diff --git a/models/dave_worlds/worlds/dave_Santorini.world b/models/dave_worlds/worlds/dave_Santorini.world
index fa03f5e8..115fdabb 100644
--- a/models/dave_worlds/worlds/dave_Santorini.world
+++ b/models/dave_worlds/worlds/dave_Santorini.world
@@ -68,7 +68,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>
         https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame
@@ -339,4 +339,4 @@
     </gui>
 
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_bimanual_example.world b/models/dave_worlds/worlds/dave_bimanual_example.world
index 755be128..bcdb8bee 100644
--- a/models/dave_worlds/worlds/dave_bimanual_example.world
+++ b/models/dave_worlds/worlds/dave_bimanual_example.world
@@ -379,4 +379,4 @@
 
 		</gui>
 	</world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_electrical_mating.world b/models/dave_worlds/worlds/dave_electrical_mating.world
index ddc27b88..8c26ec9f 100644
--- a/models/dave_worlds/worlds/dave_electrical_mating.world
+++ b/models/dave_worlds/worlds/dave_electrical_mating.world
@@ -58,7 +58,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>
         https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame
@@ -370,4 +370,4 @@
     </gui>
 
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_graded_seabed.world b/models/dave_worlds/worlds/dave_graded_seabed.world
index 76f17d85..f4bc70a7 100644
--- a/models/dave_worlds/worlds/dave_graded_seabed.world
+++ b/models/dave_worlds/worlds/dave_graded_seabed.world
@@ -81,7 +81,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame</uri>
       <pose>0 0 0 0 0 0</pose>
@@ -94,4 +94,4 @@
     </include>
 
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_integrated.world b/models/dave_worlds/worlds/dave_integrated.world
index 0eba1ccf..7e54167f 100644
--- a/models/dave_worlds/worlds/dave_integrated.world
+++ b/models/dave_worlds/worlds/dave_integrated.world
@@ -77,7 +77,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame</uri>
       <pose>0 0 0 0 0 0</pose>
@@ -571,4 +571,4 @@
 
     </gui>
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_models.world b/models/dave_worlds/worlds/dave_ocean_models.world
index f4111377..64bf3c92 100644
--- a/models/dave_worlds/worlds/dave_ocean_models.world
+++ b/models/dave_worlds/worlds/dave_ocean_models.world
@@ -83,7 +83,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame</uri>
       <pose>0 0 0 0 0 0</pose>
@@ -482,4 +482,4 @@
     </gui>
 
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves.world b/models/dave_worlds/worlds/dave_ocean_waves.world
index dd4fd3ee..c4060d30 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves.world
@@ -83,12 +83,12 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame</uri>
       <pose>0 0 0 0 0 0</pose>
     </include>
-    
+
     <!-- Sea surface -->
     <include>
       <uri>
@@ -101,6 +101,6 @@
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/Sand Heightmap</uri>
       <pose>0 0 -95 0 0 0</pose>
     </include>
-  
+
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
index 838bbbcf..10adc4df 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_mossy_ground.world
@@ -83,7 +83,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame</uri>
       <pose>0 0 0 0 0 0</pose>
@@ -110,4 +110,4 @@
     </include>
 
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
index a9c1c6f5..7c47f1ef 100644
--- a/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
+++ b/models/dave_worlds/worlds/dave_ocean_waves_transient_current.world
@@ -95,4 +95,4 @@
       </camera>
     </gui>
   </world>
-</sdf>
\ No newline at end of file
+</sdf>
diff --git a/models/dave_worlds/worlds/dave_plug_and_socket.world b/models/dave_worlds/worlds/dave_plug_and_socket.world
index aa57bcf9..c3e1f26d 100644
--- a/models/dave_worlds/worlds/dave_plug_and_socket.world
+++ b/models/dave_worlds/worlds/dave_plug_and_socket.world
@@ -58,7 +58,7 @@
       <cast_shadows>false</cast_shadows>
     </light>
 
-    <!-- NED Frame for world -->
+    <!-- North-East-Down Frame for world -->
     <include>
       <uri>https://fuel.gazebosim.org/1.0/hmoyen/models/North-East-Down frame</uri>
       <pose>0 0 0 0 0 0</pose>
@@ -370,4 +370,4 @@
 
     </gui>
   </world>
-</sdf>
\ No newline at end of file
+</sdf>