diff --git a/models/x500/model.sdf b/models/x500/model.sdf
index 531f8fc..0199eed 100644
--- a/models/x500/model.sdf
+++ b/models/x500/model.sdf
@@ -5,7 +5,6 @@
       <uri>model://x500_base</uri>
     </include>
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
       <jointName>rotor_0_joint</jointName>
       <linkName>rotor_0</linkName>
       <turningDirection>ccw</turningDirection>
@@ -22,7 +21,6 @@
       <motorType>velocity</motorType>
     </plugin>
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
       <jointName>rotor_1_joint</jointName>
       <linkName>rotor_1</linkName>
       <turningDirection>ccw</turningDirection>
@@ -39,7 +37,6 @@
       <motorType>velocity</motorType>
     </plugin>
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
       <jointName>rotor_2_joint</jointName>
       <linkName>rotor_2</linkName>
       <turningDirection>cw</turningDirection>
@@ -56,7 +53,6 @@
       <motorType>velocity</motorType>
     </plugin>
     <plugin filename="gz-sim-multicopter-motor-model-system" name="gz::sim::systems::MulticopterMotorModel">
-      <robotNamespace>x500</robotNamespace>
       <jointName>rotor_3_joint</jointName>
       <linkName>rotor_3</linkName>
       <turningDirection>cw</turningDirection>
diff --git a/models/x500_base/model.config b/models/x500_base/model.config
index e9b7258..37382f6 100644
--- a/models/x500_base/model.config
+++ b/models/x500_base/model.config
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <model>
-  <name>x500-Base</name>
+  <name>x500_base</name>
   <version>1.0</version>
   <sdf version="1.9">model.sdf</sdf>
   <author>