diff --git a/docker/download_models.sh b/docker/download_models.sh
index 0a5c34c7..675fef62 100755
--- a/docker/download_models.sh
+++ b/docker/download_models.sh
@@ -107,32 +107,32 @@ ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/U
 ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Urban Large Room Split Lights" -v 4
 
 # Download cave circuit tiles
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 01" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 02" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Starting Area" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cap" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01 Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01 Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02 Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01 Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02 Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 03" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04 Lights" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05" -v 4
-ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05 Lights" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 01 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cavern Split 02 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Starting Area Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Cap Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave 3 Way 01 Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Vertical Shaft Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Elevation Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 01 Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 02 Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30 D Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Corner 30F D Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 01 Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 02 Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 03 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 04 Lights Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05 Type B" -v 4
+ign fuel download --url "https://fuel.ignitionrobotics.org/openrobotics/models/Cave Straight 05 Lights Type B" -v 4
diff --git a/subt_ign/src/ConnectionHelper.cc b/subt_ign/src/ConnectionHelper.cc
index f7f64cfc..7a83f5ae 100644
--- a/subt_ign/src/ConnectionHelper.cc
+++ b/subt_ign/src/ConnectionHelper.cc
@@ -70,34 +70,34 @@ std::map<std::string, std::vector<ignition::math::Vector3d>>
     {"Urban 2 Story Large Side 2 Lights", {{0, -20, 0}, {0, 20, 0}}},
     {"Urban Large Room Split", {{0, -20, 0}, {-20, 0, 0}, {0, 20, 0}}},
     {"Urban Large Room Split Lights", {{0, -20, 0}, {-20, 0, 0}, {0, 20, 0}}},
-    {"Cave Starting Area", {{12.5, 0, 0}}},
-    {"Cave Straight 01", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 01 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 02", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 02 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 03", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 04", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 04 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 05", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Straight 05 Lights", {{0, 12.5, 0}, {0, -12.5, 0}}},
-    {"Cave Corner 01", {{-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 01 Lights", {{-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 02", {{-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 02 Lights", {{-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave 3 Way 01", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave 3 Way 01 Lights", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Elevation", {{0, 12.5, 0}, {0, -12.5, 10}}},
-    {"Cave Elevation Lights", {{0, 12.5, 0}, {0, -12.5, 10}}},
-    {"Cave Vertical Shaft", {{0, 12.5, 20}, {0, -12.5, 0}}},
-    {"Cave Vertical Shaft Lights", {{0, 12.5, 20}, {0, -12.5, 0}}},
-    {"Cave Cavern Split 01", {{0, 25, 25}, {12.5, 0, 0}, {-12.5, 0, 0}}},
-    {"Cave Cavern Split 02", {{12.5, 0, 0}, {-12.5, 0, 0}}},
-    {"Cave Corner 30", {{12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 30F", {{-12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 30 D", {{12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 30 D Lights", {{12.5, 0, 0}, {0, 12.5, 0}}},
-    {"Cave Corner 30F D", {{12.5, 0, 0}, {0, -12.5, 0}}},
-    {"Cave Corner 30F D Lights", {{12.5, 0, 0}, {0, -12.5, 0}}}
+    {"Cave Starting Area Type B", {{12.5, 0, 0}}},
+    {"Cave Straight 01 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 01 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 02 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 02 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 03 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 04 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 04 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 05 Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Straight 05 Lights Type B", {{0, 12.5, 0}, {0, -12.5, 0}}},
+    {"Cave Corner 01 Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 01 Lights Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 02 Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 02 Lights Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave 3 Way 01 Type B", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave 3 Way 01 Lights Type B", {{12.5, 0, 0}, {-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Elevation Type B", {{0, 12.5, 0}, {0, -12.5, 10}}},
+    {"Cave Elevation Lights Type B", {{0, 12.5, 0}, {0, -12.5, 10}}},
+    {"Cave Vertical Shaft Type B", {{0, 12.5, 20}, {0, -12.5, 0}}},
+    {"Cave Vertical Shaft Lights Type B", {{0, 12.5, 20}, {0, -12.5, 0}}},
+    {"Cave Cavern Split 01 Type B", {{0, 25, 25}, {12.5, 0, 0}, {-12.5, 0, 0}}},
+    {"Cave Cavern Split 02 Type B", {{12.5, 0, 0}, {-12.5, 0, 0}}},
+    {"Cave Corner 30 Type B", {{12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 30F Type B", {{-12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 30 D Type B", {{12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 30 D Lights Type B", {{12.5, 0, 0}, {0, 12.5, 0}}},
+    {"Cave Corner 30F D Type B", {{12.5, 0, 0}, {0, -12.5, 0}}},
+    {"Cave Corner 30F D Lights Type B", {{12.5, 0, 0}, {0, -12.5, 0}}}
   };
 
 std::map<std::string, subt::ConnectionHelper::ConnectionType>
@@ -142,34 +142,34 @@ std::map<std::string, subt::ConnectionHelper::ConnectionType>
     {"Urban 2 Story Large Side 2 Lights", subt::ConnectionHelper::TURN},
     {"Urban Large Room Split", subt::ConnectionHelper::TURN},
     {"Urban Large Room Split Lights", subt::ConnectionHelper::TURN},
-    {"Cave Starting Area", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 01", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 01 Lights", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 02", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 02 Lights", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 03", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 04", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 04 Lights", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 05", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Straight 05 Lights", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Corner 01", subt::ConnectionHelper::TURN},
-    {"Cave Corner 01 Lights", subt::ConnectionHelper::TURN},
-    {"Cave Corner 02", subt::ConnectionHelper::TURN},
-    {"Cave Corner 02 Lights", subt::ConnectionHelper::TURN},
-    {"Cave 3 Way 01", subt::ConnectionHelper::TURN},
-    {"Cave 3 Way 01 Lights", subt::ConnectionHelper::TURN},
-    {"Cave Elevation", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Elevation Lights", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Vertical Shaft", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Vertical Shaft Lights", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Cavern Split 01", subt::ConnectionHelper::TURN},
-    {"Cave Cavern Split 02", subt::ConnectionHelper::STRAIGHT},
-    {"Cave Corner 30", subt::ConnectionHelper::TURN},
-    {"Cave Corner 30F", subt::ConnectionHelper::TURN},
-    {"Cave Corner 30 D", subt::ConnectionHelper::TURN},
-    {"Cave Corner 30 D Lights", subt::ConnectionHelper::TURN},
-    {"Cave Corner 30F D", subt::ConnectionHelper::TURN},
-    {"Cave Corner 30F D Lights", subt::ConnectionHelper::TURN}
+    {"Cave Starting Area Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 01 Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 01 Lights Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 02 Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 02 Lights Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 03 Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 04 Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 04 Lights Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 05 Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Straight 05 Lights Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Corner 01 Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 01 Lights Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 02 Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 02 Lights Type B", subt::ConnectionHelper::TURN},
+    {"Cave 3 Way 01 Type B", subt::ConnectionHelper::TURN},
+    {"Cave 3 Way 01 Lights Type B", subt::ConnectionHelper::TURN},
+    {"Cave Elevation Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Elevation Lights Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Vertical Shaft Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Vertical Shaft Lights Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Cavern Split 01 Type B", subt::ConnectionHelper::TURN},
+    {"Cave Cavern Split 02 Type B", subt::ConnectionHelper::STRAIGHT},
+    {"Cave Corner 30 Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 30F Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 30 D Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 30 D Lights Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 30F D Type B", subt::ConnectionHelper::TURN},
+    {"Cave Corner 30F D Lights Type B", subt::ConnectionHelper::TURN}
   };
 
 using namespace ignition;
diff --git a/subt_ign/src/ConnectionValidatorPrivate.cc b/subt_ign/src/ConnectionValidatorPrivate.cc
index 1f7c94b4..dbecafdf 100644
--- a/subt_ign/src/ConnectionValidatorPrivate.cc
+++ b/subt_ign/src/ConnectionValidatorPrivate.cc
@@ -229,7 +229,7 @@ void ConnectionValidatorPrivate::PopulateConnections()
       if (this->worldName.find("urban") != std::string::npos)
         dd.tileType = "Urban Starting Area";
       else if (this->worldName.find("cave") != std::string::npos)
-        dd.tileType = "Cave Starting Area";
+        dd.tileType = "Cave Starting Area Type B";
       dd.tileName = "staging_area";
     }
 
diff --git a/subt_ign/src/dot_generator.cc b/subt_ign/src/dot_generator.cc
index 3e4c322e..f0bfc66a 100644
--- a/subt_ign/src/dot_generator.cc
+++ b/subt_ign/src/dot_generator.cc
@@ -72,7 +72,7 @@ void printGraph(std::vector<VertexData> &_vertexData)
     // rely on this naming convention
     std::string name = vd.tileName;
     std::string type = vd.tileType;
-    if (type == "Cave Starting Area" ||
+    if (type == "Cave Starting Area Type B" ||
         type == "Urban Starting Area")
     {
       type = "base_station";
@@ -106,9 +106,9 @@ void printGraph(std::vector<VertexData> &_vertexData)
 
         // Is one of the tile a starting area? If so, the cost should be 1.
         bool connectsToStaging =
-          _vertexData[i].tileType == "Cave Starting Area" ||
+          _vertexData[i].tileType == "Cave Starting Area Type B" ||
           _vertexData[i].tileType == "Urban Starting Area" ||
-          _vertexData[j].tileType == "Cave Starting Area" ||
+          _vertexData[j].tileType == "Cave Starting Area Type B" ||
           _vertexData[j].tileType == "Urban Starting Area";
 
         if ((tp1 == subt::ConnectionHelper::STRAIGHT &&
diff --git a/subt_ign/worlds/cave_qual.dot b/subt_ign/worlds/cave_qual.dot
index 6476567d..8132c25e 100644
--- a/subt_ign/worlds/cave_qual.dot
+++ b/subt_ign/worlds/cave_qual.dot
@@ -6,81 +6,81 @@ graph {
   /* Base station / Staging area */
   0   [label="0::base_station::BaseStation"];
 
-  1   [label="1::Cave 3 Way 01 Lights::tile_1"];
-  2   [label="2::Cave Corner 01::tile_2"];
-  3   [label="3::Cave Corner 02::tile_3"];
-  4   [label="4::Cave Elevation::tile_4"];
-  5   [label="5::Cave Straight 01::tile_5"];
-  6   [label="6::Cave Straight 02 Lights::tile_6"];
-  7   [label="7::Cave Straight 05 Lights::tile_7"];
-  8   [label="8::Cave Vertical Shaft Lights::tile_8"];
-  9   [label="9::Cave Cavern Split 01::tile_9"];
-  10  [label="10::Cave Cavern Split 02::tile_10"];
-  11  [label="11::Cave 3 Way 01::tile_11"];
-  12  [label="12::Cave Straight 03::tile_12"];
-  13  [label="13::Cave 3 Way 01 Lights::tile_13"];
-  14  [label="14::Cave Corner 02::tile_14"];
-  15  [label="15::Cave Elevation::tile_15"];
-  16  [label="16::Cave 3 Way 01 Lights::tile_16"];
-  17  [label="17::Cave Corner 30F D Lights::tile_17"];
-  18  [label="18::Cave Corner 30F D Lights::tile_18"];
-  19  [label="19::Cave Corner 30F D Lights::tile_19"];
-  20  [label="20::Cave Corner 30F D Lights::tile_20"];
-  21  [label="21::Cave 3 Way 01 Lights::tile_21"];
-  22  [label="22::Cave Corner 30F D Lights::tile_22"];
-  23  [label="23::Cave Elevation Lights::tile_23"];
-  24  [label="24::Cave Vertical Shaft Lights::tile_24"];
-  25  [label="25::Cave Corner 01 Lights::tile_25"];
-  26  [label="26::Cave Straight 01 Lights::tile_26"];
-  27  [label="27::Cave Corner 02 Lights::tile_27"];
-  28  [label="28::Cave Elevation::tile_28"];
-  29  [label="29::Cave Straight 03::tile_29"];
-  30  [label="30::Cave 3 Way 01::tile_30"];
-  31  [label="31::Cave Corner 01::tile_31"];
-  32  [label="32::Cave 3 Way 01::tile_32"];
-  33  [label="33::Cave Elevation::tile_33"];
-  34  [label="34::Cave Straight 01::tile_34"];
-  35  [label="35::Cave Straight 02::tile_35"];
-  36  [label="36::Cave Straight 03::tile_36"];
-  37  [label="37::Cave Corner 01::tile_37"];
-  38  [label="38::Cave Corner 30 D::tile_38"];
-  39  [label="39::Cave Elevation::tile_39"];
-  40  [label="40::Cave Straight 03::tile_40"];
-  41  [label="41::Cave Straight 02::tile_41"];
-  42  [label="42::Cave Corner 01::tile_42"];
-  43  [label="43::Cave Corner 02::tile_43"];
-  44  [label="44::Cave Straight 01::tile_44"];
-  45  [label="45::Cave Straight 04::tile_45"];
-  46  [label="46::Cave Straight 04::tile_46"];
-  47  [label="47::Cave Straight 02::tile_47"];
-  48  [label="48::Cave Straight 04::tile_48"];
-  49  [label="49::Cave Straight 01::tile_49"];
-  50  [label="50::Cave Straight 03::tile_50"];
-  51  [label="51::Cave Elevation::tile_51"];
-  52  [label="52::Cave 3 Way 01 Lights::tile_52"];
-  53  [label="53::Cave Straight 03::tile_53"];
-  54  [label="54::Cave Corner 02::tile_54"];
-  55  [label="55::Cave Corner 02::tile_55"];
-  56  [label="56::Cave Elevation::tile_56"];
-  57  [label="57::Cave 3 Way 01::tile_57"];
-  58  [label="58::Cave Corner 30 D::tile_58"];
-  59  [label="59::Cave Straight 03::tile_59"];
-  60  [label="60::Cave Corner 30 D::tile_60"];
-  61  [label="61::Cave Elevation::tile_61"];
-  62  [label="62::Cave Corner 30 D::tile_62"];
-  63  [label="63::Cave Corner 01::tile_63"];
-  64  [label="64::Cave Corner 02::tile_64"];
-  65  [label="65::Cave Elevation::tile_65"];
-  66  [label="66::Cave Straight 03::tile_66"];
-  67  [label="67::Cave Straight 04::tile_67"];
-  68  [label="68::Cave Corner 01::tile_68"];
-  69  [label="69::Cave Cavern Split 01::tile_69"];
-  70  [label="70::Cave Cavern Split 02::tile_70"];
-  71  [label="71::Cave Straight 01 Lights::tile_71"];
-  72  [label="72::Cave Straight 04 Lights::tile_72"];
-  73  [label="73::Cave 3 Way 01 Lights::tile_73"];
-  74  [label="74::Cave Corner 30F D Lights::tile_74"];
-  75  [label="75::Cave Corner 30 D Lights::tile_75"];
+  1   [label="1::Cave 3 Way 01 Lights Type B::tile_1"];
+  2   [label="2::Cave Corner 01 Type B::tile_2"];
+  3   [label="3::Cave Corner 02 Type B::tile_3"];
+  4   [label="4::Cave Elevation Type B::tile_4"];
+  5   [label="5::Cave Straight 01 Type B::tile_5"];
+  6   [label="6::Cave Straight 02 Lights Type B::tile_6"];
+  7   [label="7::Cave Straight 05 Lights Type B::tile_7"];
+  8   [label="8::Cave Vertical Shaft Lights Type B::tile_8"];
+  9   [label="9::Cave Cavern Split 01 Type B::tile_9"];
+  10  [label="10::Cave Cavern Split 02 Type B::tile_10"];
+  11  [label="11::Cave 3 Way 01 Type B::tile_11"];
+  12  [label="12::Cave Straight 03 Type B::tile_12"];
+  13  [label="13::Cave 3 Way 01 Lights Type B::tile_13"];
+  14  [label="14::Cave Corner 02 Type B::tile_14"];
+  15  [label="15::Cave Elevation Type B::tile_15"];
+  16  [label="16::Cave 3 Way 01 Lights Type B::tile_16"];
+  17  [label="17::Cave Corner 30F D Lights Type B::tile_17"];
+  18  [label="18::Cave Corner 30F D Lights Type B::tile_18"];
+  19  [label="19::Cave Corner 30F D Lights Type B::tile_19"];
+  20  [label="20::Cave Corner 30F D Lights Type B::tile_20"];
+  21  [label="21::Cave 3 Way 01 Lights Type B::tile_21"];
+  22  [label="22::Cave Corner 30F D Lights Type B::tile_22"];
+  23  [label="23::Cave Elevation Lights Type B::tile_23"];
+  24  [label="24::Cave Vertical Shaft Lights Type B::tile_24"];
+  25  [label="25::Cave Corner 01 Lights Type B::tile_25"];
+  26  [label="26::Cave Straight 01 Lights Type B::tile_26"];
+  27  [label="27::Cave Corner 02 Lights Type B::tile_27"];
+  28  [label="28::Cave Elevation Type B::tile_28"];
+  29  [label="29::Cave Straight 03 Type B::tile_29"];
+  30  [label="30::Cave 3 Way 01 Type B::tile_30"];
+  31  [label="31::Cave Corner 01 Type B::tile_31"];
+  32  [label="32::Cave 3 Way 01 Type B::tile_32"];
+  33  [label="33::Cave Elevation Type B::tile_33"];
+  34  [label="34::Cave Straight 01 Type B::tile_34"];
+  35  [label="35::Cave Straight 02 Type B::tile_35"];
+  36  [label="36::Cave Straight 03 Type B::tile_36"];
+  37  [label="37::Cave Corner 01 Type B::tile_37"];
+  38  [label="38::Cave Corner 30 D Type B::tile_38"];
+  39  [label="39::Cave Elevation Type B::tile_39"];
+  40  [label="40::Cave Straight 03 Type B::tile_40"];
+  41  [label="41::Cave Straight 02 Type B::tile_41"];
+  42  [label="42::Cave Corner 01 Type B::tile_42"];
+  43  [label="43::Cave Corner 02 Type B::tile_43"];
+  44  [label="44::Cave Straight 01 Type B::tile_44"];
+  45  [label="45::Cave Straight 04 Type B::tile_45"];
+  46  [label="46::Cave Straight 04 Type B::tile_46"];
+  47  [label="47::Cave Straight 02 Type B::tile_47"];
+  48  [label="48::Cave Straight 04 Type B::tile_48"];
+  49  [label="49::Cave Straight 01 Type B::tile_49"];
+  50  [label="50::Cave Straight 03 Type B::tile_50"];
+  51  [label="51::Cave Elevation Type B::tile_51"];
+  52  [label="52::Cave 3 Way 01 Lights Type B::tile_52"];
+  53  [label="53::Cave Straight 03 Type B::tile_53"];
+  54  [label="54::Cave Corner 02 Type B::tile_54"];
+  55  [label="55::Cave Corner 02 Type B::tile_55"];
+  56  [label="56::Cave Elevation Type B::tile_56"];
+  57  [label="57::Cave 3 Way 01 Type B::tile_57"];
+  58  [label="58::Cave Corner 30 D Type B::tile_58"];
+  59  [label="59::Cave Straight 03 Type B::tile_59"];
+  60  [label="60::Cave Corner 30 D Type B::tile_60"];
+  61  [label="61::Cave Elevation Type B::tile_61"];
+  62  [label="62::Cave Corner 30 D Type B::tile_62"];
+  63  [label="63::Cave Corner 01 Type B::tile_63"];
+  64  [label="64::Cave Corner 02 Type B::tile_64"];
+  65  [label="65::Cave Elevation Type B::tile_65"];
+  66  [label="66::Cave Straight 03 Type B::tile_66"];
+  67  [label="67::Cave Straight 04 Type B::tile_67"];
+  68  [label="68::Cave Corner 01 Type B::tile_68"];
+  69  [label="69::Cave Cavern Split 01 Type B::tile_69"];
+  70  [label="70::Cave Cavern Split 02 Type B::tile_70"];
+  71  [label="71::Cave Straight 01 Lights Type B::tile_71"];
+  72  [label="72::Cave Straight 04 Lights Type B::tile_72"];
+  73  [label="73::Cave 3 Way 01 Lights Type B::tile_73"];
+  74  [label="74::Cave Corner 30F D Lights Type B::tile_74"];
+  75  [label="75::Cave Corner 30 D Lights Type B::tile_75"];
 
   /* ==== Edges ==== */
 
diff --git a/subt_ign/worlds/cave_qual.sdf b/subt_ign/worlds/cave_qual.sdf
index 264abc8f..42a7c7de 100644
--- a/subt_ign/worlds/cave_qual.sdf
+++ b/subt_ign/worlds/cave_qual.sdf
@@ -20,7 +20,7 @@
       <static>true</static>
       <name>staging_area</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area Type B</uri>
     </include>
 
 
@@ -44,588 +44,588 @@
       <static>true</static>
       <name>tile_1</name>
       <pose>75 0 0 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_1</name>
       <pose>25 75 0 0 0 -1.57079</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_2</name>
       <pose>75 50 0 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_3</name>
       <pose>50 50 0 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_4</name>
       <pose>75 75 0 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_5</name>
       <pose>150 25 20 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_6</name>
       <pose>75 25 0 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_7</name>
       <pose>125 -25 20 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_8</name>
       <pose>100 0 0 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_9</name>
       <pose>50 -175 30 4e-06 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_10</name>
       <pose>50 -200 30 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_11</name>
       <pose>50 75 0 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_12</name>
       <pose>100 75 10 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_13</name>
       <pose>125 0 20 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_14</name>
       <pose>200 25 20 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_15</name>
       <pose>125 50 10 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_16</name>
       <pose>125 -50 20 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_17</name>
       <pose>100 -50 20 -0 -0 4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_18</name>
       <pose>125 -75 20 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_19</name>
       <pose>100 -75 20 0 -0 3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_20</name>
       <pose>150 -75 20 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_21</name>
       <pose>150 -100 20 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_22</name>
       <pose>175 -100 20 0 -0 3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_23</name>
       <pose>181.25 -76.6747 10 0 0 -0.523594</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_24</name>
       <pose>172.099 -42.524 10 0 -0 1.0472</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_25</name>
       <pose>193.75 -55.024 10 0 -0 1.0472</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_26</name>
       <pose>150.449 -30.024 30 0 -0 1.0472</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_2</name>
       <pose>128.798 -17.524 30 0 -0 -2.0944</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_27</name>
       <pose>75 -75 20 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_28</name>
       <pose>75 -100 20 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_29</name>
       <pose>75 -125 30 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_30</name>
       <pose>75 -150 30 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_31</name>
       <pose>50 -150 30 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_32</name>
       <pose>150 -150 20 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_33</name>
       <pose>100 -150 20 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_34</name>
       <pose>125 -150 20 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_35</name>
       <pose>150 -125 20 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_36</name>
       <pose>12.5 -175 55 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_37</name>
       <pose>-12.5 -175 55 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_3</name>
       <pose>-12.5 -200 55 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_38</name>
       <pose>175 -150 20 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_39</name>
       <pose>181.691 -172.824 20 0 -0 0.523596</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_40</name>
       <pose>194.191 -194.475 30 0 -0 -2.618</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_41</name>
       <pose>206.691 -216.126 30 0 -0 -2.61799</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_42</name>
       <pose>219.191 -237.776 30 0 0 -1.04719</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_43</name>
       <pose>262.493 -212.776 30 0 -0 2.0944</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_44</name>
       <pose>240.842 -225.276 30 0 -0 2.0944</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_45</name>
       <pose>274.993 -234.427 30 0 -0 0.523596</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_46</name>
       <pose>50 -225 30 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_4</name>
       <pose>287.493 -256.078 30 0 -0 0.523596</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_47</name>
       <pose>50 -250 30 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_48</name>
       <pose>50 -350 40 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_49</name>
       <pose>50 -300 30 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_50</name>
       <pose>50 -275 30 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_51</name>
       <pose>50 -325 30 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_5</name>
       <pose>50 -375 40 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_52</name>
       <pose>125 25 20 0 0 -1.57079</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_53</name>
       <pose>175 25 20 0 -0 -1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_54</name>
       <pose>200 75 10 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_55</name>
       <pose>125 75 10 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_56</name>
       <pose>200 50 10 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_57</name>
       <pose>225 75 10 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_58</name>
       <pose>225 100 10 0 0 -1.57079</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_59</name>
       <pose>248.325 106.25 9.99999 0 0 -1.04719</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_60</name>
       <pose>269.976 118.75 9.99999 0 -0 -2.61799</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_61</name>
       <pose>287.051 101.675 0 0 -0 -2.0944</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_62</name>
       <pose>250 75 10 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_6</name>
       <pose>308.702 89.1747 0 0 -0 1.0472</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_63</name>
       <pose>277.901 64.1747 10 0 -0 2.0944</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_64</name>
       <pose>256.25 51.6747 10 0 0 -1.04719</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_65</name>
       <pose>290.401 42.5241 10 0 -0 0.523596</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_66</name>
       <pose>315.401 -0.777207 20 0 -0 -2.618</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_67</name>
       <pose>302.901 20.8734 20 0 -0 0.523596</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_68</name>
       <pose>327.901 -22.4278 20 0 0 -1.04719</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_69</name>
       <pose>371.202 2.57216 20 4e-06 0 0.523599</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 01</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 01 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_70</name>
       <pose>349.551 -9.92784 20 0 -0 0.523599</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 02</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 02 Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_7</name>
       <pose>392.853 15.0722 20 0 -0 2.0944</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_8</name>
       <pose>352.452 35.048 45 0 -0 -2.61799</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_71</name>
       <pose>25 0 0 0 -0 1.5708</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_72</name>
       <pose>50 -25 0 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_73</name>
       <pose>50 0 0 0 -0 -3.14159</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_74</name>
       <pose>50 -50 0 -0 -0 1.57079</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F D Lights Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>cave_cap_9</name>
       <pose>67.0753 -79.5753 5e-06 0 0 -4e-06</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
     </include>
 
     <include>
       <static>true</static>
       <name>tile_75</name>
       <pose>73.3253 -56.25 4e-06 0 -0 2.618</pose>
-       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D Lights</uri>
+       <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 D Lights Type B</uri>
     </include>
 
 
diff --git a/subt_ign/worlds/simple_cave_01.dot b/subt_ign/worlds/simple_cave_01.dot
index 7a5defc2..2d831f43 100644
--- a/subt_ign/worlds/simple_cave_01.dot
+++ b/subt_ign/worlds/simple_cave_01.dot
@@ -8,57 +8,57 @@ graph {
   /* Base station / Staging area */
   0   [label="0::base_station::BaseStation"];
 
-  1   [label="1::Cave Corner 01::tile_1"];
-  2   [label="2::Cave Straight 02::tile_2"];
-  3   [label="3::Cave Cavern Split 02::tile_3"];
-  4   [label="4::Cave Cavern Split 01::tile_4"];
-  5   [label="5::Cave Elevation::tile_5"];
-  6   [label="6::Cave Corner 01::tile_6"];
-  7   [label="7::Cave Corner 02::tile_7"];
-  8   [label="8::Cave Straight 01::tile_8"];
-  9   [label="9::Cave Corner 01::tile_9"];
-  10  [label="10::Cave 3 Way 01::tile_10"];
-  11  [label="11::Cave Elevation::tile_11"];
-  12  [label="12::Cave Straight 03::tile_12"];
-  13  [label="13::Cave Elevation::tile_13"];
-  14  [label="14::Cave Elevation::tile_14"];
-  15  [label="15::Cave Corner 01::tile_15"];
-  16  [label="16::Cave Corner 02::tile_16"];
-  17  [label="17::Cave Straight 03::tile_17"];
-  18  [label="18::Cave Straight 02::tile_18"];
-  19  [label="19::Cave Straight 01::tile_19"];
-  20  [label="20::Cave Straight 02::tile_20"];
-  21  [label="21::Cave Corner 01::tile_21"];
-  22  [label="22::Cave Straight 01::tile_22"];
-  23  [label="23::Cave Straight 01::tile_23"];
-  24  [label="24::Cave Straight 02::tile_24"];
-  25  [label="25::Cave Corner 02::tile_25"];
-  26  [label="26::Cave Straight 03::tile_26"];
-  27  [label="27::Cave Corner 02::tile_27"];
-  28  [label="28::Cave Corner 01::tile_28"];
-  29  [label="29::Cave Straight 02::tile_29"];
-  30  [label="30::Cave Straight 05::tile_30"];
-  31  [label="31::Cave Straight 01::tile_31"];
-  32  [label="32::Cave Straight 03::tile_32"];
-  33  [label="33::Cave 3 Way 01::tile_33"];
-  34  [label="34::Cave Straight 02::tile_34"];
-  35  [label="35::Cave Straight 01::tile_35"];
-  36  [label="36::Cave Corner 01::tile_36"];
-  37  [label="37::Cave Straight 03::tile_37"];
-  38  [label="38::Cave Straight 01::tile_38"];
-  39  [label="39::Cave Straight 03::tile_39"];
-  40  [label="40::Cave Corner 02::tile_40"];
-  41  [label="41::Cave Corner 01::tile_41"];
-  42  [label="42::Cave Straight 05::tile_42"];
-  43  [label="43::Cave Corner 01::tile_43"];
-  44  [label="44::Cave 3 Way 01::tile_44"];
-  45  [label="45::Cave Corner 02::tile_45"];
-  46  [label="46::Cave Straight 04::tile_46"];
-  47  [label="47::Cave Vertical Shaft::tile_47"];
-  48  [label="48::Cave Corner 02::tile_48"];
-  49  [label="49::Cave Vertical Shaft::tile_49"];
-  50  [label="50::Cave 3 Way 01::tile_50"];
-  51  [label="51::Cave Straight 02::tile_51"];
+  1   [label="1::Cave Corner 01 Type B::tile_1"];
+  2   [label="2::Cave Straight 02 Type B::tile_2"];
+  3   [label="3::Cave Cavern Split 02 Type B::tile_3"];
+  4   [label="4::Cave Cavern Split 01 Type B::tile_4"];
+  5   [label="5::Cave Elevation Type B::tile_5"];
+  6   [label="6::Cave Corner 01 Type B::tile_6"];
+  7   [label="7::Cave Corner 02 Type B::tile_7"];
+  8   [label="8::Cave Straight 01 Type B::tile_8"];
+  9   [label="9::Cave Corner 01 Type B::tile_9"];
+  10  [label="10::Cave 3 Way 01 Type B::tile_10"];
+  11  [label="11::Cave Elevation Type B::tile_11"];
+  12  [label="12::Cave Straight 03 Type B::tile_12"];
+  13  [label="13::Cave Elevation Type B::tile_13"];
+  14  [label="14::Cave Elevation Type B::tile_14"];
+  15  [label="15::Cave Corner 01 Type B::tile_15"];
+  16  [label="16::Cave Corner 02 Type B::tile_16"];
+  17  [label="17::Cave Straight 03 Type B::tile_17"];
+  18  [label="18::Cave Straight 02 Type B::tile_18"];
+  19  [label="19::Cave Straight 01 Type B::tile_19"];
+  20  [label="20::Cave Straight 02 Type B::tile_20"];
+  21  [label="21::Cave Corner 01 Type B::tile_21"];
+  22  [label="22::Cave Straight 01 Type B::tile_22"];
+  23  [label="23::Cave Straight 01 Type B::tile_23"];
+  24  [label="24::Cave Straight 02 Type B::tile_24"];
+  25  [label="25::Cave Corner 02 Type B::tile_25"];
+  26  [label="26::Cave Straight 03 Type B::tile_26"];
+  27  [label="27::Cave Corner 02 Type B::tile_27"];
+  28  [label="28::Cave Corner 01 Type B::tile_28"];
+  29  [label="29::Cave Straight 02 Type B::tile_29"];
+  30  [label="30::Cave Straight 05 Type B::tile_30"];
+  31  [label="31::Cave Straight 01 Type B::tile_31"];
+  32  [label="32::Cave Straight 03 Type B::tile_32"];
+  33  [label="33::Cave 3 Way 01 Type B::tile_33"];
+  34  [label="34::Cave Straight 02 Type B::tile_34"];
+  35  [label="35::Cave Straight 01 Type B::tile_35"];
+  36  [label="36::Cave Corner 01 Type B::tile_36"];
+  37  [label="37::Cave Straight 03 Type B::tile_37"];
+  38  [label="38::Cave Straight 01 Type B::tile_38"];
+  39  [label="39::Cave Straight 03 Type B::tile_39"];
+  40  [label="40::Cave Corner 02 Type B::tile_40"];
+  41  [label="41::Cave Corner 01 Type B::tile_41"];
+  42  [label="42::Cave Straight 05 Type B::tile_42"];
+  43  [label="43::Cave Corner 01 Type B::tile_43"];
+  44  [label="44::Cave 3 Way 01 Type B::tile_44"];
+  45  [label="45::Cave Corner 02 Type B::tile_45"];
+  46  [label="46::Cave Straight 04 Type B::tile_46"];
+  47  [label="47::Cave Vertical Shaft Type B::tile_47"];
+  48  [label="48::Cave Corner 02 Type B::tile_48"];
+  49  [label="49::Cave Vertical Shaft Type B::tile_49"];
+  50  [label="50::Cave 3 Way 01 Type B::tile_50"];
+  51  [label="51::Cave Straight 02 Type B::tile_51"];
 
   /* ==== Edges ==== */
 
diff --git a/subt_ign/worlds/simple_cave_01.sdf b/subt_ign/worlds/simple_cave_01.sdf
index eab88ee9..c43e0088 100644
--- a/subt_ign/worlds/simple_cave_01.sdf
+++ b/subt_ign/worlds/simple_cave_01.sdf
@@ -23,7 +23,7 @@
       <static>true</static>
       <name>staging_area</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area Type B</uri>
     </include>
 
 
@@ -45,19 +45,19 @@
     <!-- Tunnel tiles and artifacts -->
     <include>
       <name>tile_1</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>400.000000 175.000000 10.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_2</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>425.000000 175.000000 10.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_3</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 02 Type B</uri>
       <pose>450.000000 175.000000 10.000000 0 0 0.000000</pose>
     </include>
 
@@ -69,49 +69,49 @@
 
     <include>
       <name>tile_4</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cavern Split 01 Type B</uri>
       <pose>475.000000 175.000000 10.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>cave_cap_1</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>475.000000 212.500000 35.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>cave_cap_2</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>500.000000 175.000000 10.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_5</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>400.000000 150.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_6</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>375.000000 125.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_7</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>400.000000 125.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_8</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>375.000000 100.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_9</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>350.000000 75.000000 0.000000 0 0 3.141593</pose>
     </include>
 
@@ -123,19 +123,19 @@
 
     <include>
       <name>tile_10</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>375.000000 75.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_11</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>400.000000 75.000000 -10.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_12</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>425.000000 75.000000 -10.000000 0 0 1.570796</pose>
     </include>
 
@@ -147,37 +147,37 @@
 
     <include>
       <name>tile_13</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>450.000000 75.000000 -20.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_14</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>475.000000 75.000000 -30.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_15</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>500.000000 75.000000 -30.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_16</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>175.000000 50.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_17</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>200.000000 50.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_18</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>225.000000 50.000000 0.000000 0 0 1.570796</pose>
     </include>
 
@@ -189,31 +189,31 @@
 
     <include>
       <name>tile_19</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>250.000000 50.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_20</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>275.000000 50.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_21</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>300.000000 50.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_22</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>350.000000 50.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_23</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>500.000000 50.000000 -30.000000 0 0 3.141593</pose>
     </include>
 
@@ -225,13 +225,13 @@
 
     <include>
       <name>tile_24</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>175.000000 25.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_25</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>300.000000 25.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
@@ -243,25 +243,25 @@
 
     <include>
       <name>tile_26</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>325.000000 25.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_27</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>350.000000 25.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_28</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>500.000000 25.000000 -30.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_29</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>525.000000 25.000000 -30.000000 0 0 -1.570796</pose>
     </include>
 
@@ -273,25 +273,25 @@
 
     <include>
       <name>cave_cap_3</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>550.000000 25.000000 -30.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_30</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>25.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_31</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>50.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_32</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>75.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
@@ -303,19 +303,19 @@
 
     <include>
       <name>tile_33</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>100.000000 0.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_34</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>125.000000 0.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_35</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>150.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
@@ -327,43 +327,43 @@
 
     <include>
       <name>tile_36</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>175.000000 0.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_37</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>100.000000 -25.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_38</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>100.000000 -50.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_39</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>100.000000 -75.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_40</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>100.000000 -100.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_41</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>125.000000 -100.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_42</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>125.000000 -125.000000 0.000000 0 0 0.000000</pose>
     </include>
 
@@ -375,43 +375,43 @@
 
     <include>
       <name>tile_43</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>100.000000 -150.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_44</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>125.000000 -150.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_45</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>150.000000 -150.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_46</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>100.000000 -175.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_47</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Type B</uri>
       <pose>150.000000 -175.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_48</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>100.000000 -200.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_49</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Type B</uri>
       <pose>125.000000 -200.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
@@ -423,13 +423,13 @@
 
     <include>
       <name>tile_50</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>150.000000 -200.000000 20.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_51</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>150.000000 -225.000000 20.000000 0 0 0.000000</pose>
     </include>
 
@@ -441,7 +441,7 @@
 
     <include>
       <name>cave_cap_4</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>150.000000 -250.000000 20.000000 0 0 0.000000</pose>
     </include>
 
diff --git a/subt_ign/worlds/simple_cave_01.tsv b/subt_ign/worlds/simple_cave_01.tsv
index cdbf5bc5..37621338 100644
--- a/subt_ign/worlds/simple_cave_01.tsv
+++ b/subt_ign/worlds/simple_cave_01.tsv
@@ -1,18 +1,18 @@
-																Cave Corner 01,180,2	Cave Straight 02,90,2	Cave Cavern Split 02,0,2,Rescue Randy@3.29 8.14 -0.5 0 0 15	Cave Cavern Split 01,0,2,Cave Cap@0 37.5 25 0 0 180;Cave Cap@25 0 0 0 0 90			
-																Cave Elevation,180,0						
-															Cave Corner 01,180,0	Cave Corner 02,0,0						
-															Cave Straight 01,180,0							
-														Cave Corner 01,180,0,Rescue Randy@-2 3.14 -0.29 -6.3 0 18	Cave 3 Way 01,0,0	Cave Elevation,-90,-2	Cave Straight 03,90,-2,Phone@0 1.72 0.19 -90 0 20	Cave Elevation,-90,-4	Cave Elevation,-90,-6	Cave Corner 01,90,-6		
-							Cave Corner 02,180,0	Cave Straight 03,90,0	Cave Straight 02,90,0,Backpack@8.83 -1.25 0.31 0 0 138	Cave Straight 01,-90,0	Cave Straight 02,-90,0	Cave Corner 01,90,0		Cave Straight 01,180,0						Cave Straight 01,180,-6,Phone@0 0.64 0.39 -86.66 0 0		
-							Cave Straight 02,0,0					Cave Corner 02,-90,0,Backpack@0 7.58 0.06 0 0 190	Cave Straight 03,-90,0	Cave Corner 02,0,0						Cave Corner 01,-90,-6	Cave Straight 02,-90,-6,Rescue Randy@11.6 0.05 -0.02 0 0 -90	Cave Cap,90,-6
-base_station,0,0	Cave Straight 05,90,0	Cave Straight 01,90,0	Cave Straight 03,90,0,Backpack@5.16 -5 0.07 0 0 180	Cave 3 Way 01,180,0	Cave Straight 02,-90,0	Cave Straight 01,90,0,Phone@-0.04 -2.03 0.41 -95.11 0 83	Cave Corner 01,0,0															
-				Cave Straight 03,0,0																		
-				Cave Straight 01,180,0																		
-				Cave Straight 03,180,0																		
-				Cave Corner 02,-90,0	Cave Corner 01,90,0																	
-					Cave Straight 05,0,0,Phone@0 3.32 0.21 -93.96 0 0																	
-				Cave Corner 01,180,0	Cave 3 Way 01,0,0	Cave Corner 02,90,0																
-				Cave Straight 04,0,0		Cave Vertical Shaft,180,0																
-				Cave Corner 02,-90,0	Cave Vertical Shaft,-90,0,Backpack@5.11 0 0.03 0 0 -80	Cave 3 Way 01,90,4																
-						Cave Straight 02,0,4,Rescue Randy@0 -12.28 0 0 0 185																
-						Cave Cap,0,4																
+																Cave Corner 01 Type B,180,2	Cave Straight 02 Type B,90,2	Cave Cavern Split 02 Type B,0,2,Rescue Randy@3.29 8.14 -0.5 0 0 15	Cave Cavern Split 01 Type B,0,2,Cave Cap@0 37.5 25 0 0 180;Cave Cap@25 0 0 0 0 90			
+																Cave Elevation Type B,180,0						
+															Cave Corner 01 Type B,180,0	Cave Corner 02 Type B,0,0						
+															Cave Straight 01 Type B,180,0							
+														Cave Corner 01 Type B,180,0,Rescue Randy@-2 3.14 -0.29 -6.3 0 18	Cave 3 Way 01 Type B,0,0	Cave Elevation Type B,-90,-2	Cave Straight 03 Type B,90,-2,Phone@0 1.72 0.19 -90 0 20	Cave Elevation Type B,-90,-4	Cave Elevation Type B,-90,-6	Cave Corner 01 Type B,90,-6		
+							Cave Corner 02 Type B,180,0	Cave Straight 03 Type B,90,0	Cave Straight 02 Type B,90,0,Backpack@8.83 -1.25 0.31 0 0 138	Cave Straight 01 Type B,-90,0	Cave Straight 02 Type B,-90,0	Cave Corner 01 Type B,90,0		Cave Straight 01 Type B,180,0						Cave Straight 01 Type B,180,-6,Phone@0 0.64 0.39 -86.66 0 0		
+							Cave Straight 02 Type B,0,0					Cave Corner 02 Type B,-90,0,Backpack@0 7.58 0.06 0 0 190	Cave Straight 03 Type B,-90,0	Cave Corner 02 Type B,0,0						Cave Corner 01 Type B,-90,-6	Cave Straight 02 Type B,-90,-6,Rescue Randy@11.6 0.05 -0.02 0 0 -90	Cave Cap Type B,90,-6
+base_station,0,0	Cave Straight 05 Type B,90,0	Cave Straight 01 Type B,90,0	Cave Straight 03 Type B,90,0,Backpack@5.16 -5 0.07 0 0 180	Cave 3 Way 01 Type B,180,0	Cave Straight 02 Type B,-90,0	Cave Straight 01 Type B,90,0,Phone@-0.04 -2.03 0.41 -95.11 0 83	Cave Corner 01 Type B,0,0															
+				Cave Straight 03 Type B,0,0																		
+				Cave Straight 01 Type B,180,0																		
+				Cave Straight 03 Type B,180,0																		
+				Cave Corner 02 Type B,-90,0	Cave Corner 01 Type B,90,0																	
+					Cave Straight 05 Type B,0,0,Phone@0 3.32 0.21 -93.96 0 0																	
+				Cave Corner 01 Type B,180,0	Cave 3 Way 01 Type B,0,0	Cave Corner 02 Type B,90,0																
+				Cave Straight 04 Type B,0,0		Cave Vertical Shaft Type B,180,0																
+				Cave Corner 02 Type B,-90,0	Cave Vertical Shaft Type B,-90,0,Backpack@5.11 0 0.03 0 0 -80	Cave 3 Way 01 Type B,90,4																
+						Cave Straight 02 Type B,0,4,Rescue Randy@0 -12.28 0 0 0 185																
+						Cave Cap Type B,0,4																
diff --git a/subt_ign/worlds/simple_cave_02.dot b/subt_ign/worlds/simple_cave_02.dot
index 3383e45f..7ee63ea4 100644
--- a/subt_ign/worlds/simple_cave_02.dot
+++ b/subt_ign/worlds/simple_cave_02.dot
@@ -8,61 +8,61 @@ graph {
   /* Base station / Staging area */
   0   [label="0::base_station::BaseStation"];
 
-  1   [label="1::Cave Straight 01::tile_1"];
-  2   [label="2::Cave Corner 01::tile_2"];
-  3   [label="3::Cave Straight 02::tile_3"];
-  4   [label="4::Cave Straight 01::tile_4"];
-  5   [label="5::Cave Straight 02::tile_5"];
-  6   [label="6::Cave Straight 05::tile_6"];
-  7   [label="7::Cave 3 Way 01::tile_7"];
-  8   [label="8::Cave Elevation::tile_8"];
-  9   [label="9::Cave 3 Way 01::tile_9"];
-  10  [label="10::Cave Corner 01::tile_10"];
-  11  [label="11::Cave Straight 03::tile_11"];
-  12  [label="12::Cave Straight 04::tile_12"];
-  13  [label="13::Cave Elevation::tile_13"];
-  14  [label="14::Cave Straight 01::tile_14"];
-  15  [label="15::Cave Corner 02::tile_15"];
-  16  [label="16::Cave Straight 05::tile_16"];
-  17  [label="17::Cave 3 Way 01::tile_17"];
-  18  [label="18::Cave Elevation::tile_18"];
-  19  [label="19::Cave Straight 05::tile_19"];
-  20  [label="20::Cave Straight 04::tile_20"];
-  21  [label="21::Cave Elevation::tile_21"];
-  22  [label="22::Cave 3 Way 01::tile_22"];
-  23  [label="23::Cave Straight 04::tile_23"];
-  24  [label="24::Cave Straight 01::tile_24"];
-  25  [label="25::Cave Straight 02::tile_25"];
-  26  [label="26::Cave Straight 04::tile_26"];
-  27  [label="27::Cave 3 Way 01::tile_27"];
-  28  [label="28::Cave Straight 04::tile_28"];
-  29  [label="29::Cave Elevation::tile_29"];
-  30  [label="30::Cave Elevation::tile_30"];
-  31  [label="31::Cave Elevation::tile_31"];
-  32  [label="32::Cave Elevation::tile_32"];
-  33  [label="33::Cave Straight 03::tile_33"];
-  34  [label="34::Cave Straight 01::tile_34"];
-  35  [label="35::Cave Corner 02::tile_35"];
-  36  [label="36::Cave Corner 01::tile_36"];
-  37  [label="37::Cave Elevation::tile_37"];
-  38  [label="38::Cave Corner 01::tile_38"];
-  39  [label="39::Cave 3 Way 01::tile_39"];
-  40  [label="40::Cave Corner 02::tile_40"];
-  41  [label="41::Cave Elevation::tile_41"];
-  42  [label="42::Cave Elevation::tile_42"];
-  43  [label="43::Cave Straight 05::tile_43"];
-  44  [label="44::Cave Straight 01::tile_44"];
-  45  [label="45::Cave Straight 02::tile_45"];
-  46  [label="46::Cave Elevation::tile_46"];
-  47  [label="47::Cave Elevation::tile_47"];
-  48  [label="48::Cave Straight 04::tile_48"];
-  49  [label="49::Cave Elevation::tile_49"];
-  50  [label="50::Cave Corner 01::tile_50"];
-  51  [label="51::Cave Straight 02::tile_51"];
-  52  [label="52::Cave 3 Way 01::tile_52"];
-  53  [label="53::Cave Straight 01::tile_53"];
-  54  [label="54::Cave Elevation::tile_54"];
-  55  [label="55::Cave Corner 01::tile_55"];
+  1   [label="1::Cave Straight 01 Type B::tile_1"];
+  2   [label="2::Cave Corner 01 Type B::tile_2"];
+  3   [label="3::Cave Straight 02 Type B::tile_3"];
+  4   [label="4::Cave Straight 01 Type B::tile_4"];
+  5   [label="5::Cave Straight 02 Type B::tile_5"];
+  6   [label="6::Cave Straight 05 Type B::tile_6"];
+  7   [label="7::Cave 3 Way 01 Type B::tile_7"];
+  8   [label="8::Cave Elevation Type B::tile_8"];
+  9   [label="9::Cave 3 Way 01 Type B::tile_9"];
+  10  [label="10::Cave Corner 01 Type B::tile_10"];
+  11  [label="11::Cave Straight 03 Type B::tile_11"];
+  12  [label="12::Cave Straight 04 Type B::tile_12"];
+  13  [label="13::Cave Elevation Type B::tile_13"];
+  14  [label="14::Cave Straight 01 Type B::tile_14"];
+  15  [label="15::Cave Corner 02 Type B::tile_15"];
+  16  [label="16::Cave Straight 05 Type B::tile_16"];
+  17  [label="17::Cave 3 Way 01 Type B::tile_17"];
+  18  [label="18::Cave Elevation Type B::tile_18"];
+  19  [label="19::Cave Straight 05 Type B::tile_19"];
+  20  [label="20::Cave Straight 04 Type B::tile_20"];
+  21  [label="21::Cave Elevation Type B::tile_21"];
+  22  [label="22::Cave 3 Way 01 Type B::tile_22"];
+  23  [label="23::Cave Straight 04 Type B::tile_23"];
+  24  [label="24::Cave Straight 01 Type B::tile_24"];
+  25  [label="25::Cave Straight 02 Type B::tile_25"];
+  26  [label="26::Cave Straight 04 Type B::tile_26"];
+  27  [label="27::Cave 3 Way 01 Type B::tile_27"];
+  28  [label="28::Cave Straight 04 Type B::tile_28"];
+  29  [label="29::Cave Elevation Type B::tile_29"];
+  30  [label="30::Cave Elevation Type B::tile_30"];
+  31  [label="31::Cave Elevation Type B::tile_31"];
+  32  [label="32::Cave Elevation Type B::tile_32"];
+  33  [label="33::Cave Straight 03 Type B::tile_33"];
+  34  [label="34::Cave Straight 01 Type B::tile_34"];
+  35  [label="35::Cave Corner 02 Type B::tile_35"];
+  36  [label="36::Cave Corner 01 Type B::tile_36"];
+  37  [label="37::Cave Elevation Type B::tile_37"];
+  38  [label="38::Cave Corner 01 Type B::tile_38"];
+  39  [label="39::Cave 3 Way 01 Type B::tile_39"];
+  40  [label="40::Cave Corner 02 Type B::tile_40"];
+  41  [label="41::Cave Elevation Type B::tile_41"];
+  42  [label="42::Cave Elevation Type B::tile_42"];
+  43  [label="43::Cave Straight 05 Type B::tile_43"];
+  44  [label="44::Cave Straight 01 Type B::tile_44"];
+  45  [label="45::Cave Straight 02 Type B::tile_45"];
+  46  [label="46::Cave Elevation Type B::tile_46"];
+  47  [label="47::Cave Elevation Type B::tile_47"];
+  48  [label="48::Cave Straight 04 Type B::tile_48"];
+  49  [label="49::Cave Elevation Type B::tile_49"];
+  50  [label="50::Cave Corner 01 Type B::tile_50"];
+  51  [label="51::Cave Straight 02 Type B::tile_51"];
+  52  [label="52::Cave 3 Way 01 Type B::tile_52"];
+  53  [label="53::Cave Straight 01 Type B::tile_53"];
+  54  [label="54::Cave Elevation Type B::tile_54"];
+  55  [label="55::Cave Corner 01 Type B::tile_55"];
 
   /* ==== Edges ==== */
 
diff --git a/subt_ign/worlds/simple_cave_02.sdf b/subt_ign/worlds/simple_cave_02.sdf
index 8a743132..9a76dd9f 100644
--- a/subt_ign/worlds/simple_cave_02.sdf
+++ b/subt_ign/worlds/simple_cave_02.sdf
@@ -23,7 +23,7 @@
       <static>true</static>
       <name>staging_area</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area Type B</uri>
     </include>
 
 
@@ -45,13 +45,13 @@
     <!-- Tunnel tiles and artifacts -->
     <include>
       <name>cave_cap_1</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>225.000000 175.000000 10.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_1</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>225.000000 150.000000 10.000000 0 0 3.141593</pose>
     </include>
 
@@ -69,19 +69,19 @@
 
     <include>
       <name>tile_2</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>25.000000 125.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_3</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>50.000000 125.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_4</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>75.000000 125.000000 0.000000 0 0 1.570796</pose>
     </include>
 
@@ -93,19 +93,19 @@
 
     <include>
       <name>tile_5</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>100.000000 125.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_6</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>125.000000 125.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_7</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>150.000000 125.000000 0.000000 0 0 3.141593</pose>
     </include>
 
@@ -117,25 +117,25 @@
 
     <include>
       <name>tile_8</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>175.000000 125.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_9</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>200.000000 125.000000 10.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_10</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>225.000000 125.000000 10.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_11</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>25.000000 100.000000 0.000000 0 0 0.000000</pose>
     </include>
 
@@ -147,7 +147,7 @@
 
     <include>
       <name>tile_12</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>150.000000 100.000000 0.000000 0 0 3.141593</pose>
     </include>
 
@@ -159,127 +159,127 @@
 
     <include>
       <name>tile_13</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>200.000000 100.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_14</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>25.000000 75.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_15</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>100.000000 75.000000 0.000000 0 0 -3.141593</pose>
     </include>
 
     <include>
       <name>tile_16</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>125.000000 75.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_17</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>150.000000 75.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_18</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>200.000000 75.000000 -10.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_19</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>25.000000 50.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_20</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>100.000000 50.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_21</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>150.000000 50.000000 -10.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>cave_cap_2</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>175.000000 50.000000 -10.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_22</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>200.000000 50.000000 -10.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_23</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>25.000000 25.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_24</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>100.000000 25.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_25</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>150.000000 25.000000 -10.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_26</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>200.000000 25.000000 -10.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_27</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>25.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_28</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>100.000000 0.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_29</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>150.000000 0.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_30</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>200.000000 0.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_31</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>25.000000 -25.000000 -10.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_32</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>100.000000 -25.000000 -10.000000 0 0 3.141593</pose>
     </include>
 
@@ -291,25 +291,25 @@
 
     <include>
       <name>tile_33</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>150.000000 -25.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_34</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>200.000000 -25.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_35</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>25.000000 -50.000000 -10.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_36</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>50.000000 -50.000000 -10.000000 0 0 1.570796</pose>
     </include>
 
@@ -321,13 +321,13 @@
 
     <include>
       <name>tile_37</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>100.000000 -50.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_38</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>150.000000 -50.000000 -20.000000 0 0 -1.570796</pose>
     </include>
 
@@ -339,43 +339,43 @@
 
     <include>
       <name>tile_39</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>175.000000 -50.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_40</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>200.000000 -50.000000 -20.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_41</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>50.000000 -75.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_42</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>100.000000 -75.000000 -30.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_43</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>175.000000 -75.000000 -20.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_44</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>50.000000 -100.000000 -20.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_45</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>100.000000 -100.000000 -30.000000 0 0 3.141593</pose>
     </include>
 
@@ -387,43 +387,43 @@
 
     <include>
       <name>tile_46</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>175.000000 -100.000000 -30.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_47</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>50.000000 -125.000000 -30.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_48</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 04 Type B</uri>
       <pose>100.000000 -125.000000 -30.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_49</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>175.000000 -125.000000 -40.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_50</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>50.000000 -150.000000 -30.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_51</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>75.000000 -150.000000 -30.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_52</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>100.000000 -150.000000 -30.000000 0 0 0.000000</pose>
     </include>
 
@@ -435,19 +435,19 @@
 
     <include>
       <name>tile_53</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>125.000000 -150.000000 -30.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_54</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>150.000000 -150.000000 -40.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_55</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>175.000000 -150.000000 -40.000000 0 0 0.000000</pose>
     </include>
 
diff --git a/subt_ign/worlds/simple_cave_02.tsv b/subt_ign/worlds/simple_cave_02.tsv
index 27d66bc4..c8c52ff2 100644
--- a/subt_ign/worlds/simple_cave_02.tsv
+++ b/subt_ign/worlds/simple_cave_02.tsv
@@ -1,14 +1,14 @@
-									Cave Cap,180,2
-									Cave Straight 01,180,2,Backpack@2.1 0.33 0.43 0 0 -88;Phone@0 10.6 0 -90 0 6
-	Cave Corner 01,180,0	Cave Straight 02,90,0	Cave Straight 01,90,0,Phone@0.56 0.24 0.37 -93.4 0 10.88	Cave Straight 02,-90,0	Cave Straight 05,90,0	Cave 3 Way 01,180,0,Rescue Randy@0 8.65 0.76 0 0 0	Cave Elevation,90,0	Cave 3 Way 01,180,2	Cave Corner 01,0,2
-	Cave Straight 03,0,0,Rescue Randy@1.67 3.91 1.18 14.9 0 0					Cave Straight 04,180,0,Backpack@0 2.11 0.5 0 11.46 145.53		Cave Elevation,180,0	
-	Cave Straight 01,0,0			Cave Corner 02,-180,0	Cave Straight 05,90,0	Cave 3 Way 01,90,0		Cave Elevation,180,-2	
-	Cave Straight 05,0,0			Cave Straight 04,180,0		Cave Elevation,180,-2	Cave Cap,-90,-2	Cave 3 Way 01,90,-2	
-	Cave Straight 04,180,0			Cave Straight 01,0,0		Cave Straight 02,0,-2		Cave Straight 04,0,-2	
-base_station,0,0	Cave 3 Way 01,90,0			Cave Straight 04,0,0		Cave Elevation,180,-4		Cave Elevation,180,-4	
-	Cave Elevation,180,-2			Cave Elevation,180,-2,Phone@-0.23 0.37 5.25 -66.46 0 0		Cave Straight 03,180,-4		Cave Straight 01,180,-4	
-	Cave Corner 02,-90,-2	Cave Corner 01,90,-2,Phone@0.26 4.18 -0.15 -92.82 8 21.2		Cave Elevation,180,-4		Cave Corner 01,-90,-4,Backpack@0.56 0.78 0.325 0 0 -35.52	Cave 3 Way 01,180,-4	Cave Corner 02,0,-4	
-		Cave Elevation,180,-4		Cave Elevation,180,-6			Cave Straight 05,0,-4		
-		Cave Straight 01,0,-4		Cave Straight 02,180,-6,Backpack@0.04 -9.11 -0.22 -5 0 -80			Cave Elevation,180,-6		
-		Cave Elevation,180,-6		Cave Straight 04,180,-6			Cave Elevation,180,-8		
-		Cave Corner 01,-90,-6	Cave Straight 02,90,-6	Cave 3 Way 01,0,-6,Rescue Randy@2.21 7.53 0.12 -2.86 0 -90	Cave Straight 01,-90,-6	Cave Elevation,-90,-8	Cave Corner 01,0,-8,Rescue Randy@2.86 0.03 0.0 -5.7 0 -95		
+									Cave Cap Type B,180,2
+									Cave Straight 01 Type B,180,2,Backpack@2.1 0.33 0.43 0 0 -88;Phone@0 10.6 0 -90 0 6
+	Cave Corner 01 Type B,180,0	Cave Straight 02 Type B,90,0	Cave Straight 01 Type B,90,0,Phone@0.56 0.24 0.37 -93.4 0 10.88	Cave Straight 02 Type B,-90,0	Cave Straight 05 Type B,90,0	Cave 3 Way 01 Type B,180,0,Rescue Randy@0 8.65 0.76 0 0 0	Cave Elevation Type B,90,0	Cave 3 Way 01 Type B,180,2	Cave Corner 01 Type B,0,2
+	Cave Straight 03 Type B,0,0,Rescue Randy@1.67 3.91 1.18 14.9 0 0					Cave Straight 04 Type B,180,0,Backpack@0 2.11 0.5 0 11.46 145.53		Cave Elevation Type B,180,0	
+	Cave Straight 01 Type B,0,0			Cave Corner 02 Type B,-180,0	Cave Straight 05 Type B,90,0	Cave 3 Way 01 Type B,90,0		Cave Elevation Type B,180,-2	
+	Cave Straight 05 Type B,0,0			Cave Straight 04 Type B,180,0		Cave Elevation Type B,180,-2	Cave Cap Type B,-90,-2	Cave 3 Way 01 Type B,90,-2	
+	Cave Straight 04 Type B,180,0			Cave Straight 01 Type B,0,0		Cave Straight 02 Type B,0,-2		Cave Straight 04 Type B,0,-2	
+base_station,0,0	Cave 3 Way 01 Type B,90,0			Cave Straight 04 Type B,0,0		Cave Elevation Type B,180,-4		Cave Elevation Type B,180,-4	
+	Cave Elevation Type B,180,-2			Cave Elevation Type B,180,-2,Phone@-0.23 0.37 5.25 -66.46 0 0		Cave Straight 03 Type B,180,-4		Cave Straight 01 Type B,180,-4	
+	Cave Corner 02 Type B,-90,-2	Cave Corner 01 Type B,90,-2,Phone@0.26 4.18 -0.15 -92.82 8 21.2		Cave Elevation Type B,180,-4		Cave Corner 01 Type B,-90,-4,Backpack@0.56 0.78 0.325 0 0 -35.52	Cave 3 Way 01 Type B,180,-4	Cave Corner 02 Type B,0,-4	
+		Cave Elevation Type B,180,-4		Cave Elevation Type B,180,-6			Cave Straight 05 Type B,0,-4		
+		Cave Straight 01 Type B,0,-4		Cave Straight 02 Type B,180,-6,Backpack@0.04 -9.11 -0.22 -5 0 -80			Cave Elevation Type B,180,-6		
+		Cave Elevation Type B,180,-6		Cave Straight 04 Type B,180,-6			Cave Elevation Type B,180,-8		
+		Cave Corner 01 Type B,-90,-6	Cave Straight 02 Type B,90,-6	Cave 3 Way 01 Type B,0,-6,Rescue Randy@2.21 7.53 0.12 -2.86 0 -90	Cave Straight 01 Type B,-90,-6	Cave Elevation Type B,-90,-8	Cave Corner 01 Type B,0,-8,Rescue Randy@2.86 0.03 0.0 -5.7 0 -95		
diff --git a/subt_ign/worlds/simple_cave_03.dot b/subt_ign/worlds/simple_cave_03.dot
index 253c8643..8bc44629 100644
--- a/subt_ign/worlds/simple_cave_03.dot
+++ b/subt_ign/worlds/simple_cave_03.dot
@@ -8,61 +8,61 @@ graph {
   /* Base station / Staging area */
   0   [label="0::base_station::BaseStation"];
 
-  1   [label="1::Cave Corner 30::tile_1"];
-  2   [label="2::Cave Straight 03::tile_2"];
-  3   [label="3::Cave Straight 01::tile_3"];
-  4   [label="4::Cave 3 Way 01::tile_4"];
-  5   [label="5::Cave Straight 03::tile_5"];
-  6   [label="6::Cave 3 Way 01::tile_6"];
-  7   [label="7::Cave Corner 02::tile_7"];
-  8   [label="8::Cave Corner 30F::tile_8"];
-  9   [label="9::Cave Corner 02::tile_9"];
-  10  [label="10::Cave Straight 02::tile_10"];
-  11  [label="11::Cave 3 Way 01::tile_11"];
-  12  [label="12::Cave Elevation::tile_12"];
-  13  [label="13::Cave Straight 02::tile_13"];
-  14  [label="14::Cave Straight 01::tile_14"];
-  15  [label="15::Cave Corner 01::tile_15"];
-  16  [label="16::Cave Corner 02::tile_16"];
-  17  [label="17::Cave 3 Way 01::tile_17"];
-  18  [label="18::Cave Straight 01::tile_18"];
-  19  [label="19::Cave Straight 03::tile_19"];
-  20  [label="20::Cave Corner 02::tile_20"];
-  21  [label="21::Cave Elevation::tile_21"];
-  22  [label="22::Cave Corner 01::tile_22"];
-  23  [label="23::Cave Straight 03::tile_23"];
-  24  [label="24::Cave Corner 02::tile_24"];
-  25  [label="25::Cave Straight 05::tile_25"];
-  26  [label="26::Cave Corner 02::tile_26"];
+  1   [label="1::Cave Corner 30 Type B::tile_1"];
+  2   [label="2::Cave Straight 03 Type B::tile_2"];
+  3   [label="3::Cave Straight 01 Type B::tile_3"];
+  4   [label="4::Cave 3 Way 01 Type B::tile_4"];
+  5   [label="5::Cave Straight 03 Type B::tile_5"];
+  6   [label="6::Cave 3 Way 01 Type B::tile_6"];
+  7   [label="7::Cave Corner 02 Type B::tile_7"];
+  8   [label="8::Cave Corner 30F Type B::tile_8"];
+  9   [label="9::Cave Corner 02 Type B::tile_9"];
+  10  [label="10::Cave Straight 02 Type B::tile_10"];
+  11  [label="11::Cave 3 Way 01 Type B::tile_11"];
+  12  [label="12::Cave Elevation Type B::tile_12"];
+  13  [label="13::Cave Straight 02 Type B::tile_13"];
+  14  [label="14::Cave Straight 01 Type B::tile_14"];
+  15  [label="15::Cave Corner 01 Type B::tile_15"];
+  16  [label="16::Cave Corner 02 Type B::tile_16"];
+  17  [label="17::Cave 3 Way 01 Type B::tile_17"];
+  18  [label="18::Cave Straight 01 Type B::tile_18"];
+  19  [label="19::Cave Straight 03 Type B::tile_19"];
+  20  [label="20::Cave Corner 02 Type B::tile_20"];
+  21  [label="21::Cave Elevation Type B::tile_21"];
+  22  [label="22::Cave Corner 01 Type B::tile_22"];
+  23  [label="23::Cave Straight 03 Type B::tile_23"];
+  24  [label="24::Cave Corner 02 Type B::tile_24"];
+  25  [label="25::Cave Straight 05 Type B::tile_25"];
+  26  [label="26::Cave Corner 02 Type B::tile_26"];
 
-  100   [label="100::Cave Straight 03::tile_100"];
-  101   [label="101::Cave Straight 01::tile_101"];
-  102   [label="102::Cave Corner 02::tile_102"];
-  103   [label="103::Cave Vertical Shaft::tile_103"];
-  104   [label="104::Cave Corner 01::tile_104"];
-  105   [label="105::Cave Straight 02::tile_105"];
-  106   [label="106::Cave Corner 02::tile_106"];
-  107   [label="107::Cave Straight 02::tile_107"];
-  108   [label="108::Cave Elevation::tile_108"];
-  109  [label="109::Cave Straight 01::tile_109"];
-  110  [label="110::Cave 3 Way 01::tile_110"];
-  111  [label="111::Cave Corner 02::tile_111"];
-  112  [label="112::Cave Corner 02::tile_112"];
-  113  [label="113::Cave Vertical Shaft::tile_113"];
-  114  [label="114::Cave Corner 02::tile_114"];
+  100   [label="100::Cave Straight 03 Type B::tile_100"];
+  101   [label="101::Cave Straight 01 Type B::tile_101"];
+  102   [label="102::Cave Corner 02 Type B::tile_102"];
+  103   [label="103::Cave Vertical Shaft Type B::tile_103"];
+  104   [label="104::Cave Corner 01 Type B::tile_104"];
+  105   [label="105::Cave Straight 02 Type B::tile_105"];
+  106   [label="106::Cave Corner 02 Type B::tile_106"];
+  107   [label="107::Cave Straight 02 Type B::tile_107"];
+  108   [label="108::Cave Elevation Type B::tile_108"];
+  109  [label="109::Cave Straight 01 Type B::tile_109"];
+  110  [label="110::Cave 3 Way 01 Type B::tile_110"];
+  111  [label="111::Cave Corner 02 Type B::tile_111"];
+  112  [label="112::Cave Corner 02 Type B::tile_112"];
+  113  [label="113::Cave Vertical Shaft Type B::tile_113"];
+  114  [label="114::Cave Corner 02 Type B::tile_114"];
 
-  200   [label="200::Cave Corner 02::tile_200"];
-  201   [label="201::Cave Straight 03::tile_201"];
-  202   [label="202::Cave Straight 02::tile_202"];
-  203   [label="203::Cave Corner 01::tile_203"];
-  204   [label="204::Cave Straight 05::tile_204"];
-  205   [label="205::Cave Straight 03::tile_205"];
-  206   [label="206::Cave Corner 01::tile_206"];
-  207   [label="207::Cave Corner 02::tile_207"];
-  208   [label="208::Cave Elevation::tile_208"];
-  209  [label="209::Cave 3 Way 01::tile_209"];
-  210  [label="210::Cave Elevation::tile_210"];
-  211  [label="211::Cave Straight 02::tile_211"];
+  200   [label="200::Cave Corner 02 Type B::tile_200"];
+  201   [label="201::Cave Straight 03 Type B::tile_201"];
+  202   [label="202::Cave Straight 02 Type B::tile_202"];
+  203   [label="203::Cave Corner 01 Type B::tile_203"];
+  204   [label="204::Cave Straight 05 Type B::tile_204"];
+  205   [label="205::Cave Straight 03 Type B::tile_205"];
+  206   [label="206::Cave Corner 01 Type B::tile_206"];
+  207   [label="207::Cave Corner 02 Type B::tile_207"];
+  208   [label="208::Cave Elevation Type B::tile_208"];
+  209  [label="209::Cave 3 Way 01 Type B::tile_209"];
+  210  [label="210::Cave Elevation Type B::tile_210"];
+  211  [label="211::Cave Straight 02 Type B::tile_211"];
 
 
   /* ==== Edges ==== */
diff --git a/subt_ign/worlds/simple_cave_03.sdf b/subt_ign/worlds/simple_cave_03.sdf
index 2f6e67e4..7a24305b 100644
--- a/subt_ign/worlds/simple_cave_03.sdf
+++ b/subt_ign/worlds/simple_cave_03.sdf
@@ -23,7 +23,7 @@
       <static>true</static>
       <name>staging_area</name>
       <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Starting Area Type B</uri>
     </include>
 
 
@@ -117,176 +117,176 @@
     <!-- Tunnel tiles and artifacts -->
     <include>
       <name>tile_1</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30 Type B</uri>
       <pose>125.000000 25.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_2</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>25.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_3</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>50.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_4</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>75.000000 0.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_5</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>100.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_6</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>125.000000 0.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_7</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>150.000000 0.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_8</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 30F Type B</uri>
       <pose>75.000000 -25.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_9</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>150.000000 -25.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_10</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>175.000000 -25.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_11</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>200.000000 -25.000000 0.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_12</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>225.000000 -25.000000 -10.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_13</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>250.000000 -25.000000 -10.000000 0 0 -1.570796</pose>
     </include>
 
 
     <include>
       <name>tile_14</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>275.000000 -25.000000 -10.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_15</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>300.000000 -25.000000 -10.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_16</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>350.000000 -25.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_17</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>375.000000 -25.000000 -20.000000 0 0 3.141593</pose>
     </include>
 
     <include>
       <name>tile_18</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>400.000000 -25.000000 -20.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>cave_cap_1</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>425.000000 -25.000000 -20.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_19</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>200.000000 -50.000000 0.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_20</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>300.000000 -50.000000 -10.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_21</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>325.000000 -50.000000 -20.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>tile_22</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>350.000000 -50.000000 -20.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_23</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>375.000000 -50.000000 -20.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_24</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>200.000000 -75.000000 0.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>cave_cap_2</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>225.000000 -75.000000 0.000000 0 0 1.570796</pose>
     </include>
 
     <include>
       <name>tile_25</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>375.000000 -75.000000 -20.000000 0 0 0.000000</pose>
     </include>
 
     <include>
       <name>tile_26</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>375.000000 -100.000000 -20.000000 0 0 -1.570796</pose>
     </include>
 
     <include>
       <name>cave_cap_3</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>400.000000 -100.000000 -20.000000 0 0 1.570796</pose>
     </include>
 
@@ -295,188 +295,188 @@
     <!-- Tunnel tiles and artifacts -->
     <include>
       <name>tile_100</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>98.400635 -31.250000 0.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_101</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>120.051270 -43.750000 0.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_102</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>141.701905 -56.250000 0.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_103</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Type B</uri>
       <pose>129.201905 -77.900635 -20.000000 0 0 -0.523599</pose>
     </include>
 
     <include>
       <name>tile_104</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>215.804446 -127.900635 -30.000000 0 0 2.617994</pose>
     </include>
 
     <include>
       <name>tile_105</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>237.455081 -140.400635 -30.000000 0 0 -2.094395</pose>
     </include>
 
     <include>
       <name>cave_cap_101</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>259.105716 -152.900635 -30.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_106</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>116.701905 -99.551270 -20.000000 0 0 -2.094395</pose>
     </include>
 
     <include>
       <name>tile_107</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>138.352540 -112.051270 -20.000000 0 0 -2.094395</pose>
     </include>
 
     <include>
       <name>tile_108</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>160.003175 -124.551270 -30.000000 0 0 -2.094395</pose>
     </include>
 
     <include>
       <name>tile_109</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 01 Type B</uri>
       <pose>181.653811 -137.051270 -30.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_110</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>203.304446 -149.551270 -30.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_111</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>190.804446 -171.201905 -30.000000 0 0 -2.094395</pose>
     </include>
 
     <include>
       <name>tile_112</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>212.455081 -183.701905 -30.000000 0 0 1.047198</pose>
     </include>
 
     <include>
       <name>tile_113</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Vertical Shaft Type B</uri>
       <pose>199.955081 -205.352540 -30.000000 0 0 2.617994</pose>
     </include>
 
     <include>
       <name>tile_114</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>187.455081 -227.003175 -10.000000 0 0 -2.094395</pose>
     </include>
 
     <include>
       <name>cave_cap_102</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>209.105716 -239.503175 -10.000000 0 0 1.047198</pose>
     </include>
 
     <!-- Tunnel tiles and artifacts -->
     <include>
       <name>cave_cap_201</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>253.304446 149.500000 -10.000000 0 0 3.665191</pose>
     </include>
 
     <include>
       <name>tile_200</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>157.551270 65.349365 0.000000 0 0 3.665191</pose>
     </include>
 
     <include>
       <name>tile_201</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>179.201905 77.849365 0.000000 0 0 2.094395</pose>
     </include>
 
     <include>
       <name>tile_202</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>200.852540 90.349365 0.000000 0 0 -1.047198</pose>
     </include>
 
     <include>
       <name>tile_203</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>222.503175 102.849365 0.000000 0 0 2.094395</pose>
     </include>
 
     <include>
       <name>tile_204</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 05 Type B</uri>
       <pose>265.804446 127.849365 -10.000000 0 0 0.523599</pose>
     </include>
 
     <include>
       <name>tile_205</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 03 Type B</uri>
       <pose>148.400635 31.198730 0.000000 0 0 2.094395</pose>
     </include>
 
     <include>
       <name>tile_206</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 01 Type B</uri>
       <pose>170.051270 43.698730 0.000000 0 0 0.523599</pose>
     </include>
 
     <include>
       <name>tile_207</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Corner 02 Type B</uri>
       <pose>235.003175 81.198730 0.000000 0 0 -1.047198</pose>
     </include>
 
     <include>
       <name>tile_208</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>256.653811 93.698730 -10.000000 0 0 -1.047198</pose>
     </include>
 
     <include>
       <name>tile_209</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave 3 Way 01 Type B</uri>
       <pose>278.304446 106.198730 -10.000000 0 0 0.523599</pose>
     </include>
 
     <include>
       <name>tile_210</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Elevation Type B</uri>
       <pose>299.955081 118.698730 -20.000000 0 0 -1.047198</pose>
     </include>
 
     <include>
       <name>tile_211</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Straight 02 Type B</uri>
       <pose>321.605716 131.198730 -20.000000 0 0 -1.047198</pose>
     </include>
 
     <include>
       <name>cave_cap_202</name>
-      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap</uri>
+      <uri>https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Cave Cap Type B</uri>
       <pose>343.256351 143.698730 -20.000000 0 0 2.094395</pose>
     </include>
 
diff --git a/subt_ign/worlds/simple_cave_03.tsv b/subt_ign/worlds/simple_cave_03.tsv
index b4e27c3e..967e1a83 100644
--- a/subt_ign/worlds/simple_cave_03.tsv
+++ b/subt_ign/worlds/simple_cave_03.tsv
@@ -1,25 +1,25 @@
-base_station,0,0	Cave Straight 03,90,0	Cave Straight 01,90,0	Cave Corner 02,90,0
-			Cave Straight 03,0,0						Cave Corner 02,180,0	Cave Cap,90,0
-			Cave Corner 02,-90,0	Cave Straight 02,-90,0	Cave 3 Way 01,180,0	Cave Straight 01,90,0	Cave Straight 03,90,0	Cave Straight 01,-90,0	Cave Corner 01,0,0
-					Cave Straight 03,0,0
-					Cave Corner 02,-90,0	Cave Corner 02,90,0
-						Cave Straight 02,0,0
-					Cave Corner 01,180,0	Cave 3 Way 01,0,0	Cave Straight 02,-90,0	Cave Straight 01,90,0	Cave Straight 03,90,0	Cave Straight 02,90,0	Cave Corner 01,90,0
-					Cave Straight 03,0,0						Cave Corner 02,-90,0	Cave Elevation,-90,-2	Cave Elevation,-90,-4	Cave Corner 02,90,-4
-	Cave Corner 01,180,4	Cave Vertical Shaft,90,0	Cave Straight 02,-90,0	Cave Straight 01,90,0	Cave 3 Way 01,90,0									Cave Straight 03,0,-4
-	Cave Straight 03,0,4				Cave Straight 01,180,0									Cave Straight 01,180,-4		Cave Cap,180,-4
-	Cave Straight 01,180,4				Cave Corner 02,-90,0	Cave Straight 03,-90,0	Cave 3 Way 01,180,0	Cave Straight 03,90,0	Cave Straight 02,90,0	Cave Corner 01,90,0	Cave Cap,180,0			Cave 3 Way 01,-90,-4	Cave Straight 01,90,-4	Cave Corner 01,0,-4
-	Cave Straight 03,180,4						Cave Straight 02,0,0			Cave Corner 02,-90,0	Cave Corner 02,0,0			Cave Straight 03,0,-4
-Cave Corner 01,180,4	Cave Corner 02,0,4						Cave Straight 03,0,0							Cave Straight 01,180,-4
-Cave Straight 01,180,4							Cave Straight 01,180,0							Cave Straight 03,180,-4
-Cave Corner 02,-90,4	Cave Corner 01,90,4						Cave 3 Way 01,-90,0	Cave Elevation,-90,-2	Cave Straight 03,-90,-2	Cave Straight 01,90,-2	Cave Corner 01,90,-2		Cave Corner 02,180,-4	Cave Corner 01,0,-4
-Cave Corner 01,180,4	Cave 3 Way 01,0,4	Cave Corner 01,90,4					Cave Straight 01,0,0				Cave Corner 02,-90,-2	Cave Elevation,-90,-4	Cave Corner 01,0,-4
-Cave Straight 02,0,4		Cave Corner 02,-90,4	Cave Straight 03,90,4	Cave Cap,90,4			Cave Vertical Shaft,180,0
-Cave Straight 01,180,4							Cave Straight 01,180,4
-Cave Cap,0,4							Cave Straight 03,180,4
-							Cave Straight 03,0,4
-							Cave Straight 03,180,4
-						Cave Corner 01,180,4	Cave 3 Way 01,0,4	Cave Corner 02,90,4
-						Cave Straight 02,0,4		Cave Cap,0,4
-						Cave Straight 01,180,4
-						Cave Cap,0,4
+base_station,0,0	Cave Straight 03 Type B,90,0	Cave Straight 01 Type B,90,0	Cave Corner 02 Type B,90,0
+			Cave Straight 03 Type B,0,0						Cave Corner 02 Type B,180,0	Cave Cap Type B,90,0
+			Cave Corner 02 Type B,-90,0	Cave Straight 02 Type B,-90,0	Cave 3 Way 01 Type B,180,0	Cave Straight 01 Type B,90,0	Cave Straight 03 Type B,90,0	Cave Straight 01 Type B,-90,0	Cave Corner 01 Type B,0,0
+					Cave Straight 03 Type B,0,0
+					Cave Corner 02 Type B,-90,0	Cave Corner 02 Type B,90,0
+						Cave Straight 02 Type B,0,0
+					Cave Corner 01 Type B,180,0	Cave 3 Way 01 Type B,0,0	Cave Straight 02 Type B,-90,0	Cave Straight 01 Type B,90,0	Cave Straight 03 Type B,90,0	Cave Straight 02 Type B,90,0	Cave Corner 01 Type B,90,0
+					Cave Straight 03 Type B,0,0						Cave Corner 02 Type B,-90,0	Cave Elevation Type B,-90,-2	Cave Elevation Type B,-90,-4	Cave Corner 02 Type B,90,-4
+	Cave Corner 01 Type B,180,4	Cave Vertical Shaft Type B,90,0	Cave Straight 02 Type B,-90,0	Cave Straight 01 Type B,90,0	Cave 3 Way 01 Type B,90,0									Cave Straight 03 Type B,0,-4
+	Cave Straight 03 Type B,0,4				Cave Straight 01 Type B,180,0									Cave Straight 01 Type B,180,-4		Cave Cap Type B,180,-4
+	Cave Straight 01 Type B,180,4				Cave Corner 02 Type B,-90,0	Cave Straight 03 Type B,-90,0	Cave 3 Way 01 Type B,180,0	Cave Straight 03 Type B,90,0	Cave Straight 02 Type B,90,0	Cave Corner 01 Type B,90,0	Cave Cap Type B,180,0			Cave 3 Way 01 Type B,-90,-4	Cave Straight 01 Type B,90,-4	Cave Corner 01 Type B,0,-4
+	Cave Straight 03 Type B,180,4						Cave Straight 02 Type B,0,0			Cave Corner 02 Type B,-90,0	Cave Corner 02 Type B,0,0			Cave Straight 03 Type B,0,-4
+Cave Corner 01 Type B,180,4	Cave Corner 02 Type B,0,4						Cave Straight 03 Type B,0,0							Cave Straight 01 Type B,180,-4
+Cave Straight 01 Type B,180,4							Cave Straight 01 Type B,180,0							Cave Straight 03 Type B,180,-4
+Cave Corner 02 Type B,-90,4	Cave Corner 01 Type B,90,4						Cave 3 Way 01 Type B,-90,0	Cave Elevation Type B,-90,-2	Cave Straight 03 Type B,-90,-2	Cave Straight 01 Type B,90,-2	Cave Corner 01 Type B,90,-2		Cave Corner 02 Type B,180,-4	Cave Corner 01 Type B,0,-4
+Cave Corner 01 Type B,180,4	Cave 3 Way 01 Type B,0,4	Cave Corner 01 Type B,90,4					Cave Straight 01 Type B,0,0				Cave Corner 02 Type B,-90,-2	Cave Elevation Type B,-90,-4	Cave Corner 01 Type B,0,-4
+Cave Straight 02 Type B,0,4		Cave Corner 02 Type B,-90,4	Cave Straight 03 Type B,90,4	Cave Cap Type B,90,4			Cave Vertical Shaft Type B,180,0
+Cave Straight 01 Type B,180,4							Cave Straight 01 Type B,180,4
+Cave Cap Type B,0,4							Cave Straight 03 Type B,180,4
+							Cave Straight 03 Type B,0,4
+							Cave Straight 03 Type B,180,4
+						Cave Corner 01 Type B,180,4	Cave 3 Way 01 Type B,0,4	Cave Corner 02 Type B,90,4
+						Cave Straight 02 Type B,0,4		Cave Cap Type B,0,4
+						Cave Straight 01 Type B,180,4
+						Cave Cap Type B,0,4
diff --git a/subt_ign/worlds/simple_cave_03_1.tsv b/subt_ign/worlds/simple_cave_03_1.tsv
index 0468de66..1647288b 100644
--- a/subt_ign/worlds/simple_cave_03_1.tsv
+++ b/subt_ign/worlds/simple_cave_03_1.tsv
@@ -1,6 +1,6 @@
-base_station,0,0	Cave Straight 03,90,0	Cave Straight 01,90,0	Cave Corner 02,90,0
-			Cave Vertical Shaft,0,-4				Cave Corner 01,180,-6	Cave Straight 02,-90,-6,Rescue Randy@11.6 0.05 -0.02 0 0 -90	Cave Cap,90,-6
-			Cave Corner 02,-90,-4	Cave Straight 02,-90,-4	Cave Elevation,-90,-6	Cave Straight 01,90,-6,Phone@0 0.64 0.39 -86.66 0 0	Cave 3 Way 01,90,-6
-							Cave Corner 02,-90,-6	Cave Corner 02,90,-6
-								Cave Vertical Shaft,180,-6
-								Cave Corner 02,-90,-2	Cave Cap,90,-2
+base_station,0,0	Cave Straight 03 Type B,90,0	Cave Straight 01 Type B,90,0	Cave Corner 02 Type B,90,0
+			Cave Vertical Shaft Type B,0,-4				Cave Corner 01 Type B,180,-6	Cave Straight 02 Type B,-90,-6,Rescue Randy@11.6 0.05 -0.02 0 0 -90	Cave Cap Type B,90,-6
+			Cave Corner 02 Type B,-90,-4	Cave Straight 02 Type B,-90,-4	Cave Elevation Type B,-90,-6	Cave Straight 01 Type B,90,-6,Phone@0 0.64 0.39 -86.66 0 0	Cave 3 Way 01 Type B,90,-6
+							Cave Corner 02 Type B,-90,-6	Cave Corner 02 Type B,90,-6
+								Cave Vertical Shaft Type B,180,-6
+								Cave Corner 02 Type B,-90,-2	Cave Cap Type B,90,-2
diff --git a/subt_ign/worlds/simple_cave_03_2.tsv b/subt_ign/worlds/simple_cave_03_2.tsv
index a2466445..b09de01c 100644
--- a/subt_ign/worlds/simple_cave_03_2.tsv
+++ b/subt_ign/worlds/simple_cave_03_2.tsv
@@ -1,2 +1,2 @@
-	Cave Corner 02,180,0	Cave Straight 01,90,0,Phone@-0.04 -2.03 0.41 -95.11 0 83	Cave Straight 01,90,0	Cave Straight 03,90,0,Backpack@5.16 -5 0.07 0 0 180	Cave 3 Way 01,180,0	Cave Cap,90,0
-base_station,0,0	Cave Corner 01,0,0				Cave Cap,0,0
+	Cave Corner 02 Type B,180,0	Cave Straight 01 Type B,90,0,Phone@-0.04 -2.03 0.41 -95.11 0 83	Cave Straight 01 Type B,90,0	Cave Straight 03 Type B,90,0,Backpack@5.16 -5 0.07 0 0 180	Cave 3 Way 01 Type B,180,0	Cave Cap Type B,90,0
+base_station,0,0	Cave Corner 01 Type B,0,0				Cave Cap Type B,0,0
diff --git a/subt_ign/worlds/simple_cave_03_3.tsv b/subt_ign/worlds/simple_cave_03_3.tsv
index 00c1157e..68bf6360 100644
--- a/subt_ign/worlds/simple_cave_03_3.tsv
+++ b/subt_ign/worlds/simple_cave_03_3.tsv
@@ -1,3 +1,3 @@
-							Cave Cap,180,-2
-		Cave Corner 02,180,0	Cave Straight 03,90,0	Cave Straight 02,-90,0	Cave Corner 01,90,0		Cave Straight 05,0,-2,Phone@0 3.32 0.21 -93.96 0 0
-base_station,0,0	Cave Straight 03,90,0	Cave Corner 01,0,0			Cave Corner 02,-90,0	Cave Elevation,-90,-2	Cave 3 Way 01,0,-2	Cave Elevation,-90,-4	Cave Straight 02,-90,-4,Rescue Randy@11.6 0.05 -0.02 0 0 -90	Cave Cap,90,-4
+							Cave Cap Type B,180,-2
+		Cave Corner 02 Type B,180,0	Cave Straight 03 Type B,90,0	Cave Straight 02 Type B,-90,0	Cave Corner 01 Type B,90,0		Cave Straight 05 Type B,0,-2,Phone@0 3.32 0.21 -93.96 0 0
+base_station,0,0	Cave Straight 03 Type B,90,0	Cave Corner 01 Type B,0,0			Cave Corner 02 Type B,-90,0	Cave Elevation Type B,-90,-2	Cave 3 Way 01 Type B,0,-2	Cave Elevation Type B,-90,-4	Cave Straight 02 Type B,-90,-4,Rescue Randy@11.6 0.05 -0.02 0 0 -90	Cave Cap Type B,90,-4