diff --git a/docker/Dockerfile.o3de b/docker/Dockerfile.o3de
index 59f58c1..e2ebf14 100644
--- a/docker/Dockerfile.o3de
+++ b/docker/Dockerfile.o3de
@@ -29,16 +29,6 @@ RUN ${O3DE_ROOT}/scripts/o3de.sh register --this-engine
 WORKDIR ${DEMO_ROOT}/gems
 RUN git lfs install --force
 RUN git lfs pull
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path  ${DEMO_ROOT}/gems/o3de-extras/Gems
-
-WORKDIR ${DEMO_ROOT}/gems
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools
-RUN ${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/
-RUN ${O3DE_ROOT}/scripts/o3de.sh register  --project-path ${DEMO_ROOT}/sim
 
 # ---- Build O3DE ---- # 
 
diff --git a/docs/setup_sim.md b/docs/setup_sim.md
index 72a429a..66e28c9 100644
--- a/docs/setup_sim.md
+++ b/docs/setup_sim.md
@@ -66,28 +66,6 @@ ${O3DE_ROOT}/scripts/o3de.sh register --this-engine
 cd ${DEMO_ROOT}/gems
 git lfs install
 git lfs pull
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path  ${DEMO_ROOT}/gems/o3de-extras/Gems
-```
-
-#### Non-canonical Gems
-
-These are gems that are open source but not maintained by O3DE.
-
-```shell
-cd  ${DEMO_ROOT}/gems
-${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem
-${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/
-
-```
-
-#### Register Project
-
-```shell
-${O3DE_ROOT}/scripts/o3de.sh register  --project-path ${DEMO_ROOT}/sim
 ```
 
 ### Setup ROS 2
diff --git a/docs/setup_single_machine.md b/docs/setup_single_machine.md
index 85abec3..b51319e 100644
--- a/docs/setup_single_machine.md
+++ b/docs/setup_single_machine.md
@@ -66,27 +66,6 @@ ${O3DE_ROOT}/scripts/o3de.sh register --this-engine
 cd ${DEMO_ROOT}/gems
 git lfs install
 git lfs pull
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path  ${DEMO_ROOT}/gems/o3de-extras/Gems
-```
-
-#### Non-canonical Gems
-
-These are gems that are open source but not maintained by O3DE.
-
-```shell
-cd  ${DEMO_ROOT}/gems
-${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-humanworker-gem
-${O3DE_ROOT}/scripts/o3de.sh register --gem-path ${DEMO_ROOT}/gems/o3de-ur-robots-gem
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-warehouse-assets
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-generic-assets
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/gems/robotec-o3de-tools
-${O3DE_ROOT}/scripts/o3de.sh register --all-gems-path ${DEMO_ROOT}/project_gems/
-```
-
-#### Register Project
-
-```shell
-${O3DE_ROOT}/scripts/o3de.sh register  --project-path ${DEMO_ROOT}/sim
 ```
 
 ### Setup ROS 2
diff --git a/gems.repos b/gems.repos
index 4df4ac2..5f4496e 100644
--- a/gems.repos
+++ b/gems.repos
@@ -18,7 +18,7 @@ repositories:
   ./gems/robotec-warehouse-assets:
     type: git
     url: https://github.com/RobotecAI/robotec-warehouse-assets.git
-    version: 66595d4359cf9ee65abd4988cf59c889174c7ad6
+    version: 9d342d20be893457762c0718c797332c1459825c
   ./gems/robotec-generic-assets:
     type: git
     url: https://github.com/RobotecAI/robotec-generic-assets.git
diff --git a/sim/project.json b/sim/project.json
index c617616..aeb7986 100644
--- a/sim/project.json
+++ b/sim/project.json
@@ -16,6 +16,29 @@
     "engine": "o3de",
     "external_subdirectories": [
         "Gem",
+        "../gems/o3de-extras/Gems/LevelGeoreferencing",
+        "../gems/o3de-extras/Gems/ROS2",
+        "../gems/o3de-extras/Gems/ROS2Controllers",
+        "../gems/o3de-extras/Gems/ROS2SampleRobots",
+        "../gems/o3de-extras/Gems/ROS2Sensors",
+        "../gems/o3de-extras/Gems/SimulationInterfaces",
+        "../gems/o3de-extras/Gems/WarehouseAssets",
+        "../gems/o3de-humanworker-gem",
+        "../gems/o3de-ur-robots-gem",
+        "../gems/robotec-o3de-tools/Gems/RobotecSpectatorCamera",
+        "../gems/robotec-o3de-tools/Gems/ROS2ScriptIntegration",
+        "../gems/robotec-o3de-tools/Gems/WheelAnimTool",
+        "../gems/robotec-generic-assets/RobotecGarbagePropsAssets",
+        "../gems/robotec-generic-assets/RobotecSmallContainersAssets",
+        "../gems/robotec-generic-assets/RobotecSurveillanceCamerasAssets",
+        "../gems/robotec-generic-assets/RobotecGenericDecorationsAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseRacksAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseBarriersAndCagesAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseLaddersStairsAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseMiscAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseBuildingAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseInventoryAssets",
+        "../gems/robotec-warehouse-assets/Gems/RobotecWarehouseFloorMarkingAssets",
         "../project_gems/LevelGem",
         "../project_gems/KairosPlus"
     ],
@@ -45,9 +68,7 @@
         "WhiteBox",
         "WheelAnimTool",
         "ROS2Controllers",
-        "ROS2RobotImporter",
         "ROS2Sensors",
-        "ROS2RobotImporter",
         "ROS2SampleRobots",
         "RobotecSpectatorCamera",
         "URRobots",
@@ -66,7 +87,7 @@
         "RobotecSmallContainersAssets",
         "RobotecSurveillanceCamerasAssets",
         "RobotecGenericDecorationsAssets",
-        "RobotecWarehousePayloadAssets",
+        "RobotecWarehouseInventoryAssets",
         "RobotecWarehouseFloorMarkingAssets",
         "HumanWorker"
     ],
diff --git a/sim/project.json.bak0 b/sim/project.json.bak0
deleted file mode 100644
index 19dd365..0000000
--- a/sim/project.json.bak0
+++ /dev/null
@@ -1,46 +0,0 @@
-{
-    "project_name": "MobileManipulatorDemo",
-    "version": "1.0.0",
-    "project_id": "{6D3DFA48-B1E6-435C-A585-706F891578C2}",
-    "origin": "The primary repo for MobileManipulatorDemo goes here: i.e. http://www.mydomain.com",
-    "license": "What license MobileManipulatorDemo uses goes here: i.e. https://opensource.org/licenses/Apache-2.0 Or https://opensource.org/licenses/MIT etc.",
-    "display_name": "MobileManipulatorDemo",
-    "summary": "A short description of MobileManipulatorDemo.",
-    "canonical_tags": [
-        "Project"
-    ],
-    "user_tags": [
-        "MobileManipulatorDemo"
-    ],
-    "icon_path": "preview.png",
-    "engine": "o3de",
-    "external_subdirectories": [
-        "Gem"
-    ],
-    "restricted": "MobileManipulatorDemo",
-    "gem_names": [
-        "MobileManipulatorDemo",
-        "Atom",
-        "AudioSystem",
-        "CameraFramework",
-        "DebugDraw",
-        "DiffuseProbeGrid",
-        "EditorPythonBindings",
-        "EMotionFX",
-        "GameState",
-        "ImGui",
-        "LandscapeCanvas",
-        "LyShine",
-        "MiniAudio",
-        "PhysX",
-        "PrimitiveAssets",
-        "PrefabBuilder",
-        "SaveData",
-        "ScriptCanvasPhysics",
-        "ScriptEvents",
-        "StartingPointInput",
-        "TextureAtlas",
-        "WhiteBox",
-        "RemoteTools"
-    ]
-}