diff --git a/examples/worlds/acoustic_comms_demo.sdf b/examples/worlds/acoustic_comms_demo.sdf
index 6e1be4c4b9..d14a61e818 100644
--- a/examples/worlds/acoustic_comms_demo.sdf
+++ b/examples/worlds/acoustic_comms_demo.sdf
@@ -71,7 +71,7 @@
 
     <include>
       <pose>0 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <!-- Acoustic comms endpoint -->
       <plugin
@@ -148,12 +148,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <xUU>-6.2282</xUU>
         <xU>0</xU>
         <yVV>-601.27</yVV>
@@ -172,7 +166,7 @@
 
     <include>
       <pose>15 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
       <name>triton</name>
 
       <!-- Acoustic comms endpoint -->
@@ -250,12 +244,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <xUU>-6.2282</xUU>
         <xU>0</xU>
         <yVV>-601.27</yVV>
@@ -274,7 +262,7 @@
 
     <include>
       <pose>-15 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
       <name>daphne</name>
 
       <!-- Acoustic comms endpoint -->
@@ -352,12 +340,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <xUU>-6.2282</xUU>
         <xU>0</xU>
         <yVV>-601.27</yVV>
diff --git a/examples/worlds/auv_controls.sdf b/examples/worlds/auv_controls.sdf
index 18914a6629..fec1dfa9b4 100644
--- a/examples/worlds/auv_controls.sdf
+++ b/examples/worlds/auv_controls.sdf
@@ -71,7 +71,7 @@
 
     <include>
       <pose>0 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI%20Tethys%20LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <!-- Joint controllers -->
       <plugin
@@ -141,12 +141,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <xUabsU>-6.2282</xUabsU>
         <xU>0</xU>
         <yVabsV>-601.27</yVabsV>
diff --git a/examples/worlds/dvl_world.sdf b/examples/worlds/dvl_world.sdf
index 0b599a3cb4..68aa5f114c 100644
--- a/examples/worlds/dvl_world.sdf
+++ b/examples/worlds/dvl_world.sdf
@@ -134,12 +134,11 @@
         </visual>
       </link>
     </model>
-
     <include>
       <pose>0 0 -80 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
-      <experimental:params>
+      <experimental:params>U
         <sensor
             element_id="base_link" action="add"
             name="teledyne_pathfinder_dvl"
@@ -267,13 +266,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
-        <xUabsU>-6.2282</xUabsU>
         <xU>0</xU>
         <yVabsV>-601.27</yVabsV>
         <yV>0</yV>
diff --git a/examples/worlds/lrauv_control_demo.sdf b/examples/worlds/lrauv_control_demo.sdf
index 56e3900b2b..258836d5f3 100644
--- a/examples/worlds/lrauv_control_demo.sdf
+++ b/examples/worlds/lrauv_control_demo.sdf
@@ -175,7 +175,7 @@
 
     <include>
       <pose>0 0 1 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <plugin
         filename="gz-sim-odometry-publisher-system"
@@ -250,12 +250,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <xUabsU>-6.2282</xUabsU>
         <xU>0</xU>
         <yVabsV>-601.27</yVabsV>
diff --git a/examples/worlds/multi_lrauv_race.sdf b/examples/worlds/multi_lrauv_race.sdf
index 902d89111a..d2aad170e9 100644
--- a/examples/worlds/multi_lrauv_race.sdf
+++ b/examples/worlds/multi_lrauv_race.sdf
@@ -59,7 +59,7 @@
 
     <include>
       <pose>0 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <!-- Joint controllers -->
       <plugin
@@ -128,12 +128,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <yUabsU>-6.2282</yUabsU>
         <xU>0</xU>
         <yVabsV>-601.27</yVabsV>
@@ -152,7 +146,7 @@
 
     <include>
       <pose>5 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
       <name>triton</name>
 
       <!-- Joint controllers -->
@@ -222,13 +216,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
-        <yUabsU>-6.2282</yUabsU>
         <xU>0</xU>
         <yVabsV>-601.27</yVabsV>
         <yV>0</yV>
@@ -246,7 +233,7 @@
 
     <include>
       <pose>-5 0 1 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
       <name>daphne</name>
 
       <!-- Joint controllers -->
@@ -316,12 +303,6 @@
         filename="gz-sim-hydrodynamics-system"
         name="gz::sim::systems::Hydrodynamics">
         <link_name>base_link</link_name>
-        <xDotU>-4.876161</xDotU>
-        <yDotV>-126.324739</yDotV>
-        <zDotW>-126.324739</zDotW>
-        <kDotP>0</kDotP>
-        <mDotQ>-33.46</mDotQ>
-        <nDotR>-33.46</nDotR>
         <yUabsU>-6.2282</yUabsU>
         <xU>0</xU>
         <yVabsV>-601.27</yVabsV>
diff --git a/test/worlds/bottomless_pit.sdf b/test/worlds/bottomless_pit.sdf
index e08820eb3a..1a8fde7162 100644
--- a/test/worlds/bottomless_pit.sdf
+++ b/test/worlds/bottomless_pit.sdf
@@ -69,7 +69,7 @@
 
     <include>
       <pose>0 0 -80 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <experimental:params>
         <sensor
diff --git a/test/worlds/flat_seabed.sdf b/test/worlds/flat_seabed.sdf
index 2d4a88e0ee..29fc3ed9e9 100644
--- a/test/worlds/flat_seabed.sdf
+++ b/test/worlds/flat_seabed.sdf
@@ -98,7 +98,7 @@
 
     <include>
       <pose>0 0 -80 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <experimental:params>
         <sensor
diff --git a/test/worlds/underwater_currents.sdf b/test/worlds/underwater_currents.sdf
index 6733354c46..b76f97f22b 100644
--- a/test/worlds/underwater_currents.sdf
+++ b/test/worlds/underwater_currents.sdf
@@ -112,7 +112,7 @@
 
     <include>
       <pose>0 0 -0.5 0 0 1.57</pose>
-      <uri>https://fuel.gazebosim.org/1.0/accurrent/models/MBARI Tethys LRAUV</uri>
+      <uri>https://fuel.gazebosim.org/1.0/arjo129/models/LRAUV-PostIonic</uri>
 
       <experimental:params>
         <sensor