Simplify the following text for a Grade 11 native English-speaking person.
Original: HMS Endeavour , also known as HM Bark Endeavour , was a British Royal Navy research vessel commanded by Lieutenant James Cook on his first voyage of discovery , to Australia and New Zealand from 1769 to 1771 .
Simplified: HMS Endeavour , also known as HM Bark Endeavour , was a British Royal Navy ship commanded by Lieutenant James Cook on his first voyage of discovery to Australia and New Zealand from 1769 to 1771 .