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diff --git a/latest/Components/Environment/AddNewEnvironment/AddEnvironment/index.html b/latest/Components/Environment/AddNewEnvironment/AddEnvironment/index.html
@@ -2666,7 +2666,7 @@
 <p>If you want to learn more about the <em>Environment</em> at <em>AWSIM</em>, please visit <a href="../../../../Components/Environment/AWSIMEnvironment/">this page</a>.</p>
 </div>
 <h2 id="create-a-lanelet2">Create a <em>Lanelet2</em><a class="headerlink" href="#create-a-lanelet2" title="Permanent link">#</a></h2>
-<p>Before you start creating <em>Lanelet2</em>, we encourage you to read the <a href="https://github.com/fzi-forschungszentrum-informatik/Lanelet2/tree/master">documentation</a> to find out what <em>Lanelet2</em> is all about. <em>Lanelet2</em> can be created using <a href="https://tools.tier4.jp/feature/vector_map_builder/"><em>VectorMapBuilder</em></a> (<code>VMP</code>) based on the <em>PCD</em> obtained from real-life <em>LiDAR</em> sensor.</p>
+<p>Before you start creating <em>Lanelet2</em>, we encourage you to read the <a href="https://github.com/fzi-forschungszentrum-informatik/Lanelet2/tree/master">documentation</a> to find out what <em>Lanelet2</em> is all about. <em>Lanelet2</em> can be created using <a href="https://tools.tier4.jp/vector_map_builder_ll2/"><em>VectorMapBuilder</em></a> (<code>VMP</code>) based on the <em>PCD</em> obtained from real-life <em>LiDAR</em> sensor.</p>
 <p>When working with the <code>VMP</code>, it is necessary to ensure the most accurate mapping of the road situation using the available elements.
 Especially important are <code>TrafficLanes</code> created in <code>VMB</code> as connected <code>Road Nodes</code> and <code>StopLines</code> created in VMB as <code>Road Surface Stoplines</code>.</p>
 <div class="admonition warning">

diff --git a/...ents/ScenarioSimulation/PreparingTheConnectionBetweenAWSIMAndScenarioSimulator/index.html b/...ents/ScenarioSimulation/PreparingTheConnectionBetweenAWSIMAndScenarioSimulator/index.html
@@ -2169,19 +2169,19 @@
     <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
 
         <li class="md-nav__item">
-  <a href="#scenario-preparation-to-work-with-awsim" class="md-nav__link">
+  <a href="#scenario-preparation-to-work-with-awsim-labs" class="md-nav__link">
     <span class="md-ellipsis">
-      Scenario preparation to work with AWSIM
+      Scenario preparation to work with AWSIM Labs
     </span>
   </a>
 
-    <nav class="md-nav" aria-label="Scenario preparation to work with AWSIM">
+    <nav class="md-nav" aria-label="Scenario preparation to work with AWSIM Labs">
       <ul class="md-nav__list">
 
           <li class="md-nav__item">
-  <a href="#default-awsim-asset-catalog" class="md-nav__link">
+  <a href="#default-awsim-labs-asset-catalog" class="md-nav__link">
     <span class="md-ellipsis">
-      Default AWSIM asset catalog
+      Default AWSIM Labs asset catalog
     </span>
   </a>
 
@@ -2202,9 +2202,9 @@
 </li>
 
         <li class="md-nav__item">
-  <a href="#awsim-scene-preparation-to-work-with-scenario_simulator_v2" class="md-nav__link">
+  <a href="#awsim-labs-scene-preparation-to-work-with-scenario_simulator_v2" class="md-nav__link">
     <span class="md-ellipsis">
-      AWSIM scene preparation to work with scenario_simulator_v2
+      AWSIM Labs scene preparation to work with scenario_simulator_v2
     </span>
   </a>
 
@@ -2478,19 +2478,19 @@
     <ul class="md-nav__list" data-md-component="toc" data-md-scrollfix>
 
         <li class="md-nav__item">
-  <a href="#scenario-preparation-to-work-with-awsim" class="md-nav__link">
+  <a href="#scenario-preparation-to-work-with-awsim-labs" class="md-nav__link">
     <span class="md-ellipsis">
-      Scenario preparation to work with AWSIM
+      Scenario preparation to work with AWSIM Labs
     </span>
   </a>
 
-    <nav class="md-nav" aria-label="Scenario preparation to work with AWSIM">
+    <nav class="md-nav" aria-label="Scenario preparation to work with AWSIM Labs">
       <ul class="md-nav__list">
 
           <li class="md-nav__item">
-  <a href="#default-awsim-asset-catalog" class="md-nav__link">
+  <a href="#default-awsim-labs-asset-catalog" class="md-nav__link">
     <span class="md-ellipsis">
-      Default AWSIM asset catalog
+      Default AWSIM Labs asset catalog
     </span>
   </a>
 
@@ -2511,9 +2511,9 @@
 </li>
 
         <li class="md-nav__item">
-  <a href="#awsim-scene-preparation-to-work-with-scenario_simulator_v2" class="md-nav__link">
+  <a href="#awsim-labs-scene-preparation-to-work-with-scenario_simulator_v2" class="md-nav__link">
     <span class="md-ellipsis">
-      AWSIM scene preparation to work with scenario_simulator_v2
+      AWSIM Labs scene preparation to work with scenario_simulator_v2
     </span>
   </a>
 
@@ -2538,17 +2538,38 @@
 
 
 <div><h1 id="preparing-the-connection-between-awsim-and-scenario_simulator_v2">Preparing the connection between AWSIM and scenario_simulator_v2<a class="headerlink" href="#preparing-the-connection-between-awsim-and-scenario_simulator_v2" title="Permanent link">#</a></h1>
-<p>This tutorial describes:
-- how to modify scenario to work with AWSIM
-- how to prepare the AWSIM scene to work with <code>scenario_simulator_v2</code></p>
-<h2 id="scenario-preparation-to-work-with-awsim">Scenario preparation to work with AWSIM<a class="headerlink" href="#scenario-preparation-to-work-with-awsim" title="Permanent link">#</a></h2>
-<p>To prepare the scenario to work with AWSIM add <code>model3d</code> field to <a href="https://www.asam.net/static_downloads/ASAM_OpenSCENARIO_V1.2.0_Model_Documentation/modelDocumentation/content/Vehicle.html#:~:text=model3d,absolute%20file%20path.">entity specification</a></p>
-<p>It is utilized as an asset key to identify the proper prefab.</p>
-<p><img alt="model_3d_added.png" src="model_3d_added.png"></p>
-<p>Match the parameters of the configured vehicle to match the entities parameters in AWSIM as close as it is required. Especially the bounding box is crucial to validate the collisions correctly.</p>
-<h3 id="default-awsim-asset-catalog">Default AWSIM asset catalog<a class="headerlink" href="#default-awsim-asset-catalog" title="Permanent link">#</a></h3>
-<p>AWSIM currently supports the following asset key values.</p>
-<p>The list can be extended if required. Appropriate values should be added to asst key list in the <code>ScenarioSimulatorConnector</code> component and the vehicle parameters in scenario simulator should match them.</p>
+<p>This tutorial describes</p>
+<ul>
+<li>how to modify scenario to work with AWSIM Labs</li>
+<li>how to prepare the AWSIM Labs scene to work with <code>scenario_simulator_v2</code></li>
+</ul>
+<h2 id="scenario-preparation-to-work-with-awsim-labs">Scenario preparation to work with AWSIM Labs<a class="headerlink" href="#scenario-preparation-to-work-with-awsim-labs" title="Permanent link">#</a></h2>
+<p>To run the created scenario with AWSIM Labs, necessary adjustments need to be made. After opening the generated <code>.yaml</code> file with a text editor of your choice, follow the steps below:</p>
+<ol>
+<li><code>CatalogLocation: [ ]</code> should be removed and replaced with lines specifying the vehicle's properties.
+<div class="highlight"><pre><span></span><code>   VehicleCatalog:
+   Directory:
+   path: $(ros2 pkg prefix --share openscenario_experimental_catalog)/vehicle
+</code></pre></div></li>
+<li>The file locations of the vector map and pointcloud map need to be changed.
+<div class="highlight"><pre><span></span><code>  RoadNetwork:
+    LogicFile:
+      filepath: /home/your-username/projects/autoware/src/simulator/shinjuku_map/map/lanelet2_map.osm
+    SceneGraphFile:
+      filepath: /home/your-username/projects/autoware/src/simulator/shinjuku_map/map/lanelet2_map.osm
+</code></pre></div></li>
+<li>In order for the added NPC to be created by AWSIM Labs, the <code>model3d:</code> definition and the name of the desired prefab to be used should be entered.</li>
+</ol>
+<p></p><div class="highlight"><pre><span></span><code>    - name: Npc1
+        Vehicle:
+          name: ''
+          vehicleCategory: car
+          model3d: "small_car"
+</code></pre></div>
+4. The BoundingBox values should also be updated according to the preferred NPC model.<strong><em>"Default AWSIM Labs asset catalog"</em></strong> section provides features that can be utilized to use default models.
+<h3 id="default-awsim-labs-asset-catalog">Default AWSIM Labs asset catalog<a class="headerlink" href="#default-awsim-labs-asset-catalog" title="Permanent link">#</a></h3>
+<p>AWSIM Labs currently supports the following asset key values.</p>
+<p>The list can be extended if required. Appropriate values should be added to asset key list in the <code>ScenarioSimulatorConnector</code> component and the vehicle parameters in scenario simulator should match them.</p>
 <h4 id="ego-vehicle-entity-with-sensor">Ego Vehicle Entity (with sensor)<a class="headerlink" href="#ego-vehicle-entity-with-sensor" title="Permanent link">#</a></h4>
 <table>
 <thead>
@@ -2666,9 +2687,9 @@ <h4 id="misc-object-entity">Misc Object Entity<a class="headerlink" href="#misc-
 </tbody>
 </table>
 <h3 id="scenarios-limitations">Scenarios limitations<a class="headerlink" href="#scenarios-limitations" title="Permanent link">#</a></h3>
-<p>Vast majority of features supported by <code>scenario_simulator_v2</code> are supported with AWSIM as well. Currently supported features are described in the <a href="https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/OpenSCENARIOSupport/">scenario_simulator_v2's documentation</a>.</p>
-<p>Features which are not supported when connected with AWSIM are listed below.</p>
-<ol>
+<p>Vast majority of features supported by <code>scenario_simulator_v2</code> are supported with AWSIM Labs as well. Currently supported features are described in the <a href="https://tier4.github.io/scenario_simulator_v2-docs/developer_guide/OpenSCENARIOSupport/">scenario_simulator_v2's documentation</a>.</p>
+<p>Features which are not supported when connected with AWSIM Labs are listed below.</p>
+<ul>
 <li>Controller properties used by <code>attach_*_sensor</code><ul>
 <li><code>pointcloudPublishingDelay</code></li>
 <li><code>isClairvoyant</code></li>
@@ -2678,34 +2699,30 @@ <h3 id="scenarios-limitations">Scenarios limitations<a class="headerlink" href="
 <li><code>randomSeed</code></li>
 </ul>
 </li>
-</ol>
+</ul>
 <p>If those features are curcial for the scenario's execution, the scenario might not work properly.</p>
-<h2 id="awsim-scene-preparation-to-work-with-scenario_simulator_v2">AWSIM scene preparation to work with <code>scenario_simulator_v2</code><a class="headerlink" href="#awsim-scene-preparation-to-work-with-scenario_simulator_v2" title="Permanent link">#</a></h2>
-<ol>
+<h2 id="awsim-labs-scene-preparation-to-work-with-scenario_simulator_v2">AWSIM Labs scene preparation to work with <code>scenario_simulator_v2</code><a class="headerlink" href="#awsim-labs-scene-preparation-to-work-with-scenario_simulator_v2" title="Permanent link">#</a></h2>
+<ul>
 <li>Disable or remove random traffic and any pre-spawned NPCs</li>
 <li>Disable or remove V2I traffic lights publishing</li>
 <li>Disable or remove the clock publisher</li>
-</ol>
+</ul>
 <p><img alt="removed_objects.png" src="removed_objects.png"></p>
-<ol>
+<ul>
 <li>Add <code>ScenarioSimulatorConnector</code> prefab to the scene - located in <code>Assets/ScenarioSimulatorConnector</code></li>
-</ol>
+</ul>
 <p><img alt="scene_tree.png" src="scene_tree.png"></p>
-<ol>
-<li>Add Ego Follow Camera object - most likely Main Camera</li>
-</ol>
-<p><img alt="follow_camera.png" src="follow_camera.png"></p>
-<ol>
+<ul>
 <li>If necessary update the asset_id to prefab mapping - key in the map can be used in the scenario</li>
-</ol>
+</ul>
 <p><img alt="entities.png" src="entities.png"></p>
-<ol>
+<ul>
 <li>Add TimeSourceSelector prefab to the scene - located in <code>Assets/AWSIM/Scripts/Clock/Prefabs</code></li>
-</ol>
+</ul>
 <p><img alt="scene_tree_time_selector.png" src="scene_tree_time_selector.png"></p>
-<ol>
+<ul>
 <li>Configure Type in the TimeSourceSelector component to SS2</li>
-</ol>
+</ul>
 <p><img alt="time_selector_ss2.png" src="time_selector_ss2.png"></p></div>
 
 

diff --git a/latest/Components/ScenarioSimulation/SetupUnityProjectForScenarioSimulation/index.html b/latest/Components/ScenarioSimulation/SetupUnityProjectForScenarioSimulation/index.html
@@ -78,7 +78,7 @@
     <div data-md-component="skip">
 
 
-        <a href="#running-awsim-from-unity-editor-with-scenario_simulator_v2" class="md-skip">
+        <a href="#running-awsim-labs-from-unity-editor-with-scenario_simulator_v2" class="md-skip">
           Skip to content
         </a>
 
@@ -2555,13 +2555,13 @@
 
 
 
-<div><h1 id="running-awsim-from-unity-editor-with-scenario_simulator_v2">Running AWSIM from Unity Editor with <code>scenario_simulator_v2</code><a class="headerlink" href="#running-awsim-from-unity-editor-with-scenario_simulator_v2" title="Permanent link">#</a></h1>
-<p>Below you can find instructions on how to setup the scenario execution using <code>scenario_simulator_v2</code> with AWSIM run from Unity Editor as a simulator
+<div><h1 id="running-awsim-labs-from-unity-editor-with-scenario_simulator_v2">Running AWSIM Labs from Unity Editor with <code>scenario_simulator_v2</code><a class="headerlink" href="#running-awsim-labs-from-unity-editor-with-scenario_simulator_v2" title="Permanent link">#</a></h1>
+<p>Below you can find instructions on how to setup the scenario execution using <code>scenario_simulator_v2</code> with AWSIM Labs run from Unity Editor as a simulator
 The instruction assumes using the Ubuntu OS.</p>
 <h2 id="prerequisites">Prerequisites<a class="headerlink" href="#prerequisites" title="Permanent link">#</a></h2>
 <ol>
 <li>
-<p>Build Autoware by following <a href="https://autowarefoundation.github.io/AWSIM-Labs/main/GettingStarted/UsingOpenSCENARIO">"Build Autoware with <code>scenario_simulator_v2</code>" section from the scenario simulator and AWSIM quick start guide</a></p>
+<p>Build Autoware by following <a href="https://autowarefoundation.github.io/AWSIM-Labs/main/GettingStarted/UsingOpenSCENARIO">"Build Autoware with <code>scenario_simulator_v2</code>" section from the scenario simulator and AWSIM Labs quick start guide</a></p>
 </li>
 <li>
 <p>Follow <a href="../../../GettingStarted/SetupUnityProject/">Setup Unity Project tutorial</a></p>
@@ -2574,30 +2574,29 @@ <h2 id="running-the-demo">Running the demo<a class="headerlink" href="#running-t
 <li>Launch <code>scenario_test_runner</code>.
    <div class="highlight"><pre><span></span><code>source install/setup.bash
 ros2 launch scenario_test_runner scenario_test_runner.launch.py                        \
-architecture_type:=awf/universe  record:=false                                         \
+architecture_type:=awf/universe/20240605  record:=false                                         \
 scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim.yaml'          \
-sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                          \
+sensor_model:=awsim_labs_sensor_kit  vehicle_model:=sample_vehicle                          \
 launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml" \
 initialize_duration:=260 port:=8080
 </code></pre></div></li>
 </ol>
-<p><img alt="ss2_awsim.png" src="ss2_awsim.png"></p>
 <h2 id="other-sample-scenarios">Other sample scenarios<a class="headerlink" href="#other-sample-scenarios" title="Permanent link">#</a></h2>
 <h3 id="conventional-traffic-lights-demo">Conventional traffic lights demo<a class="headerlink" href="#conventional-traffic-lights-demo" title="Permanent link">#</a></h3>
 <p>This scenario controls traffic signals in the scene based on OpenSCENARIO. It can be used to verify whether traffic light recognition pipeline works well in Autoware.</p>
 <div class="highlight"><pre><span></span><code>ros2 launch scenario_test_runner scenario_test_runner.launch.py                                           \
-architecture_type:=awf/universe  record:=false                                                            \
+architecture_type:=awf/universe/20240605  record:=false                                                            \
 scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim_conventional_traffic_lights.yaml' \
-sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                                             \
+sensor_model:=awsim_labs_sensor_kit  vehicle_model:=sample_vehicle                                             \
 launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml"                    \
 initialize_duration:=260 port:=8080
 </code></pre></div>
 <h3 id="v2i-traffic-lights-demo">V2I traffic lights demo<a class="headerlink" href="#v2i-traffic-lights-demo" title="Permanent link">#</a></h3>
 <p>This scenario publishes V2I traffic signals information based on OpenSCENARIO. It can be used to verify Autoware responds to V2I traffic lights information correctly.</p>
 <div class="highlight"><pre><span></span><code>ros2 launch scenario_test_runner scenario_test_runner.launch.py                                  \
-architecture_type:=awf/universe  record:=false                                                   \
+architecture_type:=awf/universe/20240605  record:=false                                                   \
 scenario:='$(find-pkg-share scenario_test_runner)/scenario/sample_awsim_v2i_traffic_lights.yaml' \
-sensor_model:=awsim_sensor_kit  vehicle_model:=sample_vehicle                                    \
+sensor_model:=awsim_labs_sensor_kit  vehicle_model:=sample_vehicle                                    \
 launch_simple_sensor_simulator:=false autoware_launch_file:="e2e_simulator.launch.xml"           \
 initialize_duration:=260 port:=8080
 </code></pre></div></div>