diff --git a/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png
deleted file mode 100644
index 6763247..0000000
Binary files a/ionic_demo/models/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl
deleted file mode 100644
index abc59b8..0000000
--- a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd ../materials/textures/breakfast_menu_diffuse.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj b/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj
deleted file mode 100644
index b9645c1..0000000
--- a/ionic_demo/models/breakfast_menu_convex_hull/meshes/model.obj
+++ /dev/null
@@ -1,30315 +0,0 @@
-# Copyright 2020 Google LLC.
-# 
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
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diff --git a/ionic_demo/models/breakfast_menu_convex_hull/model.config b/ionic_demo/models/breakfast_menu_convex_hull/model.config
deleted file mode 100644
index 3d74e2d..0000000
--- a/ionic_demo/models/breakfast_menu_convex_hull/model.config
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<model>
-  <name>Breakfast Menu Convex Hull</name>
-  <author>
-    <name>Google</name>
-    <email>scanned-objects@google.com</email>
-  </author>
-  <author>
-    <name>Ian Chen</name>
-    <email>ichen@openrobotics.org</email>
-  </author>
-  <version>1.0</version>
-  <sdf version="1.11">model.sdf</sdf>
-  <description>Breakfast menu- modified from the original breakfast menu model to feature mesh convex hull.
-The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.</description>
-</model>
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/model.sdf b/ionic_demo/models/breakfast_menu_convex_hull/model.sdf
deleted file mode 100644
index e6f72b6..0000000
--- a/ionic_demo/models/breakfast_menu_convex_hull/model.sdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<sdf version="1.11">
-  <model name="breakfast_menu_convex_hull">
-    <link name="link_0">
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision_0">
-        <geometry>
-          <mesh optimization="convex_hull">
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/0.jpg
deleted file mode 100644
index 963c983..0000000
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diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/1.jpg
deleted file mode 100644
index b659951..0000000
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diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/2.jpg
deleted file mode 100644
index dbb582d..0000000
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diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/3.jpg
deleted file mode 100644
index 3552df3..0000000
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diff --git a/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_convex_hull/thumbnails/4.jpg
deleted file mode 100644
index 935bea2..0000000
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png
deleted file mode 100644
index 6763247..0000000
Binary files a/ionic_demo/models/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl
deleted file mode 100644
index abc59b8..0000000
--- a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd ../materials/textures/breakfast_menu_diffuse.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj b/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj
deleted file mode 100644
index b9645c1..0000000
--- a/ionic_demo/models/breakfast_menu_decomposed/meshes/model.obj
+++ /dev/null
@@ -1,30315 +0,0 @@
-# Copyright 2020 Google LLC.
-# 
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-# Generated by Katamari OBJ encoder.
-# Vertices: 5834
-# Faces: 11676
-mtllib model.mtl
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/model.config b/ionic_demo/models/breakfast_menu_decomposed/model.config
deleted file mode 100644
index b14cf12..0000000
--- a/ionic_demo/models/breakfast_menu_decomposed/model.config
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<model>
-  <name>Breakfast Menu Decomposed</name>
-  <author>
-    <name>Google</name>
-    <email>scanned-objects@google.com</email>
-  </author>
-  <author>
-    <name>Ian Chen</name>
-    <email>ichen@openrobotics.org</email>
-  </author>
-  <version>1.0</version>
-  <sdf version="1.11">model.sdf</sdf>
-  <description>Breakfast Menu - modified from the original breakfast menu model to feature mesh convex decomposition.
-The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.</description>
-</model>
diff --git a/ionic_demo/models/breakfast_menu_decomposed/model.sdf b/ionic_demo/models/breakfast_menu_decomposed/model.sdf
deleted file mode 100644
index faf7e85..0000000
--- a/ionic_demo/models/breakfast_menu_decomposed/model.sdf
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<sdf version="1.11">
-  <model name="breakfast_menu_decomposed">
-    <link name="link_0">
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision_0">
-        <geometry>
-          <mesh optimization="convex_decomposition">
-            <convex_decomposition>
-              <max_convex_hulls>32</max_convex_hulls>
-              <voxel_resolution>800000</voxel_resolution>
-            </convex_decomposition>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/0.jpg
deleted file mode 100644
index 963c983..0000000
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/1.jpg
deleted file mode 100644
index b659951..0000000
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/2.jpg
deleted file mode 100644
index dbb582d..0000000
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/3.jpg
deleted file mode 100644
index 3552df3..0000000
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diff --git a/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_decomposed/thumbnails/4.jpg
deleted file mode 100644
index 935bea2..0000000
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diff --git a/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png
deleted file mode 100644
index 6763247..0000000
Binary files a/ionic_demo/models/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_original/meshes/model.mtl b/ionic_demo/models/breakfast_menu_original/meshes/model.mtl
deleted file mode 100644
index abc59b8..0000000
--- a/ionic_demo/models/breakfast_menu_original/meshes/model.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd ../materials/textures/breakfast_menu_diffuse.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/models/breakfast_menu_original/meshes/model.obj b/ionic_demo/models/breakfast_menu_original/meshes/model.obj
deleted file mode 100644
index b9645c1..0000000
--- a/ionic_demo/models/breakfast_menu_original/meshes/model.obj
+++ /dev/null
@@ -1,30315 +0,0 @@
-# Copyright 2020 Google LLC.
-# 
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-# Generated by Katamari OBJ encoder.
-# Vertices: 5834
-# Faces: 11676
-mtllib model.mtl
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-f 1728/1728/1701 1729/1729/1704 1734/1734/1707
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-f 1724/1724/1698 1728/1728/1701 1735/1735/1731
-f 1724/1724/1698 1721/1721/1696 1728/1728/1701
-f 1726/1726/2030 1724/1724/1698 1736/1736/1706
-f 1735/1735/1731 1736/1736/1706 1724/1724/1698
-f 1737/1737/2040 1726/1726/2030 1736/1736/1706
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-f 1732/1732/1703 1739/1739/1708 1734/1734/1707
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-f 1739/1739/1708 1740/1740/1710 1734/1734/1707
-f 1741/1741/1709 1740/1740/1710 1739/1739/1708
-f 1742/1742/1711 1739/1739/1708 1732/1732/1703
-f 1742/1742/1711 1743/1743/1735 1739/1739/1708
-f 1743/1743/1735 1741/1741/1709 1739/1739/1708
-f 1744/1744/1712 1736/1736/1706 1735/1735/1731
-f 1744/1744/1712 1735/1735/1731 1745/1745/1713
-f 1742/1742/1711 1732/1732/1703 1730/1730/1702
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-f 1747/1747/1715 1744/1744/1712 1745/1745/1713
-f 1746/1746/1716 1747/1747/1715 1748/1748/1717
-f 305/305/1206 1749/1749/1718 304/304/262
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-f 1753/1753/1720 1752/1752/1721 1749/1749/1718
-f 1753/1753/1720 1750/1750/1723 1752/1752/1721
-f 1750/1750/1723 1753/1753/1720 1749/1749/1718
-f 1750/1750/1723 1652/1652/1624 1643/1643/1616
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-f 1757/1757/1724 1755/1755/1722 1758/1758/1725
-f 1758/1758/1725 1755/1755/1722 1754/1754/1932
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-f 1759/1759/1728 1761/1761/1726 1760/1760/1730
-f 1759/1759/1728 1741/1741/1709 1743/1743/1735
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-f 1759/1759/1728 1743/1743/1735 1764/1764/1729
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-f 1741/1741/1709 1759/1759/1728 1740/1740/1710
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-f 1770/1770/1763 1764/1764/1729 1743/1743/1735
-f 1770/1770/1763 1743/1743/1735 1766/1766/1732
-f 1770/1770/1763 1766/1766/1732 1771/1771/1736
-f 1768/1768/1733 1771/1771/1736 1766/1766/1732
-f 1771/1771/1736 1768/1768/1733 1767/1767/1737
-f 615/615/1621 1714/1714/1860 1767/1767/1737
-f 1714/1714/1860 1771/1771/1736 1767/1767/1737
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-f 1763/1763/1727 1772/1772/1740 1762/1762/1739
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-f 1765/1765/1738 1762/1762/1739 1774/1774/1744
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-f 1745/1745/1713 1735/1735/1731 1777/1777/1741
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-f 1747/1747/1715 1745/1745/1713 1778/1778/1743
-f 1777/1777/1741 1735/1735/1731 1765/1765/1738
-f 1779/1779/1742 1748/1748/1717 1747/1747/1715
-f 1747/1747/1715 1778/1778/1743 1779/1779/1742
-f 1774/1774/1744 1777/1777/1741 1765/1765/1738
-f 1775/1775/1746 1777/1777/1741 1774/1774/1744
-f 1777/1777/1741 1775/1775/1746 1778/1778/1743
-f 1775/1775/1746 1780/1780/1748 1778/1778/1743
-f 1779/1779/1742 1778/1778/1743 1781/1781/2236
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-f 1782/1782/1745 1780/1780/1748 1775/1775/1746
-f 1781/1781/2236 1778/1778/1743 1780/1780/1748
-f 1783/1783/1749 1781/1781/2236 1780/1780/1748
-f 1782/1782/1745 1783/1783/1749 1780/1780/1748
-f 1773/1773/1755 1784/1784/1751 1785/1785/1750
-f 1763/1763/1727 1784/1784/1751 1772/1772/1740
-f 1773/1773/1755 1772/1772/1740 1784/1784/1751
-f 1764/1764/1729 1784/1784/1751 1763/1763/1727
-f 1786/1786/1752 1784/1784/1751 1764/1764/1729
-f 1764/1764/1729 1787/1787/1753 1786/1786/1752
-f 1787/1787/1753 1764/1764/1729 1770/1770/1763
-f 1786/1786/1752 1785/1785/1758 1784/1784/1751
-f 1785/1785/1750 1788/1788/1754 1773/1773/1755
-f 1789/1789/1905 1773/1773/1755 1790/1790/1756
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-f 1791/1791/1759 1785/1785/1758 1786/1786/1752
-f 1790/1790/1756 1773/1773/1755 1788/1788/1754
-f 1792/1792/1760 1790/1790/1756 1793/1793/1892
-f 1790/1790/1756 1788/1788/1754 1793/1793/1892
-f 1791/1791/1759 1793/1793/1887 1788/1788/1757
-f 1787/1787/1753 1791/1791/1759 1786/1786/1752
-f 1789/1789/1905 1774/1774/1744 1773/1773/1755
-f 1794/1794/1761 1776/1776/1747 1774/1774/1744
-f 1789/1789/1905 1794/1794/1761 1774/1774/1744
-f 1789/1789/1905 1790/1790/1756 1792/1792/1760
-f 1795/1795/1762 1787/1787/1753 1770/1770/1763
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-f 1795/1795/1762 1771/1771/1736 1714/1714/1860
-f 1714/1714/1860 1796/1796/1764 1795/1795/1762
-f 1787/1787/1753 1795/1795/1762 1796/1796/1764
-f 1797/1797/1910 1798/1798/1765 1783/1783/1749
-f 1799/1799/1768 1707/1707/1683 1705/1705/1682
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-f 1801/1801/1767 1799/1799/1768 1705/1705/1682
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-f 1803/1803/1770 1802/1802/1769 1705/1705/1682
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-f 1802/6051/1769 1803/6052/1770 1804/1804/1771
-f 1804/1804/1771 1803/6052/1770 1805/1805/1822
-f 1706/1706/1689 1800/6049/1766 1806/1806/1773
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-f 1806/1806/1773 1711/1711/1779 1706/1706/1689
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-f 1800/1800/1766 1799/1799/1768 1807/6054/1772
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-f 1810/1810/1776 1807/6053/1772 1809/6055/1774
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-f 1809/6055/1774 1801/6050/1767 1810/1810/1776
-f 1808/1808/1781 1807/1807/1772 1811/1811/1775
-f 1808/1808/1781 1811/1811/1775 1812/1812/1784
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-f 1715/1715/1782 1816/1816/1783 1817/1817/1859
-f 1816/1816/1783 1715/1715/1782 1815/1815/1780
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-f 1827/1827/1793 1828/1828/1807 1825/1825/1791
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-f 1830/1830/1794 1821/1821/1786 1822/1822/1789
-f 1822/1822/1789 1831/1831/1808 1830/1830/1794
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-f 1824/1824/1790 1826/1826/1792 1839/1839/1802
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-f 1840/1840/1806 1837/1837/1803 1826/1826/1805
-f 1840/1840/1806 1826/1826/1805 1836/1836/1809
-f 1835/1835/1798 1828/1828/1807 1827/1827/1793
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-f 1845/1845/1820 1844/1844/1814 1853/1853/1821
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-f 1814/1814/1778 1804/1804/1771 1805/1805/1822
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-f 1829/1829/1811 1869/1869/1834 1871/1871/1866
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-f 1868/1868/1835 1874/1874/1850 1824/1824/1790
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-f 1838/1838/1846 1837/1837/1803 1873/1873/1836
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-f 1840/1840/1806 1881/1881/1847 1837/1837/1803
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-f 1881/1881/1847 1872/1872/1840 1873/1873/1836
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-f 1842/1842/1868 1882/1882/1890 1881/1881/1847
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-f 1881/1881/1847 1882/1882/1890 1878/1878/1842
-f 1882/1882/1890 1879/1879/1843 1878/1878/1842
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-f 1886/1886/1852 1875/1875/1837 1880/1880/1853
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-f 1889/1889/1856 1863/1863/2670 1856/1856/1855
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-f 1823/1823/1867 1842/1842/1868 1836/1836/1809
-f 1842/1842/1868 1823/1823/1867 1896/1896/1891
-f 1883/1883/1869 1896/1896/1891 1823/1823/1867
-f 1714/1714/1860 1895/1895/1865 1897/1897/1885
-f 1895/1895/1865 1841/1841/1810 1871/1871/1866
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-f 1791/1791/1759 1796/1796/1764 1916/1916/1888
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-f 1897/1897/1885 1916/1916/1888 1714/1714/1860
-f 1917/1917/1889 1882/1882/1890 1896/1896/1891
-f 1842/1842/1868 1896/1896/1891 1882/1882/1890
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-f 1883/1883/1869 1879/1879/1843 1917/1917/1889
-f 1883/1883/1869 1917/1917/1889 1896/1896/1891
-f 1792/1792/1760 1793/1793/1892 1885/1885/1849
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-f 1885/1885/1849 1793/1793/1892 1884/1884/1848
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-f 1922/1922/1937 1924/1924/1902 1911/1911/1899
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-f 1776/1776/1747 1794/1794/1761 1927/1927/1912
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-f 1797/1797/1910 1783/1783/1749 1782/1782/1745
-f 1797/1797/1910 1782/1782/1745 1930/1930/1908
-f 1932/1932/1909 1798/1798/1765 1797/1797/1910
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-f 1797/1797/1910 1930/1930/1908 1932/1932/1909
-f 1927/1927/1912 1794/1794/1761 1934/1934/1913
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diff --git a/ionic_demo/models/breakfast_menu_original/model.config b/ionic_demo/models/breakfast_menu_original/model.config
deleted file mode 100644
index 67a4d43..0000000
--- a/ionic_demo/models/breakfast_menu_original/model.config
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<model>
-  <name>Breakfast Menu Original</name>
-  <author>
-    <name>Google</name>
-    <email>scanned-objects@google.com</email>
-  </author>
-  <author>
-    <name>Ian Chen</name>
-    <email>ichen@openrobotics.org</email>
-  </author>
-  <version>1.0</version>
-  <sdf version="1.11">model.sdf</sdf>
-  <description>Breakfast menu- copied from original breakfast menu model for Gazebo Ionic demo.
-The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.</description>
-</model>
diff --git a/ionic_demo/models/breakfast_menu_original/model.sdf b/ionic_demo/models/breakfast_menu_original/model.sdf
deleted file mode 100644
index bf255ee..0000000
--- a/ionic_demo/models/breakfast_menu_original/model.sdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<sdf version="1.11">
-  <model name="breakfast_menu">
-    <link name="link_0">
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision_0">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg
deleted file mode 100644
index 963c983..0000000
Binary files a/ionic_demo/models/breakfast_menu_original/thumbnails/0.jpg and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg
deleted file mode 100644
index b659951..0000000
Binary files a/ionic_demo/models/breakfast_menu_original/thumbnails/1.jpg and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg
deleted file mode 100644
index dbb582d..0000000
Binary files a/ionic_demo/models/breakfast_menu_original/thumbnails/2.jpg and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg
deleted file mode 100644
index 3552df3..0000000
Binary files a/ionic_demo/models/breakfast_menu_original/thumbnails/3.jpg and /dev/null differ
diff --git a/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg b/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg
deleted file mode 100644
index 935bea2..0000000
Binary files a/ionic_demo/models/breakfast_menu_original/thumbnails/4.jpg and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/worlds/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png
deleted file mode 100644
index 6763247..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_convex_hull/materials/textures/breakfast_menu_diffuse.png and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/meshes/model.mtl b/ionic_demo/worlds/breakfast_menu_convex_hull/meshes/model.mtl
deleted file mode 100644
index abc59b8..0000000
--- a/ionic_demo/worlds/breakfast_menu_convex_hull/meshes/model.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd ../materials/textures/breakfast_menu_diffuse.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/meshes/model.obj b/ionic_demo/worlds/breakfast_menu_convex_hull/meshes/model.obj
deleted file mode 100644
index b9645c1..0000000
--- a/ionic_demo/worlds/breakfast_menu_convex_hull/meshes/model.obj
+++ /dev/null
@@ -1,30315 +0,0 @@
-# Copyright 2020 Google LLC.
-# 
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-# Generated by Katamari OBJ encoder.
-# Vertices: 5834
-# Faces: 11676
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-f 1768/1768/1733 1771/1771/1736 1766/1766/1732
-f 1771/1771/1736 1768/1768/1733 1767/1767/1737
-f 615/615/1621 1714/1714/1860 1767/1767/1737
-f 1714/1714/1860 1771/1771/1736 1767/1767/1737
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-f 1777/1777/1741 1735/1735/1731 1765/1765/1738
-f 1779/1779/1742 1748/1748/1717 1747/1747/1715
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-f 1773/1773/1755 1784/1784/1751 1785/1785/1750
-f 1763/1763/1727 1784/1784/1751 1772/1772/1740
-f 1773/1773/1755 1772/1772/1740 1784/1784/1751
-f 1764/1764/1729 1784/1784/1751 1763/1763/1727
-f 1786/1786/1752 1784/1784/1751 1764/1764/1729
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-f 1789/1789/1905 1773/1773/1755 1790/1790/1756
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-f 1790/1790/1756 1773/1773/1755 1788/1788/1754
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-f 1790/1790/1756 1788/1788/1754 1793/1793/1892
-f 1791/1791/1759 1793/1793/1887 1788/1788/1757
-f 1787/1787/1753 1791/1791/1759 1786/1786/1752
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-f 1789/1789/1905 1794/1794/1761 1774/1774/1744
-f 1789/1789/1905 1790/1790/1756 1792/1792/1760
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-f 1795/1795/1762 1771/1771/1736 1714/1714/1860
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-f 1787/1787/1753 1795/1795/1762 1796/1796/1764
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-f 1801/1801/1767 1799/1799/1768 1705/1705/1682
-f 1801/1801/1767 1705/1705/1682 1802/1802/1769
-f 1803/1803/1770 1802/1802/1769 1705/1705/1682
-f 1804/1804/1771 1801/6050/1767 1802/6051/1769
-f 1802/6051/1769 1803/6052/1770 1804/1804/1771
-f 1804/1804/1771 1803/6052/1770 1805/1805/1822
-f 1706/1706/1689 1800/6049/1766 1806/1806/1773
-f 1807/1807/1772 1806/1806/1773 1800/6049/1766
-f 1806/1806/1773 1711/1711/1779 1706/1706/1689
-f 1808/1808/1781 1806/1806/1773 1807/1807/1772
-f 1800/1800/1766 1799/1799/1768 1807/6054/1772
-f 1807/6054/1772 1799/1799/1768 1809/1809/1774
-f 1810/1810/1776 1807/6053/1772 1809/6055/1774
-f 1807/1807/1772 1810/6056/1776 1811/1811/1775
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-f 1809/6055/1774 1801/6050/1767 1810/1810/1776
-f 1808/1808/1781 1807/1807/1772 1811/1811/1775
-f 1808/1808/1781 1811/1811/1775 1812/1812/1784
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-f 1815/1815/1780 1711/1711/1779 1808/1808/1781
-f 1815/1815/1780 1808/1808/1781 1816/1816/1783
-f 1715/1715/1782 1711/1711/1779 1815/1815/1780
-f 1715/1715/1782 1816/1816/1783 1817/1817/1859
-f 1816/1816/1783 1715/1715/1782 1815/1815/1780
-f 1816/1816/1783 1808/1808/1781 1812/1812/1784
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-f 1823/1823/1867 1822/1822/1787 1819/6059/1861
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-f 1827/1827/1793 1828/1828/1807 1825/1825/1791
-f 1829/1829/1811 1827/1827/1793 1825/1825/1791
-f 1830/1830/1794 1821/1821/1786 1822/1822/1789
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-f 1828/1828/1807 1826/1826/1792 1825/1825/1791
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-f 1824/1824/1790 1826/1826/1792 1839/1839/1802
-f 1837/1837/1803 1839/1839/1804 1826/1826/1805
-f 1840/1840/1806 1837/1837/1803 1826/1826/1805
-f 1840/1840/1806 1826/1826/1805 1836/1836/1809
-f 1835/1835/1798 1828/1828/1807 1827/1827/1793
-f 1828/1828/1807 1835/1835/1798 1826/1826/1792
-f 1833/1833/1796 1835/1835/1798 1827/1827/1793
-f 1841/1841/1810 1833/1833/1796 1827/1827/1793
-f 1835/1835/1798 1834/1834/1797 1826/1826/1792
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-f 1841/1841/1810 1827/1827/1793 1829/1829/1811
-f 1842/1842/1868 1840/1840/1806 1836/1836/1809
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-f 1845/1845/1820 1844/1844/1814 1853/1853/1821
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-f 1829/1829/1811 1869/1869/1834 1871/1871/1866
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-f 1868/1868/1835 1874/1874/1850 1824/1824/1790
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-f 1881/1881/1847 1872/1872/1840 1873/1873/1836
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-f 1889/1889/1856 1851/1851/1818 1890/1890/1857
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-f 1863/1863/2670 1857/1857/1854 1856/1856/1855
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-f 1871/1871/1866 1876/1876/1839 1912/1912/1883
-f 1876/1876/1839 1913/1913/1882 1912/1912/1883
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-f 1912/1912/1883 1897/1897/1885 1895/1895/1865
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-f 1884/1884/1848 1913/1913/1882 1876/1876/1839
-f 1914/1914/1884 1913/1913/1882 1884/1884/1848
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-f 1791/1791/1759 1796/1796/1764 1916/1916/1888
-f 1897/1897/1885 1914/1914/1884 1916/1916/1888
-f 1884/1884/1848 1915/1915/1886 1914/1914/1884
-f 1916/1916/1888 1914/1914/1884 1915/1915/1886
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-f 1883/1883/1869 1917/1917/1889 1896/1896/1891
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-f 1885/1885/1849 1793/1793/1892 1884/1884/1848
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diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/model.config b/ionic_demo/worlds/breakfast_menu_convex_hull/model.config
deleted file mode 100644
index 3d74e2d..0000000
--- a/ionic_demo/worlds/breakfast_menu_convex_hull/model.config
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<model>
-  <name>Breakfast Menu Convex Hull</name>
-  <author>
-    <name>Google</name>
-    <email>scanned-objects@google.com</email>
-  </author>
-  <author>
-    <name>Ian Chen</name>
-    <email>ichen@openrobotics.org</email>
-  </author>
-  <version>1.0</version>
-  <sdf version="1.11">model.sdf</sdf>
-  <description>Breakfast menu- modified from the original breakfast menu model to feature mesh convex hull.
-The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.</description>
-</model>
diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/model.sdf b/ionic_demo/worlds/breakfast_menu_convex_hull/model.sdf
deleted file mode 100644
index e6f72b6..0000000
--- a/ionic_demo/worlds/breakfast_menu_convex_hull/model.sdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<sdf version="1.11">
-  <model name="breakfast_menu_convex_hull">
-    <link name="link_0">
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision_0">
-        <geometry>
-          <mesh optimization="convex_hull">
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/0.jpg b/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/0.jpg
deleted file mode 100644
index 963c983..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/1.jpg b/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/1.jpg
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index b659951..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/2.jpg b/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/2.jpg
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index dbb582d..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/3.jpg b/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/3.jpg
deleted file mode 100644
index 3552df3..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/4.jpg b/ionic_demo/worlds/breakfast_menu_convex_hull/thumbnails/4.jpg
deleted file mode 100644
index 935bea2..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/worlds/breakfast_menu_decomposed/materials/textures/breakfast_menu_diffuse.png
deleted file mode 100644
index 6763247..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/meshes/model.mtl b/ionic_demo/worlds/breakfast_menu_decomposed/meshes/model.mtl
deleted file mode 100644
index abc59b8..0000000
--- a/ionic_demo/worlds/breakfast_menu_decomposed/meshes/model.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd ../materials/textures/breakfast_menu_diffuse.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/meshes/model.obj b/ionic_demo/worlds/breakfast_menu_decomposed/meshes/model.obj
deleted file mode 100644
index b9645c1..0000000
--- a/ionic_demo/worlds/breakfast_menu_decomposed/meshes/model.obj
+++ /dev/null
@@ -1,30315 +0,0 @@
-# Copyright 2020 Google LLC.
-# 
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/model.config b/ionic_demo/worlds/breakfast_menu_decomposed/model.config
deleted file mode 100644
index b14cf12..0000000
--- a/ionic_demo/worlds/breakfast_menu_decomposed/model.config
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<model>
-  <name>Breakfast Menu Decomposed</name>
-  <author>
-    <name>Google</name>
-    <email>scanned-objects@google.com</email>
-  </author>
-  <author>
-    <name>Ian Chen</name>
-    <email>ichen@openrobotics.org</email>
-  </author>
-  <version>1.0</version>
-  <sdf version="1.11">model.sdf</sdf>
-  <description>Breakfast Menu - modified from the original breakfast menu model to feature mesh convex decomposition.
-The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.</description>
-</model>
diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/model.sdf b/ionic_demo/worlds/breakfast_menu_decomposed/model.sdf
deleted file mode 100644
index faf7e85..0000000
--- a/ionic_demo/worlds/breakfast_menu_decomposed/model.sdf
+++ /dev/null
@@ -1,33 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<sdf version="1.11">
-  <model name="breakfast_menu_decomposed">
-    <link name="link_0">
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision_0">
-        <geometry>
-          <mesh optimization="convex_decomposition">
-            <convex_decomposition>
-              <max_convex_hulls>32</max_convex_hulls>
-              <voxel_resolution>800000</voxel_resolution>
-            </convex_decomposition>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/0.jpg b/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/0.jpg
deleted file mode 100644
index 963c983..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/1.jpg b/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/1.jpg
deleted file mode 100644
index b659951..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/2.jpg b/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/2.jpg
deleted file mode 100644
index dbb582d..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/3.jpg b/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/3.jpg
deleted file mode 100644
index 3552df3..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/4.jpg b/ionic_demo/worlds/breakfast_menu_decomposed/thumbnails/4.jpg
deleted file mode 100644
index 935bea2..0000000
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diff --git a/ionic_demo/worlds/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png b/ionic_demo/worlds/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png
deleted file mode 100644
index 6763247..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_original/materials/textures/breakfast_menu_diffuse.png and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_original/meshes/model.mtl b/ionic_demo/worlds/breakfast_menu_original/meshes/model.mtl
deleted file mode 100644
index abc59b8..0000000
--- a/ionic_demo/worlds/breakfast_menu_original/meshes/model.mtl
+++ /dev/null
@@ -1,12 +0,0 @@
-# Copyright 2020 Google LLC.
-#
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-newmtl material_0
-# shader_type beckmann
-map_Kd ../materials/textures/breakfast_menu_diffuse.png
-
-# Kd: Diffuse reflectivity.
-Kd 1.000000 1.000000 1.000000
diff --git a/ionic_demo/worlds/breakfast_menu_original/meshes/model.obj b/ionic_demo/worlds/breakfast_menu_original/meshes/model.obj
deleted file mode 100644
index b9645c1..0000000
--- a/ionic_demo/worlds/breakfast_menu_original/meshes/model.obj
+++ /dev/null
@@ -1,30315 +0,0 @@
-# Copyright 2020 Google LLC.
-# 
-# This work is licensed under the Creative Commons Attribution 4.0
-# International License. To view a copy of this license, visit
-# http://creativecommons.org/licenses/by/4.0/ or send a letter
-# to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
-# Generated by Katamari OBJ encoder.
-# Vertices: 5834
-# Faces: 11676
-mtllib model.mtl
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diff --git a/ionic_demo/worlds/breakfast_menu_original/model.config b/ionic_demo/worlds/breakfast_menu_original/model.config
deleted file mode 100644
index 67a4d43..0000000
--- a/ionic_demo/worlds/breakfast_menu_original/model.config
+++ /dev/null
@@ -1,23 +0,0 @@
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<model>
-  <name>Breakfast Menu Original</name>
-  <author>
-    <name>Google</name>
-    <email>scanned-objects@google.com</email>
-  </author>
-  <author>
-    <name>Ian Chen</name>
-    <email>ichen@openrobotics.org</email>
-  </author>
-  <version>1.0</version>
-  <sdf version="1.11">model.sdf</sdf>
-  <description>Breakfast menu- copied from original breakfast menu model for Gazebo Ionic demo.
-The set includes 2 slices of bread, a bun, sausage, bacon, cheese, fried egg, boiled egg, salt and pepper that are served on a tray.</description>
-</model>
diff --git a/ionic_demo/worlds/breakfast_menu_original/model.sdf b/ionic_demo/worlds/breakfast_menu_original/model.sdf
deleted file mode 100644
index bf255ee..0000000
--- a/ionic_demo/worlds/breakfast_menu_original/model.sdf
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0" ?>
-<!--
-Copyright 2020 Google LLC.
-
-This work is licensed under the Creative Commons Attribution 4.0
-International License. To view a copy of this license, visit
-http://creativecommons.org/licenses/by/4.0/ or send a letter
-to Creative Commons, PO Box 1866, Mountain View, CA 94042, USA.
--->
-<sdf version="1.11">
-  <model name="breakfast_menu">
-    <link name="link_0">
-      <visual name="visual">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <collision name="collision_0">
-        <geometry>
-          <mesh>
-            <uri>meshes/model.obj</uri>
-          </mesh>
-        </geometry>
-      </collision>
-    </link>
-  </model>
-</sdf>
diff --git a/ionic_demo/worlds/breakfast_menu_original/thumbnails/0.jpg b/ionic_demo/worlds/breakfast_menu_original/thumbnails/0.jpg
deleted file mode 100644
index 963c983..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_original/thumbnails/0.jpg and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_original/thumbnails/1.jpg b/ionic_demo/worlds/breakfast_menu_original/thumbnails/1.jpg
deleted file mode 100644
index b659951..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_original/thumbnails/1.jpg and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_original/thumbnails/2.jpg b/ionic_demo/worlds/breakfast_menu_original/thumbnails/2.jpg
deleted file mode 100644
index dbb582d..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_original/thumbnails/2.jpg and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_original/thumbnails/3.jpg b/ionic_demo/worlds/breakfast_menu_original/thumbnails/3.jpg
deleted file mode 100644
index 3552df3..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_original/thumbnails/3.jpg and /dev/null differ
diff --git a/ionic_demo/worlds/breakfast_menu_original/thumbnails/4.jpg b/ionic_demo/worlds/breakfast_menu_original/thumbnails/4.jpg
deleted file mode 100644
index 935bea2..0000000
Binary files a/ionic_demo/worlds/breakfast_menu_original/thumbnails/4.jpg and /dev/null differ
diff --git a/ionic_demo/worlds/ionic.sdf b/ionic_demo/worlds/ionic.sdf
index 6b5432c..38a668a 100644
--- a/ionic_demo/worlds/ionic.sdf
+++ b/ionic_demo/worlds/ionic.sdf
@@ -553,7 +553,7 @@
       <static>false</static>
       <name>breakfast_menu</name>
       <pose>-2.14 2.623 0.751 0 0 0.0</pose>
-      <uri>breakfast_menu_original</uri>
+      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/Breakfast Menu Original</uri>
       <plugin filename="gz-sim-detachable-joint-system"
           name="gz::sim::systems::DetachableJoint">
         <parent_link>link_0</parent_link>
@@ -569,7 +569,7 @@
       <static>false</static>
       <name>breakfast_menu_decomposed</name>
       <pose>-1.73 2.623 0.751 0 0 0.0</pose>
-      <uri>breakfast_menu_decomposed</uri>
+      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/Breakfast Menu Decomposed</uri>
       <plugin filename="gz-sim-detachable-joint-system"
           name="gz::sim::systems::DetachableJoint">
         <parent_link>link_0</parent_link>
@@ -582,10 +582,17 @@
 
     <include>
       <static>false</static>
-      <name>breakfast_menu_convex_hull</name>
+      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/Breakfast Menu Convex Hull</uri>
       <pose>-1.73 2.85 0.751 0 0 0.0</pose>
       <uri>breakfast_menu_convex_hull</uri>
     </include>
+
+    <include>
+      <name>Ionic Mascot</name>
+      <pose>3.67 0.35 1.18 0 0 3.14</pose>
+      <uri>https://fuel.gazebosim.org/1.0/openrobotics/models/Ionic Mascot</uri>
+    </include>
+
   </world>
 </sdf>