rendering conflict -->
-          <geometry>
-            <mesh>
-              <uri>model://ocean_waves/meshes/mesh_below.dae</uri>
-            </mesh>
-          </geometry>
-          <material>
-            <script>
-              <uri>model://ocean_waves/materials/scripts/waves.material</uri>
-              <name>WaveSim/GerstnerWaves</name>
-            </script>
-          </material>
-          <laser_retro>-1</laser_retro>
-        </visual>
-      </link>
-    </model>
-    <!--Gazebo Plugin for simulating WAM-V dynamics-->
-    <plugin filename="libusv_gazebo_wind_plugin.so" name="wind">
-      <!-- models to be effected by the wind -->
-      <wind_obj>
-        <name>wamv</name>
-        <link_name>base_link</link_name>
-        <coeff_vector> .5 .5 .33</coeff_vector>
-      </wind_obj>
-      <!-- Wind -->
-      <wind_direction>45</wind_direction>
-      <!-- in degrees -->
-      <wind_mean_velocity>8.0</wind_mean_velocity>
-      <var_wind_gain_constants>8.0</var_wind_gain_constants>
-      <var_wind_time_constants>2</var_wind_time_constants>
-      <random_seed>11</random_seed>
-      <!-- set to zero/empty to randomize -->
-      <update_rate>10</update_rate>
-    </plugin>
-    <plugin filename="libwayfinding_scoring_plugin.so" name="wayfinding_scoring_plugin">
-      <vehicle>wamv</vehicle>
-      <task_name>wayfinding</task_name>
-      <!-- Goal as Latitude, Longitude, Yaw -->
-      <waypoints>
-        <waypoint>
-          <pose>21.3091 -157.8895 1.57</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3105 -157.8891 2.356</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3100 -157.8895 4.7</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3109 -157.8897 3.14</pose>
-        </waypoint>
-        <waypoint>
-          <pose>21.3099 -157.8901 5.5</pose>
-        </waypoint>
-      </waypoints>
-      <initial_state_duration>10</initial_state_duration>
-      <ready_state_duration>10</ready_state_duration>
-      <running_state_duration>300</running_state_duration>
-      <release_joints>
-        <joint>
-          <name>wamv_external_pivot_joint</name>
-        </joint>
-        <joint>
-          <name>wamv_external_riser</name>
-        </joint>
-      </release_joints>
-      <markers>
-        <scaling>0.2 0.2 2.0</scaling>
-        <height>0.5</height>
-      </markers>
-    </plugin>
-    <!-- Estimated latitude/longitude of sandisland from satellite imagery -->
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <world_frame_orientation>ENU</world_frame_orientation>
-      <latitude_deg>21.30996</latitude_deg>
-      <longitude_deg>-157.8901</longitude_deg>
-      <elevation>0.0</elevation>
-      <!-- For legacy gazebo reasons, need to rotate -->
-      <!--<heading_deg>180</heading_deg>-->
-    </spherical_coordinates>
-    <!-- A global light source -->
-    <include>
-      <uri>model://sun</uri>
-    </include>
-    <gui fullscreen="0">
-      <camera name="user_camera">
-        <pose frame="">175.544 123.61 4.70958 0 0.168 -2.40718</pose>
-        <view_controller>orbit</view_controller>
-      </camera>
-      <!--<plugin name="GUITaskWidget" filename="libgui_task_widget.so"/>-->
-    </gui>
-    <include>
-      <!-- Note - the pose tag doesn't seem to work for heightmaps, so you need
-      to go into the model file to change the altitutde/height!-->
-      <pose> 0 0 0 0 0 0 </pose>
-      <uri>model://sandisland</uri>
-    </include>
-    <!-- The posts for securing the WAM-V -->
-    <include>
-      <name>post_0</name>
-      <pose>169.22 112.06 0.47 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_1</name>
-      <pose>173.558 100.809 0.42 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <include>
-      <name>post_2</name>
-      <pose>177.64 90.86 0.3 0.046 -0.157 0</pose>
-      <uri>model://post</uri>
-    </include>
-    <!-- Antenna for communication with the WAM-V -->
-    <include>
-      <pose>175.69 114.29 1.37 0 0 2.00</pose>
-      <uri>model://antenna</uri>
-    </include>
-    <!-- ground station tents -->
-    <include>
-      <name>ground_station_0</name>
-      <pose>177.61 117.20 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_1</name>
-      <pose>179.16 113.73 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_2</name>
-      <pose>180.61 110.31 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_3</name>
-      <pose>182.05 106.83 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_4</name>
-      <pose>183.71 103.14 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_5</name>
-      <pose>185.28 99.51 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_6</name>
-      <pose>186.80 96.02 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-    <include>
-      <name>ground_station_7</name>
-      <pose>188.17 92.45 1.55 0 0 3.54</pose>
-      <uri>model://ground_station</uri>
-    </include>
-  </world>
-</sdf>
diff --git a/multi_scripts/prepare_all_team_wamvs.bash b/multi_scripts/prepare_all_teams.bash
similarity index 71%
rename from multi_scripts/prepare_all_team_wamvs.bash
rename to multi_scripts/prepare_all_teams.bash
index 55aacd1..4db3f9c 100755
--- a/multi_scripts/prepare_all_team_wamvs.bash
+++ b/multi_scripts/prepare_all_teams.bash
@@ -1,12 +1,12 @@
 #!/usr/bin/env bash
 
-# prepare_all_team_wamvs.bash: A bash script to run prepare_team_wamv.bash on all teams in team_config
+# prepare_all_teams.bash: A bash script to run prepare_team.bash on all teams in team_config
 #
 # All terminal output it piped to generated/multi_scripts/prepare_output to keep things clear
 #
-# eg. ./prepare_all_team_wamvs.bash
+# eg. ./prepare_all_teams.bash
 
-echo "Preparing all team wamvs"
+echo "Preparing all teams"
 echo "================================="
 
 # Constants.
@@ -37,10 +37,10 @@ echo -e "Found teams: \n$LIST_OF_TEAMS"
 echo -e "Storing command outputs to $CONSOLE_OUTPUT_DIR\n"
 
 for TEAM_NAME in ${LIST_OF_TEAMS}; do
-  echo -e "Preparing WAM-V URDF for team: ${TEAM_NAME}"
+  echo -e "Preparing team: ${TEAM_NAME}"
 
   mkdir -p ${CONSOLE_OUTPUT_DIR}/${TEAM_NAME}
-  ${DIR}/../prepare_team_wamv.bash "${TEAM_NAME}" > ${CONSOLE_OUTPUT_DIR}/${TEAM_NAME}/output.txt 2>&1
+  ${DIR}/../prepare_team.bash "${TEAM_NAME}" > ${CONSOLE_OUTPUT_DIR}/${TEAM_NAME}/output.txt 2>&1
   exit_status=$?
 
   # Print OK or FAIL message
@@ -51,4 +51,5 @@ for TEAM_NAME in ${LIST_OF_TEAMS}; do
   fi
 done
 
-echo -e "${GREEN}Finished preparing WAM-V URDFs for all teams${NOCOLOR}"
+echo -e "${GREEN}Finished preparing all teams${NOCOLOR}"
+
diff --git a/phase2_pr_test.md b/phase2_pr_test.md
index ee79b10..ce4988d 100644
--- a/phase2_pr_test.md
+++ b/phase2_pr_test.md
@@ -37,14 +37,7 @@ cd ~/vrx_ws/src/vrx-docker
 cp -R ~/vrx_comp/vrx-events/2019/phase2_dress_rehearsal/${TEAM}/ ~/vrx_ws/src/vrx-docker/team_config/
 ```
 
-## Check Propulsion and Sensor Compliance
-```
-source ~/vrx_ws/devel/setup.bash
-./prepare_team_wamv.bash Team_Kanaloa
-cat generated/team_generated/Team_Kanaloa/compliant.txt 
-```
-
-## Check Acess to DockerHub Image
+## Check Access to DockerHub Image
 
 ### For full URL, open in browser
 
diff --git a/phase3_pr_test.md b/phase3_pr_test.md
index fe91b02..17a12ce 100644
--- a/phase3_pr_test.md
+++ b/phase3_pr_test.md
@@ -45,13 +45,6 @@ PHASE=phase3_vrx_challenge
 cp -R -v ~/vrx_comp/vrx-events/2019/${PHASE}/${TEAM}/ ~/vrx_ws/src/vrx-docker/team_config/
 ```
 
-## Check Propulsion and Sensor Compliance
-```
-source ~/vrx_ws/devel/setup.bash
-~/vrx_ws/src/vrx-docker/prepare_team_wamv.bash ${TEAM}
-cat ~/vrx_ws/src/vrx-docker/generated/team_generated/${TEAM}/compliant.txt 
-```
-
 ## Check Access to DockerHub Image
 
 Peek at the file
diff --git a/prepare_task_trials.bash b/prepare_task_trials.bash
index d8ee19f..a60350c 100755
--- a/prepare_task_trials.bash
+++ b/prepare_task_trials.bash
@@ -48,5 +48,6 @@ mkdir -p ${world_target}
 
 # Generate worlds
 echo "Generating worlds..."
-roslaunch vrx_gazebo generate_worlds.launch requested:=$TASK_CONFIG world_xacro_target:=$world_xacro_target world_target:=$world_target
+roslaunch vrx_gazebo generate_worlds.launch requested:=$TASK_CONFIG world_xacro_target:=$world_xacro_target world_target:=$world_target competition_pkg:="vorc_gazebo" world_name:="vorc_example_course"
 echo -e "${GREEN}OK${NOCOLOR}\n"
+echo -e "${GREEN}If successful, worlds are generated in \n  $world_xacro_target and \n  $world_target${NOCOLOR}\n"
diff --git a/prepare_team.bash b/prepare_team.bash
new file mode 100755
index 0000000..b330a0c
--- /dev/null
+++ b/prepare_team.bash
@@ -0,0 +1,39 @@
+#!/bin/bash
+
+# prepare_team.bash: A bash script to set up team file structure
+#
+# E.g.: ./prepare_team.bash example_team
+
+set -e
+
+# Constants.
+RED='\033[0;31m'
+GREEN='\033[0;32m'
+YELLOW='\033[0;33m'
+NOCOLOR='\033[0m'
+
+# Define usage function.
+usage()
+{
+  echo "Usage: $0 <team>"
+  exit 1
+}
+
+# Call usage() function if arguments not supplied.
+[[ $# -ne 1 ]] && usage
+
+TEAM_NAME=$1
+
+echo -e "${GREEN}Preparing team: ${TEAM_NAME}${NOCOLOR}"
+
+# Get directory of this file
+DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# Create directory for generated files
+target_dir=${DIR}/generated/team_generated
+mkdir -p ${target_dir}
+target_file=${target_dir}/${TEAM_NAME}
+
+touch ${target_file}
+echo -e "${GREEN}OK${NOCOLOR}"
+echo -e "${GREEN}File generated in ${target_file}${NOCOLOR}"
diff --git a/prepare_team_wamv.bash b/prepare_team_wamv.bash
deleted file mode 100755
index 21b2008..0000000
--- a/prepare_team_wamv.bash
+++ /dev/null
@@ -1,104 +0,0 @@
-#!/bin/bash
-
-# prepare_team_wamv.bash: A bash script to generate single team's WAM-V urdf file.
-#
-# E.g.: ./prepare_team_wamv.bash example_team
-
-set -e
-
-# Constants.
-RED='\033[0;31m'
-GREEN='\033[0;32m'
-YELLOW='\033[0;33m'
-NOCOLOR='\033[0m'
-
-# Define compliance check function.
-
-is_wamv_compliant()
-{
-  # Get logs
-  log_dir=$HOME/.ros/log/latest
-  logs=$(ls -t $log_dir)
-
-  # Find latest wamv_generator log
-  for log in $logs; do
-      if [[ $log == *"wamv_generator"* ]]; then
-        break
-      fi
-  done
-
-  echo "Checking $log_dir/$log for compliance"
-
-  # Check if the log file has errors
-  if grep -Fq "ERROR" $log_dir/$log
-  then
-      return 1
-  else
-      return 0
-  fi
-}
-
-# Define usage function.
-usage()
-{
-  echo "Usage: $0 <team>"
-  exit 1
-}
-
-# Call usage() function if arguments not supplied.
-[[ $# -ne 1 ]] && usage
-
-TEAM_NAME=$1
-
-echo -e "${GREEN}Preparing WAM-V URDF for team: ${TEAM_NAME}${NOCOLOR}"
-
-# Get directory of this file
-DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-# Remove previous log files, so new log data can be seen more easily
-# (currently done for log check for compliance)
-log_dir=$HOME/.ros/log/latest
-# Add trailing slash so that we remove the contents of the linked directory
-rm -fR $log_dir/
-
-# Find sensor and thruster yaml files
-echo "Looking for config files"
-TEAM_CONFIG_DIR=${DIR}/team_config/${TEAM_NAME}
-SENSOR_CONFIG=${TEAM_CONFIG_DIR}/sensor_config.yaml
-THRUSTER_CONFIG=${TEAM_CONFIG_DIR}/thruster_config.yaml
-
-if [ -f "${SENSOR_CONFIG}" ]; then
-  echo -e "Successfully found: ${SENSOR_CONFIG}"
-else
-  echo -e "${RED}Err: ${SENSOR_CONFIG}"; exit 1;
-fi
-if [ -f "${THRUSTER_CONFIG}" ]; then
-  echo -e "Successfully found: ${THRUSTER_CONFIG}\n"
-else
-  echo -e "${RED}Err: ${THRUSTER_CONFIG}"; exit 1;
-fi
-
-# Create directory for generated files
-wamv_target_dir=${DIR}/generated/team_generated/${TEAM_NAME}
-wamv_target=${wamv_target_dir}/${TEAM_NAME}.urdf
-mkdir -p ${wamv_target_dir}
-
-# Generate WAM-V
-echo "Generating WAM-V..."
-roslaunch vrx_gazebo generate_wamv.launch sensor_yaml:=$SENSOR_CONFIG thruster_yaml:=$THRUSTER_CONFIG wamv_target:=$wamv_target
-echo -e "${GREEN}OK${NOCOLOR}\n"
-
-# Write to text file about compliance
-if is_wamv_compliant; then
-  is_compliant=true
-else
-  is_compliant=false
-fi
-
-echo "Compliant? $is_compliant. Writing to ${wamv_target_dir}/compliant.txt"
-echo $is_compliant > ${wamv_target_dir}/compliant.txt
-echo -e "${GREEN}OK${NOCOLOR}\n"
-
-# Move generated files to correct location
-mv ${TEAM_CONFIG_DIR}/sensor_config.xacro ${wamv_target_dir}
-mv ${TEAM_CONFIG_DIR}/thruster_config.xacro ${wamv_target_dir}
diff --git a/run_trial.bash b/run_trial.bash
index 1195776..8e17d06 100755
--- a/run_trial.bash
+++ b/run_trial.bash
@@ -55,10 +55,10 @@ TASK_NAME=$2
 TRIAL_NUM=$3
 
 # Constants for containers
-SERVER_CONTAINER_NAME=vrx-server-system
+SERVER_CONTAINER_NAME=vorc-server-system
 ROS_DISTRO=melodic
-LOG_DIR=/vrx/logs
-NETWORK=vrx-network
+LOG_DIR=/vorc/logs
+NETWORK=vorc-network
 NETWORK_SUBNET="172.16.0.10/16" # subnet mask allows communication between IP addresses with 172.16.xx.xx (xx = any)
 SERVER_ROS_IP="172.16.0.22"
 COMPETITOR_ROS_IP="172.16.0.20"
@@ -67,7 +67,7 @@ ROS_MASTER_URI="http://${SERVER_ROS_IP}:11311"
 # Get directory of this file
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 
-echo "Running $TEAM_NAME WAM-V in $TASK_NAME $TRIAL_NUM"
+echo "Running $TEAM_NAME solution in $TASK_NAME $TRIAL_NUM"
 echo -e "=================================\n"
 
 echo "Setting up"
@@ -87,28 +87,22 @@ mkdir -p ${HOST_LOG_DIR}
 chmod 777 ${HOST_LOG_DIR}
 echo -e "${GREEN}Done.${NOCOLOR}\n"
 
-# Find wamv urdf and task world files
+# Find task world files
 echo "Looking for generated files"
-TEAM_GENERATED_DIR=${DIR}/generated/team_generated/${TEAM_NAME}
-if [ -f "${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf" ]; then
-  echo "Successfully found: ${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf"
-else
-  echo -e "${RED}Err: ${TEAM_GENERATED_DIR}/${TEAM_NAME}.urdf not found."; exit 1;
-fi
-
 COMP_GENERATED_DIR=${DIR}/generated/task_generated/${TASK_NAME}
-if [ -f "${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.world" ]; then
-  echo "Successfully found: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.world"
+WORLD_FILE_SUFFIX=worlds/${TASK_NAME}${TRIAL_NUM}.world
+if [ -f "${COMP_GENERATED_DIR}/${WORLD_FILE_SUFFIX}" ]; then
+  echo "Successfully found: ${COMP_GENERATED_DIR}/${WORLD_FILE_SUFFIX}"
 else
-  echo -e "${RED}Err: ${COMP_GENERATED_DIR}/worlds/${TASK_NAME}${TRIAL_NUM}.world not found."; exit 1;
+  echo -e "${RED}Err: ${COMP_GENERATED_DIR}/${WORLD_FILE_SUFFIX} not found."; exit 1;
 fi
 echo -e "${GREEN}Done.${NOCOLOR}\n"
 
 # Ensure any previous containers are killed and removed.
-${DIR}/utils/kill_vrx_containers.bash
+${DIR}/utils/kill_vorc_containers.bash
 
 # Create the network for the containers to talk to each other.
-${DIR}/utils/vrx_network.bash "${NETWORK}" "${NETWORK_SUBNET}"
+${DIR}/utils/vorc_network.bash "${NETWORK}" "${NETWORK_SUBNET}"
 
 echo "Building competitor image"
 echo "---------------------------------"
@@ -132,12 +126,12 @@ echo "---------------------------------"
 # TODO: Figure out if we can start competitor container first, so simulation doesn't start too early, but may have issues if
 #       competitior container waiting for ROS master and has error before server is created.
 # Run Gazebo simulation server container
-SERVER_CMD="/run_vrx_trial.sh /team_generated/${TEAM_NAME}.urdf /task_generated/worlds/${TASK_NAME}${TRIAL_NUM}.world ${LOG_DIR}"
-SERVER_IMG="vrx-server-${ROS_DISTRO}${image_nvidia}:latest"
-${DIR}/vrx_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
+WORLD_FILE=/task_generated/${WORLD_FILE_SUFFIX}
+SERVER_CMD="/run_vorc_trial.sh ${WORLD_FILE} ${LOG_DIR}"
+SERVER_IMG="vorc-server-${ROS_DISTRO}${image_nvidia}:latest"
+${DIR}/vorc_server/run_container.bash $nvidia_arg ${SERVER_CONTAINER_NAME} $SERVER_IMG \
   "--net ${NETWORK} \
   --ip ${SERVER_ROS_IP} \
-  -v ${TEAM_GENERATED_DIR}:/team_generated \
   -v ${COMP_GENERATED_DIR}:/task_generated \
   -v ${HOST_LOG_DIR}:${LOG_DIR} \
   -e ROS_MASTER_URI=${ROS_MASTER_URI} \
@@ -156,7 +150,7 @@ echo "---------------------------------"
 
 # Start the competitors container and let it run in the background.
 echo -e "Creating container for ${DOCKERHUB_IMAGE}\n"
-COMPETITOR_CONTAINER_NAME="vrx-competitor-system"
+COMPETITOR_CONTAINER_NAME="vorc-competitor-system"
 docker run \
     --net ${NETWORK} \
     --name $COMPETITOR_CONTAINER_NAME \
@@ -174,7 +168,7 @@ echo "---------------------------------"
 echo "Copying ROS log files from server container..."
 docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.ros/log/latest $HOST_LOG_DIR/ros-server-latest
 docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/.gazebo/ $HOST_LOG_DIR/gazebo-server
-docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/vrx_rostopics.bag $HOST_LOG_DIR/
+docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/vorc_rostopics.bag $HOST_LOG_DIR/
 docker cp --follow-link ${SERVER_CONTAINER_NAME}:/home/$USER/verbose_output.txt $HOST_LOG_DIR/
 
 echo -e "${GREEN}OK${NOCOLOR}\n"
@@ -191,6 +185,6 @@ docker cp --follow-link $COMPETITOR_CONTAINER_NAME:/root/.ros/log $HOST_LOG_DIR/
 echo -e "${GREEN}OK${NOCOLOR}\n"
 
 # Kill and remove all containers before exit
-${DIR}/utils/kill_vrx_containers.bash
+${DIR}/utils/kill_vorc_containers.bash
 
 exit 0
diff --git a/task_config/dock.yaml b/task_config/dock.yaml
deleted file mode 100644
index ac18b97..0000000
--- a/task_config/dock.yaml
+++ /dev/null
@@ -1,151 +0,0 @@
-constant:
-    steps: 1
-    macros:
-        sandisland_minus_scene:
-            -
-    sequence:
-
-tasks:
-    steps: 3
-    macros:
-        dock:
-            -
-        ocean_waves:
-            -
-        usv_wind_gazebo:
-            -
-        scene_macro:
-            -
-        insert_model:
-            -
-    sequence:
-        0:
-            ocean_waves:
-                - gain: 0.0
-                  period: 7.0
-                  direction_x: 1.0
-                  direction_y: 0.0
-            usv_wind_gazebo:
-                - direction: 270
-                  mean_vel: 0.0
-                  var_gain: 0
-                  var_time: 2
-                  seed: 10
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: ""
-                  /**ambient: ""
-            # Call the dock.xacro in vrx_gazebo/worlds/xacros/dock.xacro
-            # Make sure the model (dock0.sdf.erb) defines consistent
-            # symbols as passed to the xacro, i.e., to change placard symbols
-            # change them both here and in the dock0/model.sdf.erb file!!!
-            dock:
-                - model_name: vrx_dock_blue_circle__red_cross
-                  enable_color_checker: false
-                  task_name: scan
-                  uri: vrx_dock_blue_circle__red_cross
-                  bay1_allowed: false
-                  bay1_symbol: blue_circle
-                  bay2_allowed: true
-                  bay2_symbol: red_cross
-                  x: 138
-                  y: 103
-                  z: -0.2
-                  Y: -2.76
-        1:
-            ocean_waves:
-                - gain: 0.2
-                  period: 8.0
-                  direction_x: 1.0
-                  direction_y: 0.0
-            usv_wind_gazebo:
-                - direction: -160
-                  mean_vel: 4.0
-                  var_gain: 2.0
-                  var_time: 2
-                  seed: 11
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: ""
-                  /**ambient: "0.8 0.8 0.8 1"
-            # Call the dock.xacro in vrx_gazebo/worlds/xacros/dock.xacro
-            # Make sure the model (dock0.sdf.erb) defines consistent
-            # symbols as passed to the xacro, i.e., to change placard symbols
-            # change them both here and in the dock0/model.sdf.erb file!!!
-            dock:
-                - model_name: vrx_dock_green_triangle__blue_cross
-                  enable_color_checker: false
-                  task_name: scan
-                  uri: vrx_dock_green_triangle__blue_cross
-                  bay1_allowed: true
-                  bay1_symbol: green_triangle
-                  bay2_allowed: false
-                  bay2_symbol: blue_cross
-                  x: 79
-                  y: -23
-                  z: -0.2
-                  Y: -2.2
-        2:
-            ocean_waves:
-                - gain: 0.7
-                  period: 3.0
-                  direction_x: 0.37
-                  direction_y: -0.92
-            usv_wind_gazebo:
-                - direction: -160
-                  mean_vel: 8.0
-                  var_gain: 8.0
-                  var_time: 2
-                  seed: 12
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: "'
-                  <fog>
-                    <type> linear</type>
-                    <color> 0.7 0.7 0.7 1 </color>
-                    <density> 0.1 </density>
-                  </fog>"
-                  /**ambient: "0.4 0.4 0.4 1"
-            # Call the dock.xacro in vrx_gazebo/worlds/xacros/dock.xacro
-            # Make sure the model (dock0.sdf.erb) defines consistent
-            # symbols as passed to the xacro, i.e., to change placard symbols
-            # change them both here and in the dock0/model.sdf.erb file!!!
-            dock:
-                - model_name: vrx_dock_red_cross__red_triangle
-                  enable_color_checker: false
-                  task_name: scan
-                  uri: vrx_dock_red_cross__red_triangle
-                  bay1_allowed: false
-                  bay1_symbol: red_cross
-                  bay2_allowed: true
-                  bay2_symbol: red_triangle
-                  x: 45
-                  y: 85
-                  z: -0.2
diff --git a/task_config/nav_challenge.yaml b/task_config/nav_challenge.yaml
deleted file mode 100644
index c4f0ab0..0000000
--- a/task_config/nav_challenge.yaml
+++ /dev/null
@@ -1,172 +0,0 @@
-constant:
-    steps: 1
-    macros:
-        sandisland_minus_scene:
-            -
-    sequence:
-
-tasks:
-    steps: 3
-    macros:
-        nav_challenge:
-            -
-        ocean_waves:
-            -
-        usv_wind_gazebo:
-            -
-        scene_macro:
-            -
-    sequence:
-        0:
-            ocean_waves:
-                - gain: 0.0
-                  period: 8.0
-            usv_wind_gazebo:
-                - mean_vel: 0.0
-                  var_gain: 0
-                  var_time: 2
-                  seed: 10
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: ""
-                  /**ambient: "1 1 1 1"
-            nav_challenge:
-                - name: vrx_navigation_course_0
-                  uri: navigation_course0
-                  x: 120
-                  y: 87
-                  running_duration: 200
-                  /**gates: "
-                  <gate>
-                    <left_marker>red_bound_0</left_marker>
-                    <right_marker>green_bound_0</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_1</left_marker>
-                    <right_marker>green_bound_1</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_2</left_marker>
-                    <right_marker>green_bound_2</right_marker>
-                  </gate>"
-        1:
-            ocean_waves:
-                - gain: 0.3
-                  period: 8.0
-                  direction_x: 0.92
-                  direction_y: 0.37
-            usv_wind_gazebo:
-                - mean_vel: 4.0
-                  var_gain: 4
-                  var_time: 10
-                  seed: 10
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: ""
-                  /**ambient: "0.9 0.9 0.9 1"
-            nav_challenge:
-                - name: vrx_navigation_course_1
-                  uri: navigation_course1
-                  x: 120
-                  y: 87
-                  running_duration: 500
-                  /**gates: "
-                  <gate>
-                    <left_marker>red_bound_0</left_marker>
-                    <right_marker>green_bound_0</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_1</left_marker>
-                    <right_marker>green_bound_1</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_2</left_marker>
-                    <right_marker>green_bound_2</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_3</left_marker>
-                    <right_marker>green_bound_3</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_4</left_marker>
-                    <right_marker>green_bound_4</right_marker>
-                  </gate>
-                  <gate>
-                    <left_marker>red_bound_5</left_marker>
-                    <right_marker>green_bound_5</right_marker>
-                  </gate>"
-        2:
-          ocean_waves:
-              - gain: 0.7
-                period: 3
-                direction_x: 0.37
-                direction_y: -0.92
-          usv_wind_gazebo:
-              - mean_vel: 8.0
-                var_gain: 8
-                var_time: 12
-                seed: 10
-                direction: 143
-                /**wind_objs: "
-                <wind_obj>
-
-                <name>wamv</name>
-
-                <link_name>base_link</link_name>
-
-                <coeff_vector>.5 .5 .33</coeff_vector>
-
-                </wind_obj>"
-          scene_macro:
-              - /**fog: "
-                <fog>
-                  <type> linear</type>
-                  <color> 0.7 0.7 0.7 1 </color>
-                  <density> 0.0 </density>
-                </fog>"
-                /**ambient: "0.8 0.8 0.8 1"
-          nav_challenge:
-              - name: vrx_navigation_course_2
-                uri: navigation_course2
-                x: 120
-                y: 87
-                running_duration: 600
-                /**gates: "
-                <gate>
-                  <left_marker>red_bound_0</left_marker>
-                  <right_marker>green_bound_0</right_marker>
-                </gate>
-                <gate>
-                  <left_marker>red_bound_1</left_marker>
-                  <right_marker>green_bound_1</right_marker>
-                </gate>
-                <gate>
-                  <left_marker>red_bound_2</left_marker>
-                  <right_marker>green_bound_2</right_marker>
-                </gate>
-                <gate>
-                  <left_marker>red_bound_3</left_marker>
-                  <right_marker>green_bound_3</right_marker>
-                </gate>
-                <gate>
-                  <left_marker>red_bound_4</left_marker>
-                  <right_marker>green_bound_4</right_marker>
-                </gate>"
diff --git a/task_config/perception.yaml b/task_config/perception.yaml
index 082dd35..0fd1d7f 100644
--- a/task_config/perception.yaml
+++ b/task_config/perception.yaml
@@ -1,7 +1,7 @@
 constant:
     steps: 1
     macros:
-        sandisland_minus_scene:
+        marina_minus_scene:
             -
     sequence:
 
@@ -21,39 +21,40 @@ tasks:
             ocean_waves:
                 - gain: 0.0
                   period: 8.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 0.0
                   var_gain: 0
                   var_time: 2
                   seed: 10
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector>.5 .5 .33</coeff_vector>
                   </wind_obj>"
             scene_macro:
                 - /**fog: ""
                   /**ambient: "1 1 1 1"
             perception:
-                - /**object_sequence: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**object_sequence: "
                   <include>
                     <name>red_0</name>
-                    <pose>-200 100 1 0 0 0</pose>
+                    <pose>400 -600 1 0 0 0</pose>
                     <uri>model://surmark950410</uri>
                   </include>
                   <include>
                     <name>green_0</name>
-                    <pose>-200 102 1 0 0 0</pose>
+                    <pose>400 -598 1 0 0 0</pose>
                     <uri>model://surmark950400</uri>
                   </include>
                   <include>
                     <name>yellow_0</name>
-                    <pose>-200 104 1 0 0 0</pose>
+                    <pose>400 -596 1 0 0 0</pose>
                     <uri>model://yellow_totem</uri>
                   </include>"
                   /**model_includes: "
@@ -75,32 +76,34 @@ tasks:
                     <name>yellow_0</name>
                     <pose>4.9 -2.32 0.2 0 0 0</pose>
                   </object>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         1:
             ocean_waves:
                 - gain: 0.3
                   period: 8.0
                   direction_x: 0.92
                   direction_y: 0.37
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 0.0
                   var_gain: 0.0
                   var_time: 2
                   seed: 10
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
             scene_macro:
                 - /**fog: ""
                   /**ambient: "0.8 0.8 0.8 1"
             perception:
-                - /**object_sequence: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**object_sequence: "
                   <include>
                     <name>white_0</name>
                     <pose>-200 100 1 0 0 0</pose>
@@ -190,26 +193,26 @@ tasks:
                     <name>red_1</name>
                     <pose>4.67 0.11 0.7 0 0 0</pose>
                   </object>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         2:
             ocean_waves:
                 - gain: 0.7
                   period: 3
                   direction_x: 0.37
                   direction_y: -0.92
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 0.0
                   var_gain: 0
                   var_time: 2
                   seed: 10
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector>.5 .5 .33</coeff_vector>
                   </wind_obj>"
             scene_macro:
                 - /**fog: "'
@@ -220,7 +223,9 @@ tasks:
                 </fog>"
                   /**ambient: "0.3 0.3 0.3 1"
             perception:
-                - /**object_sequence: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**object_sequence: "
                   <include>
                     <name>a3_0</name>
                     <pose>-200 100 1 0 0 0</pose>
diff --git a/task_config/scan_and_dock.yaml b/task_config/scan_and_dock.yaml
deleted file mode 100644
index c83d740..0000000
--- a/task_config/scan_and_dock.yaml
+++ /dev/null
@@ -1,171 +0,0 @@
-constant:
-    steps: 1
-    macros:
-        sandisland_minus_scene:
-            -
-    sequence:
-
-tasks:
-    steps: 3
-    macros:
-        dock:
-            -
-        ocean_waves:
-            -
-        usv_wind_gazebo:
-            -
-        scene_macro:
-            -
-        insert_model:
-            -
-    sequence:
-        0:
-            ocean_waves:
-                - gain: 0.0
-                  period: 7.0
-                  direction_x: 1.0
-                  direction_y: 0.0
-            usv_wind_gazebo:
-                - direction: 270
-                  mean_vel: 0.0
-                  var_gain: 0
-                  var_time: 2
-                  seed: 10
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: ""
-                  /**ambient: ""
-            # Call the dock.xacro in vrx_gazebo/worlds/xacros/dock.xacro
-            # Make sure the model (dock0.sdf.erb) defines consistent
-            # symbols as passed to the xacro, i.e., to change placard symbols
-            # change them both here and in the dock0/model.sdf.erb file!!!
-            dock:
-                - model_name: vrx_dock_blue_circle__red_cross
-                  uri: vrx_dock_blue_circle__red_cross
-                  bay1_allowed: false
-                  bay1_symbol: blue_circle
-                  bay2_allowed: true
-                  bay2_symbol: red_cross
-                  x: 90
-                  y: 80
-                  z: -0.2
-                  Y: -2.76
-                  # Add light buoy and make sure that the light sequence 
-                  # is consistent with the allowed bay symbol
-                  light_buoy_present: true
-                  color_1: red
-                  color_2: green
-                  color_3: blue
-                  lb_x: 138 
-                  lb_y: 103
-        1:
-            ocean_waves:
-                - gain: 0.2
-                  period: 8.0
-                  direction_x: 1.0
-                  direction_y: 0.0
-            usv_wind_gazebo:
-                - direction: -160
-                  mean_vel: 4.0
-                  var_gain: 2.0
-                  var_time: 2
-                  seed: 11
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: ""
-                  /**ambient: "0.8 0.8 0.8 1"
-            # Call the dock.xacro in vrx_gazebo/worlds/xacros/dock.xacro
-            # Make sure the model (dock0.sdf.erb) defines consistent
-            # symbols as passed to the xacro, i.e., to change placard symbols
-            # change them both here and in the dock0/model.sdf.erb file!!!
-            dock:
-                - model_name: vrx_dock_green_triangle__blue_cross
-                  uri: vrx_dock_green_triangle__blue_cross
-                  bay1_allowed: true
-                  bay1_symbol: green_triangle
-                  bay2_allowed: false
-                  bay2_symbol: blue_cross
-                  x: 79
-                  y: -23
-                  z: -0.2
-                  Y: -2.2
-                  # Add light buoy and make sure that the light sequence 
-                  # is consistent with the allowed bay symbol
-                  light_buoy_present: true
-                  color_1: green
-                  color_2: blue
-                  color_3: green
-                  lb_x: 90 
-                  lb_y: 70
-        2:
-            ocean_waves:
-                - gain: 0.7
-                  period: 3.0
-                  direction_x: 0.37
-                  direction_y: -0.92
-            usv_wind_gazebo:
-                - direction: -160
-                  mean_vel: 8.0
-                  var_gain: 8.0
-                  var_time: 2
-                  seed: 12
-                  /**wind_objs: "
-                  <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
-                  </wind_obj>"
-            scene_macro:
-                - /**fog: "'
-                  <fog>
-                    <type> linear</type>
-                    <color> 0.7 0.7 0.7 1 </color>
-                    <density> 0.1 </density>
-                  </fog>"
-                  /**ambient: "0.4 0.4 0.4 1"
-            # Call the dock.xacro in vrx_gazebo/worlds/xacros/dock.xacro
-            # Make sure the model (dock0.sdf.erb) defines consistent
-            # symbols as passed to the xacro, i.e., to change placard symbols
-            # change them both here and in the dock0/model.sdf.erb file!!!
-            dock:
-                - model_name: vrx_dock_red_cross__red_triangle
-                  uri: vrx_dock_red_cross__red_triangle
-                  bay1_allowed: false
-                  bay1_symbol: red_cross
-                  bay2_allowed: true
-                  bay2_symbol: red_triangle
-                  x: 45
-                  y: 85
-                  z: -0.2
-                  Y: -1.2
-                  # Add light buoy and make sure that the light sequence 
-                  # is consistent with the allowed bay symbol
-                  light_buoy_present: true
-                  color_1: red
-                  color_2: blue
-                  color_3: green
-                  lb_x: -10 
-                  lb_y: 65
-    
\ No newline at end of file
diff --git a/task_config/stationkeeping.yaml b/task_config/stationkeeping.yaml
index b4667e2..5bdb6b3 100644
--- a/task_config/stationkeeping.yaml
+++ b/task_config/stationkeeping.yaml
@@ -1,7 +1,7 @@
 constant:
     steps: 1
     macros:
-        sandisland_minus_scene: 
+        marina_minus_scene: 
             -
     sequence:
 
@@ -19,98 +19,93 @@ environment:
     sequence:
         0:
             stationkeeping:
-                - lat: "21.31085"
-                  lon: "-157.88860"
-                  heading: "1.05"
+                - namespace: "cora"
+                  competition: "vorc"
+                  lat: "44.088427"
+                  lon: "9.8238729"
+                  heading: "0.0"
                   /**wp_markers: "
                   <markers>
-
-                  <scaling>0.2 0.2 2.0</scaling>
-
-                  <height>0.5</height>
-
+                    <scaling>0.2 0.2 2.0</scaling>
+                    <height>0.5</height>
                   </markers>"
             ocean_waves:
                 - gain: 0.0
                   period: 7.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 0
                   var_gain: 0
                   var_time: 1
                   seed: 10
                   direction: 240
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector>.5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         1:
             stationkeeping:
-                - lat: "21.31099"
+                - namespace: "cora"
+                  competition: "vorc"
+                  lat: "21.31099"
                   lon: "-157.88870"
                   heading: "3"
                   /**wp_markers: "
                   <markers>
-
-                  <scaling>0.2 0.2 2.0</scaling>
-
-                  <height>0.5</height>
-
+                    <scaling>0.2 0.2 2.0</scaling>
+                    <height>0.5</height>
                   </markers>"
             ocean_waves:
                 - gain: 0.2
                   period: 8.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 4.0
                   var_gain: 2.0
                   var_time: 2
                   seed: 15
                   direction: 192
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         2:
             stationkeeping:
-                - lat: "21.31092"
+                - namespace: "cora"
+                  competition: "vorc"
+                  lat: "21.31092"
                   lon: "-157.88874"
                   heading: "2.35"
                   /**wp_markers: "
                   <markers>
-
-                  <scaling>0.2 0.2 2.0</scaling>
-
-                  <height>0.5</height>
-
+                    <scaling>0.2 0.2 2.0</scaling>
+                    <height>0.5</height>
                   </markers>"
             ocean_waves:
                 - gain: 0.7
                   period: 3.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 8.0
                   var_gain: 8.0
                   var_time: 2
                   seed: 11
                   direction: 45
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
-
diff --git a/task_config/wayfinding.yaml b/task_config/wayfinding.yaml
index 004db19..1b39303 100644
--- a/task_config/wayfinding.yaml
+++ b/task_config/wayfinding.yaml
@@ -1,7 +1,7 @@
 constant:
     steps: 1
     macros:
-        sandisland_minus_scene: 
+        marina_minus_scene: 
             -
     sequence:
 
@@ -19,15 +19,17 @@ environment:
     sequence:
         0:
             wayfinding:
-                - /**waypoints: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**waypoints: "
                     <waypoint>
-                      <pose>21.31093 -157.88877 3.4</pose>
+                      <pose>44.0883705386 9.82367673319 1.21756121843</pose>
                     </waypoint>
                     <waypoint>
-                      <pose>21.31078 -157.88897 4.4</pose>
+                      <pose>44.0916341743 9.82668230867 1.0</pose>
                     </waypoint>
                     <waypoint>
-                      <pose>21.31058 -157.88897 5.4</pose>
+                      <pose>44.0913208285 9.82350874434 1.0</pose>
                     </waypoint>
                   "
                   /**wp_markers: "
@@ -38,25 +40,27 @@ environment:
             ocean_waves:
                 - gain: 0.0
                   period: 7.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 0
                   var_gain: 0
                   var_time: 1
                   seed: 13
                   direction: 240
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector>.5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         1:
             wayfinding:
-                - /**waypoints: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**waypoints: "
                    <waypoint>
                      <pose>21.31120 -157.89060 1</pose>
                    </waypoint>
@@ -75,29 +79,30 @@ environment:
                   <scaling>0.2 0.2 2.0</scaling>
                   <height>0.5</height>
                   </markers>"
-
             ocean_waves:
                 - gain: 0.2
                   period: 8.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 4.0
                   var_gain: 2.0
                   var_time: 2
                   seed: 13
                   direction: 192
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         2:
             wayfinding:
-                - /**waypoints: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**waypoints: "
                    <waypoint>
                      <pose>21.31050 -157.88860 4.25</pose>
                    </waypoint>
@@ -122,25 +127,27 @@ environment:
             ocean_waves:
                 - gain: 0.7
                   period: 3.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 8.0
                   var_gain: 8.0
                   var_time: 2
                   seed: 13
                   direction: 45
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         3:
             wayfinding:
-                - /**waypoints: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**waypoints: "
                     <waypoint>
                       <pose>21.31122 -157.88905 2.55</pose>
                     </waypoint>
@@ -156,25 +163,27 @@ environment:
             ocean_waves:
                 - gain: 0.0
                   period: 7.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 0
                   var_gain: 0
                   var_time: 1
                   seed: 13
                   direction: 240
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector>.5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector>.5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         4:
             wayfinding:
-                - /**waypoints: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**waypoints: "
                    <waypoint>
                      <pose>21.31087 -157.88915 3.5</pose>
                    </waypoint>
@@ -193,29 +202,30 @@ environment:
                   <scaling>0.2 0.2 2.0</scaling>
                   <height>0.5</height>
                   </markers>"
-
             ocean_waves:
                 - gain: 0.2
                   period: 7.0
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 5.0
                   var_gain: 0.0
                   var_time: 2
                   seed: 13
                   direction: 50
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
+        # TODO(anyone): Tweak numbers for make sense for VORC
         5:
             wayfinding:
-                - /**waypoints: "
+                - namespace: "cora"
+                  competition: "vorc"
+                  /**waypoints: "
                    <waypoint>
                      <pose>21.31060  -157.88896 3</pose>
                    </waypoint>
@@ -237,27 +247,23 @@ environment:
                   <scaling>0.2 0.2 2.0</scaling>
                   <height>0.5</height>
                   </markers>"
-
             ocean_waves:
                 - gain: 0.4
                   period: 4.0
                   direction_x: -0.1
                   direction_y: 0.9
+                  scale: 2.6
             usv_wind_gazebo:
                 - mean_vel: 4.0
                   var_gain: 4.0
                   var_time: 10
                   seed: 13
                   direction: 45
+                  topic_wind_speed: "/vorc/debug/wind/speed"
+                  topic_wind_direction: "/vorc/debug/wind/direction"
                   /**wind_objs: "
                   <wind_obj>
-
-                  <name>wamv</name>
-
-                  <link_name>base_link</link_name>
-
-                  <coeff_vector> .5 .5 .33</coeff_vector>
-
+                    <name>cora</name>
+                    <link_name>base_link</link_name>
+                    <coeff_vector> .5 .5 .33</coeff_vector>
                   </wind_obj>"
-
-
diff --git a/team_config/example_team/dockerhub_image.txt b/team_config/example_team/dockerhub_image.txt
deleted file mode 100644
index cfff4f4..0000000
--- a/team_config/example_team/dockerhub_image.txt
+++ /dev/null
@@ -1 +0,0 @@
-tylerlum/vrx-competitor-example:v2.2019
diff --git a/team_config/example_team/sensor_config.yaml b/team_config/example_team/sensor_config.yaml
deleted file mode 100644
index 0c6c475..0000000
--- a/team_config/example_team/sensor_config.yaml
+++ /dev/null
@@ -1,28 +0,0 @@
-wamv_camera:
-    - name: front_camera
-      #      x: 0.75
-      #      y: 0.3
-      #      z: 2
-      #      P: ${radians(15)}
-      #    - name: front_left_camera
-      #      x: 0.75
-      #      y: 0.1
-      #      P: ${radians(15)}
-      #    - name: front_right_camera
-      #      x: 0.75
-      #      y: -0.1
-      #      P: ${radians(15)}
-      #    - name: middle_right_camera
-      #      x: 0.75
-      #      y: 0.3
-      #      P: ${radians(15)}
-      #    - name: middle_left_camera
-      #      x: 0.75
-      #      y: -0.3
-      #      P: ${radians(15)}
-wamv_gps:
-    - name: gps_wamv
-wamv_imu:
-    - name: imu_wamv
-lidar:
-    - name: lidar_wamv
diff --git a/team_config/example_team/thruster_config.yaml b/team_config/example_team/thruster_config.yaml
deleted file mode 100644
index 185cdb3..0000000
--- a/team_config/example_team/thruster_config.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-engine:
-  - prefix: "left"
-    position: "-2.373776 1.027135 0.318237"
-    orientation: "0.0 0.0 0.0"
-  - prefix: "right"
-    position: "-2.373776 -1.027135 0.318237"
-    orientation: "0.0 0.0 0.0"
-  - prefix: "middle"
-    position: "0 0 0.318237"
-    orientation: "0.0 0.0 0.0"
diff --git a/team_config/example_team_2/dockerhub_image.txt b/team_config/example_team_2/dockerhub_image.txt
deleted file mode 100644
index b29f1d9..0000000
--- a/team_config/example_team_2/dockerhub_image.txt
+++ /dev/null
@@ -1 +0,0 @@
-tylerlum/vrx-competitor-example:v5.2019
diff --git a/team_config/example_team_2/sensor_config.yaml b/team_config/example_team_2/sensor_config.yaml
deleted file mode 100644
index 616b030..0000000
--- a/team_config/example_team_2/sensor_config.yaml
+++ /dev/null
@@ -1,26 +0,0 @@
-wamv_camera:
-    - name: front_camera
-      #      x: 0.75
-      #      y: 0.3
-      #      z: 2
-      #      P: ${radians(15)}
-      #    - name: front_left_camera
-      #      x: 0.75
-      #      y: 0.1
-      #      P: ${radians(15)}
-      #    - name: front_right_camera
-      #      x: 0.75
-      #      y: -0.1
-      #      P: ${radians(15)}
-      #    - name: middle_right_camera
-      #      x: 0.75
-      #      y: 0.3
-      #      P: ${radians(15)}
-      #    - name: middle_left_camera
-      #      x: 0.75
-      #      y: -0.3
-      #      P: ${radians(15)}
-wamv_gps:
-    - name: gps_wamv
-wamv_imu:
-    - name: imu_wamv
diff --git a/team_config/example_team_2/thruster_config.yaml b/team_config/example_team_2/thruster_config.yaml
deleted file mode 100644
index 169f622..0000000
--- a/team_config/example_team_2/thruster_config.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-engine:
-  - prefix: "left"
-    position: "-2.373776 1.027135 0.318237"
-    orientation: "0.0 0.0 0.0"
-  - prefix: "right"
-    position: "-2.373776 -1.027135 0.318237"
-    orientation: "0.0 0.0 0.0"
diff --git a/team_config/ghostship/dockerhub_image.txt b/team_config/ghostship/dockerhub_image.txt
new file mode 100644
index 0000000..c27e8a2
--- /dev/null
+++ b/team_config/ghostship/dockerhub_image.txt
@@ -0,0 +1 @@
+crvogt/ghostship:v1
diff --git a/utils/get_trial_score.py b/utils/get_trial_score.py
index 5b9afee..e444080 100755
--- a/utils/get_trial_score.py
+++ b/utils/get_trial_score.py
@@ -17,7 +17,7 @@
 trial_directory = dir_path + '/../generated/logs/' + team_name + '/' + task_name + '/' + trial_number
 
 # Open ros bag
-bag_name = trial_directory + '/vrx_rostopics.bag'
+bag_name = trial_directory + '/vorc_rostopics.bag'
 bag = rosbag.Bag(bag_name)
 
 # Get last message
@@ -25,7 +25,7 @@
 last_msg = None
 last_t = None
 
-for topic, msg, t in bag.read_messages(topics=['/vrx/task/info']):
+for topic, msg, t in bag.read_messages(topics=['/vorc/task/info']):
     last_topic = topic
     last_msg = msg
     last_t = t
@@ -33,7 +33,10 @@
 # Write trial score to file
 trial_score_name = trial_directory + "/trial_score.txt"
 f = open(trial_score_name, 'w+')
-f.write("{}".format(last_msg.score))
+if last_msg != None:
+    f.write("{}".format(last_msg.score))
+else:
+    f.write("{}".format(-1))
 
 print("Successfully recorded trial score in {}".format(trial_score_name))
 f.close()
diff --git a/utils/kill_vrx_containers.bash b/utils/kill_vorc_containers.bash
similarity index 68%
rename from utils/kill_vrx_containers.bash
rename to utils/kill_vorc_containers.bash
index ad8c1ec..f23bca7 100755
--- a/utils/kill_vrx_containers.bash
+++ b/utils/kill_vorc_containers.bash
@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
 
-# kill_vrx_containers.bash: A bash script that kills all vrx containers
+# kill_vorc_containers.bash: A bash script that kills all vorc containers
 # 
-# eg. ./kill_vrx_containers.bash
+# eg. ./kill_vorc_containers.bash
 
 # Constants.
 RED='\033[0;31m'
@@ -22,6 +22,7 @@ kill_matching_containers () {
 }
 
 echo "Killing containers"
-kill_matching_containers "vrx-competitor-*"
-kill_matching_containers "vrx-server-*"
+# TODO(mabelzhang): Change to vorc-competitor when have competitor dockerfile
+kill_matching_containers "vorc-competitor-*"
+kill_matching_containers "vorc-server-*"
 echo -e "${GREEN}Done.${NOCOLOR}\n"
diff --git a/utils/vrx_network.bash b/utils/vorc_network.bash
similarity index 83%
rename from utils/vrx_network.bash
rename to utils/vorc_network.bash
index 944cb09..8fefcbf 100755
--- a/utils/vrx_network.bash
+++ b/utils/vorc_network.bash
@@ -1,8 +1,8 @@
 #!/usr/bin/env bash
 
-# vrx_network.bash: A bash script that creates a Docker network
+# vorc_network.bash: A bash script that creates a Docker network
 #
-# eg. ./vrx_network.bash vrx-network 172.16.0.10/16
+# eg. ./vorc_network.bash vorc-network 172.16.0.10/16
 
 # Constants.
 RED='\033[0;31m'
diff --git a/vrx_server/build_image.bash b/vorc_server/build_image.bash
similarity index 86%
rename from vrx_server/build_image.bash
rename to vorc_server/build_image.bash
index 393e2c2..283d51d 100755
--- a/vrx_server/build_image.bash
+++ b/vorc_server/build_image.bash
@@ -1,11 +1,11 @@
 #!/bin/bash
 
-# build_image.bash: A bash script to build the vrx server image
+# build_image.bash: A bash script to build the vorc server image
 #
 # E.g.: ./build_image.bash    # non-Nvidia
 #   or  ./build_image.bash -n # Nvidia
 
-echo "Building vrx-server image"
+echo "Building vorc-server image"
 echo "================================="
 
 set -e
@@ -29,7 +29,7 @@ fi
 
 # Parse arguments
 BUILD_BASE=""
-image_name="vrx-server-melodic"
+image_name="vorc-server-melodic"
 
 # Parse args related to NVIDIA
 POSITIONAL=()
@@ -63,7 +63,7 @@ fi
 echo "Build image: $image_name"
 set -x
 image_plus_tag=$image_name:$(export LC_ALL=C; date +%Y_%m_%d_%H%M)
-docker build --force-rm ${DOCKER_ARGS} --tag $image_plus_tag --build-arg USER=$USER --build-arg GROUP=$USER $BUILD_BASE $DIR/vrx-server && \
+docker build --force-rm ${DOCKER_ARGS} --tag $image_plus_tag --build-arg USER=$USER --build-arg GROUP=$USER $BUILD_BASE $DIR/vorc-server && \
 docker tag $image_plus_tag $image_name:latest && \
 echo "Built $image_plus_tag and tagged as $image_name:latest"
 
diff --git a/vrx_server/run_container.bash b/vorc_server/run_container.bash
similarity index 85%
rename from vrx_server/run_container.bash
rename to vorc_server/run_container.bash
index 572f2e3..c0b0f04 100755
--- a/vrx_server/run_container.bash
+++ b/vorc_server/run_container.bash
@@ -1,6 +1,7 @@
 #!/bin/bash
 
-# run_container.bash: A bash script to build the vrx server image in a container
+# run_container.bash: A bash script to build the vorc server image in a
+# container
 #
 # This script is used to create and run a docker container from an image
 # (usually from a built src-cloudsim image).
@@ -11,8 +12,8 @@
 # --- 4) An optional command to execute in the run container. E.g. /bin/bash 
 #
 # Example command line:
-# E.g.: ./run_container.bash vrx-server-system vrx-server-melodic "-e ROS_IP=172.XX.XX.XX" "/run_script.sh"    # non-Nvidia
-#   or  ./run_container.bash -n vrx-server-system vrx-server-melodic-nvidia "-e ROS_IP=172.XX.XX.XX" "/run_script.sh" # Nvidia
+# E.g.: ./run_container.bash vorc-server-system vorc-server-melodic "-e ROS_IP=172.XX.XX.XX" "/run_script.sh"    # non-Nvidia
+#   or  ./run_container.bash -n vorc-server-system vorc-server-melodic-nvidia "-e ROS_IP=172.XX.XX.XX" "/run_script.sh" # Nvidia
 #
 # Requires:
 #   docker
diff --git a/vrx_server/vrx-server/Dockerfile b/vorc_server/vorc-server/Dockerfile
similarity index 78%
rename from vrx_server/vrx-server/Dockerfile
rename to vorc_server/vorc-server/Dockerfile
index 3976a9f..906b7d3 100644
--- a/vrx_server/vrx-server/Dockerfile
+++ b/vorc_server/vorc-server/Dockerfile
@@ -10,7 +10,7 @@ ARG DIST=melodic
 ARG GAZ=gazebo9
 
 # Tools useful during development.
- RUN apt update \
+RUN apt update \
   && apt install -y \
          build-essential \
          cppcheck \
@@ -19,6 +19,7 @@ ARG GAZ=gazebo9
          lsb-release \
          gdb \
          git \
+         gnupg2 \
          mercurial \
          python3-dbg \
          python3-pip \
@@ -69,6 +70,7 @@ RUN /bin/sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc)
     ros-${DIST}-teleop-twist-keyboard \
     ros-${DIST}-velodyne-simulator \
     python-rosdep \
+    python3-colcon-common-extensions \
  && rosdep init \
  && apt clean
 
@@ -82,13 +84,13 @@ ARG GROUP=developer
 # Add a user with the same user_id as the user outside the container
 # Requires a docker build argument `user_id`.
 
-RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - && \
-    chown root:root /usr/local/bin/fixuid && \
-    chmod 4755 /usr/local/bin/fixuid && \
-    mkdir -p /etc/fixuid && \
-    printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
-RUN addgroup --gid 1000 $USER && \
-    adduser --uid 1000 --ingroup $USER --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER
+RUN curl -SsL https://github.com/boxboat/fixuid/releases/download/v0.4/fixuid-0.4-linux-amd64.tar.gz | tar -C /usr/local/bin -xzf - \
+ && chown root:root /usr/local/bin/fixuid \
+ && chmod 4755 /usr/local/bin/fixuid \
+ && mkdir -p /etc/fixuid \
+ && printf "user: $USER\ngroup: $GROUP\n" > /etc/fixuid/config.yml
+RUN addgroup --gid 1000 $USER \
+ && adduser --uid 1000 --ingroup $USER --home /home/$USER --shell /bin/sh --disabled-password --gecos "" $USER
 
 RUN adduser $USER sudo \
  && echo "$USER ALL=NOPASSWD: ALL" >> /etc/sudoers.d/$USER
@@ -100,21 +102,22 @@ USER $USER:$GROUP
 WORKDIR /home/$USER
 
 # Create workspace
-RUN mkdir -p vrx_ws/src
+RUN mkdir -p vorc_ws/src
 
-# Copy the VRX repository from the local file system
-# We can't use the USER:GROUP variables until Docker adds support to --chown
-# COPY --chown=developer:developer . vrx_ws/src/vrx/
-RUN git clone https://github.com/osrf/vrx.git
-RUN mv ./vrx ./vrx_ws/src
+# TODO(mabelzhang): Clone master branches once merged!
+RUN /bin/sh -c 'echo "Cloning git repos..."'
+RUN cd /home/$USER/vorc_ws/src \
+ && git clone -b install_for_docker https://github.com/osrf/vrx.git \
+ && git clone -b for_vorc_docker https://github.com/osrf/vorc.git
 
-# Compile the VRX project.
-RUN /bin/bash -c ". /opt/ros/${DIST}/setup.bash && cd vrx_ws && catkin_make"
+# Compile VRX and VORC
+#RUN /bin/bash -c ". /opt/ros/${DIST}/setup.bash && cd vorc_ws && colcon build"
+RUN /bin/bash -c ". /opt/ros/${DIST}/setup.bash && cd vorc_ws && catkin_make"
 
 # Source all the needed environment files.
 RUN /bin/sh -c 'echo ". /opt/ros/${DIST}/setup.bash" >> ~/.bashrc' \
  && /bin/sh -c 'echo ". /usr/share/gazebo/setup.sh" >> ~/.bashrc' \
- && /bin/sh -c 'echo ". ~/vrx_ws/devel/setup.sh" >> ~/.bashrc'
+ && /bin/sh -c 'echo ". ~/vorc_ws/install/setup.bash" >> ~/.bashrc'
 ## END OF SECTION BASED ON vrx/docker/Dockerfile
 
 # Expose port used to communiate with gzserver
@@ -137,7 +140,7 @@ ENV LANG en_US.UTF-8
 #  && rm /tmp/default.tar.gz
 
 # setup entrypoint
-COPY ./vrx_entrypoint.sh /
-COPY ./run_vrx_trial.sh /
+COPY ./vorc_entrypoint.sh /
+COPY ./run_vorc_trial.sh /
 
-ENTRYPOINT ["/vrx_entrypoint.sh"]
+ENTRYPOINT ["/vorc_entrypoint.sh"]
diff --git a/vrx_server/vrx-server/run_vrx_trial.sh b/vorc_server/vorc-server/run_vorc_trial.sh
similarity index 65%
rename from vrx_server/vrx-server/run_vrx_trial.sh
rename to vorc_server/vorc-server/run_vorc_trial.sh
index 46193ec..5bb0d64 100755
--- a/vrx_server/vrx-server/run_vrx_trial.sh
+++ b/vorc_server/vorc-server/run_vorc_trial.sh
@@ -1,6 +1,6 @@
 #!/bin/bash
 
-# run_vrx_trial.sh: A shell script to execute one vrx trial.
+# run_vorc_trial.sh: A shell script to execute one vorc trial.
 
 is_gzserver_running()
 {
@@ -39,16 +39,15 @@ NOCOLOR='\033[0m'
 # Define usage function.
 usage()
 {
-  echo "Usage: $0 <wamv_urdf> <trial_world> <destination_folder>"
+  echo "Usage: $0 <trial_world> <destination_folder>"
   exit 1
 }
 
 # Call usage() function if arguments not supplied.
-[[ $# -ne 3 ]] && usage
+[[ $# -ne 2 ]] && usage
 
-WAMV_URDF=$1
-TRIAL_WORLD=$2
-DESTINATION_FOLDER=$3
+TRIAL_WORLD=$1
+DESTINATION_FOLDER=$2
 
 # Create a directory for the Gazebo log and the score file.
 if [ -d "$DESTINATION_FOLDER" ]; then
@@ -57,12 +56,20 @@ if [ -d "$DESTINATION_FOLDER" ]; then
 fi
 mkdir -p $DESTINATION_FOLDER
 
-echo "Starting vrx trial..."
+# Sanity check if file exists
+if [ -f "${TRIAL_WORLD}" ]; then
+  echo "Successfully found: ${TRIAL_WORLD}"
+else
+  echo -e "${RED}Err: ${TRIAL_WORLD} not found."; ls /task_generated; exit 1;
+fi
+
+echo "Starting vorc trial..."
 
 # Run the trial.
 # Note: Increase record period to have faster playback. Decrease record period for slower playback
 RECORD_PERIOD="0.01"
-roslaunch vrx_gazebo sandisland.launch gui:=false urdf:=$WAMV_URDF world:=$TRIAL_WORLD extra_gazebo_args:="-r --record_period ${RECORD_PERIOD} --record_path $HOME/.gazebo" verbose:=true non_competition_mode:=false > ~/verbose_output.txt 2>&1 &
+# To watch the actual competition run, set gui:=true.
+roslaunch vorc_gazebo marina.launch gui:=false world:=$TRIAL_WORLD extra_gazebo_args:="-r --record_period ${RECORD_PERIOD} --record_path $HOME/.gazebo" verbose:=true robot_locked:=true non_competition_mode:=false > $HOME/verbose_output.txt 2>&1 &
 roslaunch_pid=$!
 wait_until_gzserver_is_up
 echo -e "${GREEN}OK${NOCOLOR}\n"
@@ -70,7 +77,7 @@ echo -e "${GREEN}OK${NOCOLOR}\n"
 # Store topics in rosbag 
 # July 24, 2019 only record task info to save space
 echo "Starting rosbag recording..." 
-rosbag record -O ~/vrx_rostopics.bag /vrx/task/info &
+rosbag record -O $HOME/vorc_rostopics.bag /vorc/task/info &
 echo -e "${GREEN}OK${NOCOLOR}\n"
 
 # Run simulation until shutdown
diff --git a/vrx_server/vrx-server/vrx_entrypoint.sh b/vorc_server/vorc-server/vorc_entrypoint.sh
similarity index 61%
rename from vrx_server/vrx-server/vrx_entrypoint.sh
rename to vorc_server/vorc-server/vorc_entrypoint.sh
index c287da2..6037983 100755
--- a/vrx_server/vrx-server/vrx_entrypoint.sh
+++ b/vorc_server/vorc-server/vorc_entrypoint.sh
@@ -7,9 +7,11 @@ source "/usr/share/gazebo/setup.sh"
 # setup ros environment.
 source "/opt/ros/melodic/setup.bash" > /dev/null
 
-# setup vrx environment
-source ~/vrx_ws/devel/setup.sh
-echo "vrx entrypoint executed"
+# setup vorc environment
+# TODO(mabelzhang): change to install after fixing vrx package to work with install
+# source ~/vorc_ws/install/setup.bash
+source ~/vorc_ws/devel/setup.bash
+echo "vorc entrypoint executed"
 
 # TODO: optionally disable this so a gzclient can be run on the host for development.
 export GAZEBO_IP=127.0.0.1