diff --git a/examples/worlds/multicopter_velocity_control.sdf b/examples/worlds/multicopter_velocity_control.sdf
index e34d2681fff..bfcb26a64b5 100644
--- a/examples/worlds/multicopter_velocity_control.sdf
+++ b/examples/worlds/multicopter_velocity_control.sdf
@@ -107,90 +107,90 @@ You can use the velocity controller and command linear velocity and yaw angular
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_0_joint</jointName>
-        <linkName>X3/rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_0_joint</joint_name>
+        <link_name>X3/rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>0</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_1_joint</jointName>
-        <linkName>X3/rotor_1</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_1_joint</joint_name>
+        <link_name>X3/rotor_1</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>1</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_2_joint</jointName>
-        <linkName>X3/rotor_2</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_2_joint</joint_name>
+        <link_name>X3/rotor_2</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>2</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_3_joint</jointName>
-        <linkName>X3/rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_3_joint</joint_name>
+        <link_name>X3/rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>3</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-control-system"
         name="gz::sim::systems::MulticopterVelocityControl">
-        <robotNamespace>X3</robotNamespace>
-        <commandSubTopic>gazebo/command/twist</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <sub_topic>gazebo/command/twist</sub_topic>
         <enableSubTopic>enable</enableSubTopic>
-        <comLinkName>X3/base_link</comLinkName>
+        <comlink_name>X3/base_link</comlink_name>
         <velocityGain>2.7 2.7 2.7</velocityGain>
         <attitudeGain>2 3 0.15</attitudeGain>
         <angularRateGain>0.4 0.52 0.18</angularRateGain>
@@ -198,27 +198,27 @@ You can use the velocity controller and command linear velocity and yaw angular
 
         <rotorConfiguration>
           <rotor>
-            <jointName>X3/rotor_0_joint</jointName>
+            <joint_name>X3/rotor_0_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>1</direction>
           </rotor>
           <rotor>
-            <jointName>X3/rotor_1_joint</jointName>
+            <joint_name>X3/rotor_1_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>1</direction>
           </rotor>
           <rotor>
-            <jointName>X3/rotor_2_joint</jointName>
+            <joint_name>X3/rotor_2_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>-1</direction>
           </rotor>
           <rotor>
-            <jointName>X3/rotor_3_joint</jointName>
+            <joint_name>X3/rotor_3_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>-1</direction>
           </rotor>
         </rotorConfiguration>
@@ -237,123 +237,123 @@ You can use the velocity controller and command linear velocity and yaw angular
 
       <plugin filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X4</robotNamespace>
-        <jointName>rotor_0_joint</jointName>
-        <linkName>rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0182</timeConstantUp>
-        <timeConstantDown>0.0182</timeConstantDown>
-        <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
-        <momentConstant>0.016754</momentConstant>
-        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <robot_namespace>X4</robot_namespace>
+        <joint_name>rotor_0_joint</joint_name>
+        <link_name>rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0182</time_constant_up>
+        <time_constant_down>0.0182</time_constant_down>
+        <max_rot_velocity>1000.0</max_rot_velocity>
+        <motor_constant>1.269e-05</motor_constant>
+        <moment_constant>0.016754</moment_constant>
+        <sub_topic>command/motor_speed</sub_topic>
         <actuator_number>0</actuator_number>
-        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-        <rotorDragCoefficient>0</rotorDragCoefficient>
-        <rollingMomentCoefficient>0</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>2.0673e-04</rotor_drag_coefficient>
+        <rotor_drag_coefficient>0</rotor_drag_coefficient>
+        <rolling_moment_coefficient>0</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X4</robotNamespace>
-        <jointName>rotor_1_joint</jointName>
-        <linkName>rotor_1</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0182</timeConstantUp>
-        <timeConstantDown>0.0182</timeConstantDown>
-        <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
-        <momentConstant>0.016754</momentConstant>
-        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <robot_namespace>X4</robot_namespace>
+        <joint_name>rotor_1_joint</joint_name>
+        <link_name>rotor_1</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0182</time_constant_up>
+        <time_constant_down>0.0182</time_constant_down>
+        <max_rot_velocity>1000.0</max_rot_velocity>
+        <motor_constant>1.269e-05</motor_constant>
+        <moment_constant>0.016754</moment_constant>
+        <sub_topic>command/motor_speed</sub_topic>
         <actuator_number>1</actuator_number>
-        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-        <rotorDragCoefficient>0</rotorDragCoefficient>
-        <rollingMomentCoefficient>0</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>2.0673e-04</rotor_drag_coefficient>
+        <rotor_drag_coefficient>0</rotor_drag_coefficient>
+        <rolling_moment_coefficient>0</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X4</robotNamespace>
-        <jointName>rotor_2_joint</jointName>
-        <linkName>rotor_2</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0182</timeConstantUp>
-        <timeConstantDown>0.0182</timeConstantDown>
-        <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
-        <momentConstant>0.016754</momentConstant>
-        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <robot_namespace>X4</robot_namespace>
+        <joint_name>rotor_2_joint</joint_name>
+        <link_name>rotor_2</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0182</time_constant_up>
+        <time_constant_down>0.0182</time_constant_down>
+        <max_rot_velocity>1000.0</max_rot_velocity>
+        <motor_constant>1.269e-05</motor_constant>
+        <moment_constant>0.016754</moment_constant>
+        <sub_topic>command/motor_speed</sub_topic>
         <actuator_number>2</actuator_number>
-        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-        <rotorDragCoefficient>0</rotorDragCoefficient>
-        <rollingMomentCoefficient>0</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>2.0673e-04</rotor_drag_coefficient>
+        <rotor_drag_coefficient>0</rotor_drag_coefficient>
+        <rolling_moment_coefficient>0</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X4</robotNamespace>
-        <jointName>rotor_3_joint</jointName>
-        <linkName>rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0182</timeConstantUp>
-        <timeConstantDown>0.0182</timeConstantDown>
-        <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
-        <momentConstant>0.016754</momentConstant>
-        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <robot_namespace>X4</robot_namespace>
+        <joint_name>rotor_3_joint</joint_name>
+        <link_name>rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0182</time_constant_up>
+        <time_constant_down>0.0182</time_constant_down>
+        <max_rot_velocity>1000.0</max_rot_velocity>
+        <motor_constant>1.269e-05</motor_constant>
+        <moment_constant>0.016754</moment_constant>
+        <sub_topic>command/motor_speed</sub_topic>
         <actuator_number>3</actuator_number>
-        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-        <rotorDragCoefficient>0</rotorDragCoefficient>
-        <rollingMomentCoefficient>0</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>2.0673e-04</rotor_drag_coefficient>
+        <rotor_drag_coefficient>0</rotor_drag_coefficient>
+        <rolling_moment_coefficient>0</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X4</robotNamespace>
-        <jointName>rotor_4_joint</jointName>
-        <linkName>rotor_4</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0182</timeConstantUp>
-        <timeConstantDown>0.0182</timeConstantDown>
-        <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
-        <momentConstant>0.016754</momentConstant>
-        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <robot_namespace>X4</robot_namespace>
+        <joint_name>rotor_4_joint</joint_name>
+        <link_name>rotor_4</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0182</time_constant_up>
+        <time_constant_down>0.0182</time_constant_down>
+        <max_rot_velocity>1000.0</max_rot_velocity>
+        <motor_constant>1.269e-05</motor_constant>
+        <moment_constant>0.016754</moment_constant>
+        <sub_topic>command/motor_speed</sub_topic>
         <actuator_number>4</actuator_number>
-        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-        <rotorDragCoefficient>0</rotorDragCoefficient>
-        <rollingMomentCoefficient>0</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/4</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>2.0673e-04</rotor_drag_coefficient>
+        <rotor_drag_coefficient>0</rotor_drag_coefficient>
+        <rolling_moment_coefficient>0</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/4</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X4</robotNamespace>
-        <jointName>rotor_5_joint</jointName>
-        <linkName>rotor_5</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0182</timeConstantUp>
-        <timeConstantDown>0.0182</timeConstantDown>
-        <maxRotVelocity>1000.0</maxRotVelocity>
-        <motorConstant>1.269e-05</motorConstant>
-        <momentConstant>0.016754</momentConstant>
-        <commandSubTopic>command/motor_speed</commandSubTopic>
+        <robot_namespace>X4</robot_namespace>
+        <joint_name>rotor_5_joint</joint_name>
+        <link_name>rotor_5</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0182</time_constant_up>
+        <time_constant_down>0.0182</time_constant_down>
+        <max_rot_velocity>1000.0</max_rot_velocity>
+        <motor_constant>1.269e-05</motor_constant>
+        <moment_constant>0.016754</moment_constant>
+        <sub_topic>command/motor_speed</sub_topic>
         <actuator_number>5</actuator_number>
-        <rotorDragCoefficient>2.0673e-04</rotorDragCoefficient>
-        <rotorDragCoefficient>0</rotorDragCoefficient>
-        <rollingMomentCoefficient>0</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/5</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>2</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>2.0673e-04</rotor_drag_coefficient>
+        <rotor_drag_coefficient>0</rotor_drag_coefficient>
+        <rolling_moment_coefficient>0</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/5</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
 
       <plugin
diff --git a/examples/worlds/quadcopter.sdf b/examples/worlds/quadcopter.sdf
index 4b00c86c153..f931df94ee1 100644
--- a/examples/worlds/quadcopter.sdf
+++ b/examples/worlds/quadcopter.sdf
@@ -83,82 +83,82 @@
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_0_joint</jointName>
-        <linkName>X3/rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_0_joint</joint_name>
+        <link_name>X3/rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>0</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_1_joint</jointName>
-        <linkName>X3/rotor_1</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_1_joint</joint_name>
+        <link_name>X3/rotor_1</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>1</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_2_joint</jointName>
-        <linkName>X3/rotor_2</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_2_joint</joint_name>
+        <link_name>X3/rotor_2</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>2</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>X3/rotor_3_joint</jointName>
-        <linkName>X3/rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>800.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>X3/rotor_3_joint</joint_name>
+        <link_name>X3/rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>800.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>3</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>10</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
     </include>
   </world>
diff --git a/test/worlds/odometry_publisher_3d.sdf b/test/worlds/odometry_publisher_3d.sdf
index 7b5695e6c00..415897878a4 100644
--- a/test/worlds/odometry_publisher_3d.sdf
+++ b/test/worlds/odometry_publisher_3d.sdf
@@ -263,87 +263,87 @@
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_0_joint</jointName>
-        <linkName>rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_0_joint</joint_name>
+        <link_name>rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>0</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_1_joint</jointName>
-        <linkName>rotor_1</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_1_joint</joint_name>
+        <link_name>rotor_1</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>1</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_2_joint</jointName>
-        <linkName>rotor_2</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_2_joint</joint_name>
+        <link_name>rotor_2</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>2</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_3_joint</jointName>
-        <linkName>rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_3_joint</joint_name>
+        <link_name>rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>3</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-control-system"
         name="gz::sim::systems::MulticopterVelocityControl">
-        <robotNamespace>X3</robotNamespace>
+        <robot_namespace>X3</robot_namespace>
         <commandSubTopic>gazebo/command/twist</commandSubTopic>
         <enableSubTopic>enable</enableSubTopic>
         <comLinkName>base_link</comLinkName>
diff --git a/test/worlds/quadcopter.sdf b/test/worlds/quadcopter.sdf
index bc93489ee51..76415904986 100644
--- a/test/worlds/quadcopter.sdf
+++ b/test/worlds/quadcopter.sdf
@@ -252,82 +252,82 @@
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_0_joint</jointName>
-        <linkName>rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_0_joint</joint_name>
+        <link_name>rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>0</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_1_joint</jointName>
-        <linkName>rotor_1</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_1_joint</joint_name>
+        <link_name>rotor_1</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>1</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_2_joint</jointName>
-        <linkName>rotor_2</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_2_joint</joint_name>
+        <link_name>rotor_2</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>2</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_3_joint</jointName>
-        <linkName>rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_3_joint</joint_name>
+        <link_name>rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>3</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
     </model>
   </world>
diff --git a/test/worlds/quadcopter_velocity_control.sdf b/test/worlds/quadcopter_velocity_control.sdf
index 09390c02740..399435dba3c 100644
--- a/test/worlds/quadcopter_velocity_control.sdf
+++ b/test/worlds/quadcopter_velocity_control.sdf
@@ -252,90 +252,90 @@
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_0_joint</jointName>
-        <linkName>rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_0_joint</joint_name>
+        <link_name>rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>0</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_1_joint</jointName>
-        <linkName>rotor_1</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_1_joint</joint_name>
+        <link_name>rotor_1</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>1</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_2_joint</jointName>
-        <linkName>rotor_2</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_2_joint</joint_name>
+        <link_name>rotor_2</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>2</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_3_joint</jointName>
-        <linkName>rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>8.54858e-06</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_3_joint</joint_name>
+        <link_name>rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>8.54858e-06</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
         <actuator_number>3</actuator_number>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-control-system"
         name="gz::sim::systems::MulticopterVelocityControl">
-        <robotNamespace>X3</robotNamespace>
-        <commandSubTopic>gazebo/command/twist</commandSubTopic>
+        <robot_namespace>X3</robot_namespace>
+        <sub_topic>gazebo/command/twist</sub_topic>
         <enableSubTopic>enable</enableSubTopic>
-        <comLinkName>base_link</comLinkName>
+        <comlink_name>base_link</comlink_name>
         <velocityGain>2.7 2.7 2.7</velocityGain>
         <attitudeGain>2 3 0.15</attitudeGain>
         <angularRateGain>0.4 0.52 0.18</angularRateGain>
@@ -343,27 +343,27 @@
 
         <rotorConfiguration>
           <rotor>
-            <jointName>rotor_0_joint</jointName>
+            <joint_name>rotor_0_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>1</direction>
           </rotor>
           <rotor>
-            <jointName>rotor_1_joint</jointName>
+            <joint_name>rotor_1_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>1</direction>
           </rotor>
           <rotor>
-            <jointName>rotor_2_joint</jointName>
+            <joint_name>rotor_2_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>-1</direction>
           </rotor>
           <rotor>
-            <jointName>rotor_3_joint</jointName>
+            <joint_name>rotor_3_joint</joint_name>
             <forceConstant>8.54858e-06</forceConstant>
-            <momentConstant>0.016</momentConstant>
+            <moment_constant>0.016</moment_constant>
             <direction>-1</direction>
           </rotor>
         </rotorConfiguration>
diff --git a/test/worlds/quadcopter_velocity_control_nested.sdf b/test/worlds/quadcopter_velocity_control_nested.sdf
index be2b6eda242..716c4c103e8 100644
--- a/test/worlds/quadcopter_velocity_control_nested.sdf
+++ b/test/worlds/quadcopter_velocity_control_nested.sdf
@@ -331,82 +331,82 @@
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_0_joint</jointName>
-        <linkName>rotor_0</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>2.54858e-05</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
-        <motorNumber>0</motorNumber>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/0</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_0_joint</joint_name>
+        <link_name>rotor_0</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>2.54858e-05</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
+        <actuator_number>0</actuator_number>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/0</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>0</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_1_joint</jointName>
-        <linkName>rotor_1</linkName>
-        <turningDirection>ccw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>2.54858e-05</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
-        <motorNumber>1</motorNumber>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/1</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_1_joint</joint_name>
+        <link_name>rotor_1</link_name>
+        <turning_direction>ccw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>2.54858e-05</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
+        <actuator_number>1</actuator_number>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/1</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>1</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_2_joint</jointName>
-        <linkName>rotor_2</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>2.54858e-05</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
-        <motorNumber>2</motorNumber>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/2</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_2_joint</joint_name>
+        <link_name>rotor_2</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>2.54858e-05</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
+        <actuator_number>2</actuator_number>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/2</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>2</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-motor-model-system"
         name="gz::sim::systems::MulticopterMotorModel">
-        <robotNamespace>X3</robotNamespace>
-        <jointName>rotor_3_joint</jointName>
-        <linkName>rotor_3</linkName>
-        <turningDirection>cw</turningDirection>
-        <timeConstantUp>0.0125</timeConstantUp>
-        <timeConstantDown>0.025</timeConstantDown>
-        <maxRotVelocity>8000.0</maxRotVelocity>
-        <motorConstant>2.54858e-05</motorConstant>
-        <momentConstant>0.016</momentConstant>
-        <commandSubTopic>gazebo/command/motor_speed</commandSubTopic>
-        <motorNumber>3</motorNumber>
-        <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-        <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-        <motorSpeedPubTopic>motor_speed/3</motorSpeedPubTopic>
-        <rotorVelocitySlowdownSim>1</rotorVelocitySlowdownSim>
-        <motorType>velocity</motorType>
+        <robot_namespace>X3</robot_namespace>
+        <joint_name>rotor_3_joint</joint_name>
+        <link_name>rotor_3</link_name>
+        <turning_direction>cw</turning_direction>
+        <time_constant_up>0.0125</time_constant_up>
+        <time_constant_down>0.025</time_constant_down>
+        <max_rot_velocity>8000.0</max_rot_velocity>
+        <motor_constant>2.54858e-05</motor_constant>
+        <moment_constant>0.016</moment_constant>
+        <sub_topic>gazebo/command/motor_speed</sub_topic>
+        <actuator_number>3</actuator_number>
+        <rotor_drag_coefficient>8.06428e-05</rotor_drag_coefficient>
+        <rolling_moment_coefficient>1e-06</rolling_moment_coefficient>
+        <motor_speed_pub_topic>motor_speed/3</motor_speed_pub_topic>
+        <rotor_velocity_slowdown_sim>3</rotor_velocity_slowdown_sim>
+        <motor_type>velocity</motor_type>
       </plugin>
       <plugin
         filename="gz-sim-multicopter-control-system"