diff --git a/docs/src/examples/prescribed_pose.md b/docs/src/examples/prescribed_pose.md
index 4a318858..2cd3f0c6 100644
--- a/docs/src/examples/prescribed_pose.md
+++ b/docs/src/examples/prescribed_pose.md
@@ -30,7 +30,7 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
+
 
 n = [1, 0, 0]
 AB = 146.5 / 1000
@@ -131,7 +131,7 @@ end
         rod_radius = 0.02
     end
     @components begin
-        world = W()
+        world = World()
         mass = Body(m=ms, r_cm = 0.5DA*normalize([0, 0.2, 0.2*sin(t5)]))
         excited_suspension = ExcitedWheelAssembly(; rod_radius)
         prescribed_motion = Pose(; r = [0, 0.1 + 0.1sin(t), 0], R = RotXYZ(0, 0.5sin(t), 0))
diff --git a/docs/src/examples/space.md b/docs/src/examples/space.md
index f69ffb12..71d822da 100644
--- a/docs/src/examples/space.md
+++ b/docs/src/examples/space.md
@@ -23,11 +23,10 @@ using OrdinaryDiffEq
 
 t = Multibody.t
 D = Differential(t)
-W(;kwargs...) = Multibody.world
 
 @mtkmodel PointGrav begin
     @components begin
-        world = W()
+        world = World()
         body1 = Body(
             m=1,
             I_11=0.1,
diff --git a/docs/src/examples/suspension.md b/docs/src/examples/suspension.md
index d39b66c2..fd03e3b6 100644
--- a/docs/src/examples/suspension.md
+++ b/docs/src/examples/suspension.md
@@ -18,7 +18,6 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
 
 n = [1, 0, 0]
 AB = 146.5 / 1000
@@ -137,7 +136,7 @@ end
         dir = mirror ? -1 : 1
     end
     @components begin
-        world = W()
+        world = World()
         mass = Body(m=ms, r_cm = 0.5DA*normalize([0, 0.2, 0.2*sin(t5)*dir]))
         excited_suspension = SuspensionWithExcitation(; suspension.spring=true, mirror, rod_radius)
         body_upright = Prismatic(n = [0, 1, 0], render = false, state_priority=1000)
diff --git a/docs/src/examples/swing.md b/docs/src/examples/swing.md
index 955d2872..939672a2 100644
--- a/docs/src/examples/swing.md
+++ b/docs/src/examples/swing.md
@@ -18,8 +18,6 @@ t = Multibody.t
 D = Differential(t)
 world = Multibody.world
 
-W(args...; kwargs...) = Multibody.world
-
 @mtkmodel SwingRope begin
     @components begin
         frame_a = Frame()
@@ -44,7 +42,7 @@ end
         w = 0.4
     end
     @components begin
-        world = W()
+        world = World()
         upper_trans1 = FixedTranslation(r=[-w/2, 0, 0])
         rope1 = SwingRope(rope.r=[-w/2, h, -w/2])
         body  = Body(m=6, isroot=true, I_11=0.1, I_22=0.1, I_33=0.1)
@@ -91,7 +89,7 @@ Next, we create the full swing assembly
         w = 0.4
     end
     @components begin
-        world = W()
+        world = World()
         upper_trans1 = FixedTranslation(r=[-w/2, 0, 0])
         upper_trans2 = FixedTranslation(r=[ w/2, 0, 0])
         rope1 = SwingRope(rope.r=[-w/2, -h, -w/2])
diff --git a/docs/src/examples/wheel.md b/docs/src/examples/wheel.md
index 898b3f95..be040d46 100644
--- a/docs/src/examples/wheel.md
+++ b/docs/src/examples/wheel.md
@@ -31,11 +31,10 @@ using Test
 
 t = Multibody.t
 D = Differential(t)
-W(args...; kwargs...) = Multibody.world
 
 @mtkmodel WheelInWorld begin
     @components begin
-        world = W()
+        world = World()
         wheel = RollingWheel(
             radius = 0.3,
             m = 2,
@@ -104,7 +103,7 @@ The slip velocity is defined such that when the wheel is moving with positive ve
 ```@example WHEEL
 @mtkmodel SlipWheelInWorld begin
     @components begin
-        world = W()
+        world = World()
         wheel = SlippingWheel(
             radius = 0.3,
             m = 2,
@@ -164,7 +163,7 @@ A [`RollingWheelSet`](@ref) is comprised out of two wheels mounted on a common a
         wheels = RollingWheelSet(radius=0.1, m_wheel=0.5, I_axis=0.01, I_long=0.02, track=0.5, state_priority=100)
         bar = FixedTranslation(r = [0.2, 0, 0])
         body = Body(m=0.01, state_priority=1)
-        world = W()
+        world = World()
     end
     @equations begin
         connect(sine1.output, torque1.tau)
@@ -216,7 +215,7 @@ tire_black = [0.1, 0.1, 0.1, 1]
         g=0
     end
     @components begin
-        world = W()
+        world = World()
 
         sine1 = Blocks.Sine(frequency=1, amplitude=150)
         sine2 = Blocks.Sine(frequency=1, amplitude=150, phase=pi/6)
diff --git a/examples/JuliaSim_logo.jl b/examples/JuliaSim_logo.jl
index b743dcc9..4aa7dd58 100644
--- a/examples/JuliaSim_logo.jl
+++ b/examples/JuliaSim_logo.jl
@@ -3,7 +3,6 @@ using Multibody, JuliaSimCompiler
 using OrdinaryDiffEq # Contains the ODE solver we will use
 using Plots
 t = Multibody.t
-W(args...; kwargs...) = Multibody.world
 
 
 JULIASIM_PURPLE = [87,87,219,255.0f0]./255 # RGBA
diff --git a/ext/URDF.jl b/ext/URDF.jl
index 2a78d227..a6465912 100644
--- a/ext/URDF.jl
+++ b/ext/URDF.jl
@@ -310,7 +310,6 @@ function Multibody.urdf2multibody(filename::AbstractString; extras=false, out=no
         """
         using ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq, Plots
         import ModelingToolkit: t_nounits as t, D_nounits as D
-        W(args...; kwargs...) = Multibody.world
         """
     else 
         ""
@@ -318,7 +317,7 @@ function Multibody.urdf2multibody(filename::AbstractString; extras=false, out=no
     s = s * """
     @mtkmodel $(modelname) begin
         @components begin
-            world = W()
+            world = World()
             $(join(bodies, "\n"))
             $(join(joints, "\n"))
         end
diff --git a/test/runtests.jl b/test/runtests.jl
index d39e4059..d89e7d94 100644
--- a/test/runtests.jl
+++ b/test/runtests.jl
@@ -8,7 +8,7 @@ t = Multibody.t
 D = Differential(t)
 doplot() = false
 world = Multibody.world
-W(args...; kwargs...) = Multibody.world
+
 
 @testset "world" begin
     @info "Testing world"
@@ -388,7 +388,7 @@ end
 
 @testset "Spring damper system" begin
 systems = @named begin
-    world = W()
+    world = World()
     body1 = Body(; m = 1, isroot = true, r_cm = [0.0, 0, 0], I_11 = 0.1, I_22 = 0.1,
                  I_33 = 0.1, r_0 = [0.3, -0.2, 0], quat=false) # This is root since there is no joint parallel to the spring leading to this body
     body2 = Body(; m = 1, isroot = false, r_cm = [0.0, -0.2, 0]) # This is not root since there is a joint parallel to the spring leading to this body
@@ -565,7 +565,7 @@ end
 using LinearAlgebra
 @mtkmodel PlanarTest begin
     @components begin
-        world = W()
+        world = World()
         planar = Planar(n=[0,0,1], n_x=[1,0,0])
         force = Force()
         body = Body(m=1)
@@ -1054,7 +1054,7 @@ using LinearAlgebra
     world = Multibody.world
     @mtkmodel CylinderPend begin
         @components begin
-            world = W()
+            world = World()
             body = BodyCylinder(r=[1,2,3], diameter=0.1)
             joint = Revolute()
         end
@@ -1102,7 +1102,7 @@ using LinearAlgebra
     @info "Testing BodyBox"
     @mtkmodel BoxPend begin
         @components begin
-            world = W()
+            world = World()
             body = Multibody.BodyBox(r=[0.1, 1, 0.2], r_shape=[0, 0, 0], width=0.1, height=0.3, inner_width=0.05)
             joint = Revolute()
         end
@@ -1217,7 +1217,7 @@ sol3 = solve(prob, FBDF(), abstol=1e-8, reltol=1e-8)
 
 @mtkmodel TestSphericalSpherical begin
     @components begin
-        world = W()
+        world = World()
         ss = SphericalSpherical(r_0 = [1, 0, 0], m = 1, kinematic_constraint=false)
         ss2 = BodyShape(r = [0, 0, 1], m = 1, isroot=true)
         s = Spherical()
@@ -1248,7 +1248,7 @@ sol = solve(prob, Rodas4())
 
 @mtkmodel TestSphericalSpherical begin
     @components begin
-        world = W()
+        world = World()
         ss = UniversalSpherical(rRod_ia = [1, 0, 0], kinematic_constraint=false, sphere_diameter=0.3)
         ss2 = BodyShape(r = [0, 0, 1], m = 1, isroot=true)
         s = Spherical()
@@ -1291,7 +1291,7 @@ end
 # Test cylindrical joint
 @mtkmodel CylinderTest begin
     @components begin
-        world = W()
+        world = World()
         cyl = Cylindrical(n = [0, 1, 0])
         # spring = Spring(c = 1)
         body = Body(state_priority=0)
@@ -1352,7 +1352,7 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Transl
         jr = 0.03, [description = "Radius of revolute joint"]
     end
     @components begin
-        world = W()
+        world = World()
 
         r1 = Revolute(; n, radius=jr, color=jc)
         r2 = Revolute(; n, radius=jr, color=jc)
@@ -1482,7 +1482,7 @@ import ModelingToolkitStandardLibrary.Mechanical.TranslationalModelica as Transl
         rRod2_ib = BC*normalize([0, 0.2, 0])
     end
     @components begin
-        world = W()
+        world = World()
 
         r123 = JointRRR(n_a = n, n_b = n, rRod1_ia, rRod2_ib, rod_radius=0.02, rod_color=jc)
         r2 = Revolute(; n, radius=jr, color=jc)
diff --git a/test/test_JointUSR_RRR.jl b/test/test_JointUSR_RRR.jl
index 876c7a12..fb6c3506 100644
--- a/test/test_JointUSR_RRR.jl
+++ b/test/test_JointUSR_RRR.jl
@@ -8,7 +8,7 @@ using LinearAlgebra
 using JuliaSimCompiler
 
 world = Multibody.world
-W(args...; kwargs...) = Multibody.world
+
 t = Multibody.t
 D = Differential(t)
 
@@ -17,7 +17,7 @@ D = Differential(t)
 # ==============================================================================
 @mtkmodel TestUSR begin
     @components begin
-        world = W()
+        world = World()
         j1 = JointUSR(positive_branch=true, use_arrays=false)
         fixed = FixedTranslation(r=[1,0,0])
         b1 = Body(m=1)
@@ -48,7 +48,7 @@ sol = solve(prob, FBDF(autodiff=true))
 # ==============================================================================
 @mtkmodel TestRRR begin
     @components begin
-        world = W()
+        world = World()
         j1 = JointRRR(positive_branch=true)
         fixed = FixedTranslation(r=[1,0,0])
         b1 = Body(m=1)
diff --git a/test/test_orientation_getters.jl b/test/test_orientation_getters.jl
index de231aad..8a69deae 100644
--- a/test/test_orientation_getters.jl
+++ b/test/test_orientation_getters.jl
@@ -2,7 +2,7 @@ using Test
 import ModelingToolkitStandardLibrary.Mechanical.Rotational
 @mtkmodel FurutaPendulum begin
     @components begin
-        world = W()
+        world = World()
         shoulder_joint = Revolute(n = [0, 1, 0], isroot = true, axisflange = true)
         elbow_joint    = Revolute(n = [0, 0, 1], isroot = true, axisflange = true, phi0=0.1)
         upper_arm = BodyShape(; m = 1, isroot = false, r = [0, 0, 0.6], radius=0.04)
diff --git a/test/test_urdf.jl b/test/test_urdf.jl
index ce467896..71d920fd 100644
--- a/test/test_urdf.jl
+++ b/test/test_urdf.jl
@@ -11,7 +11,7 @@ include("doublependulum.jl")
 
 using ModelingToolkit, Multibody, JuliaSimCompiler, OrdinaryDiffEq#, Plots
 import ModelingToolkit: t_nounits as t, D_nounits as D
-W(args...; kwargs...) = Multibody.world
+
 @named model = DoublePendulum()
 model = complete(model)
 ssys = structural_simplify(IRSystem(model))
diff --git a/test/test_wheels.jl b/test/test_wheels.jl
index 4ecb54da..3e60bc1d 100644
--- a/test/test_wheels.jl
+++ b/test/test_wheels.jl
@@ -8,7 +8,7 @@ using LinearAlgebra
 @mtkmodel WheelInWorld begin
     @components begin
         # world = World(n=[0,0,-1])
-        world = W()
+        world = World()
         wheel = RollingWheel(radius = 0.3, m = 2, I_axis = 0.06,
                             I_long = 0.12,
                             x0 = 0.2,
@@ -59,7 +59,7 @@ using LinearAlgebra
     end
     @components begin
         # world = World(n=[0,0,-1])
-        world = W()
+        world = World()
         wheel = RollingWheel(; radius = 0.3, m = 2, I_axis = 0.06,
                             I_long = 0.12,
                             x0 = 0.2,
@@ -123,7 +123,7 @@ dd = diff(sol(tv, idxs=worldwheel.wheel.wheeljoint.der_angles[2]).u) # angular a
 import ModelingToolkitStandardLibrary.Blocks
 @mtkmodel WheelWithAxis begin
     @components begin
-        world = W()
+        world = World()
         prismatic = Prismatic(n = [0,1,0])
         world_axis = Revolute(n = [0,1,0], iscut=false, state_priority=100, w0=10)
         # world_axis = RevolutePlanarLoopConstraint(n = [0,1,0])
@@ -168,7 +168,7 @@ end
         wheels = RollingWheelSet(radius=0.1, m_wheel=0.5, I_axis=0.01, I_long=0.02, track=0.5, state_priority=100)
         bar = FixedTranslation(r = [0.2, 0, 0])
         body = Body(m=0.01, state_priority=1)
-        world = W()
+        world = World()
     end
     @equations begin
         connect(sine1.output, torque1.tau)
diff --git a/test/test_worldforces.jl b/test/test_worldforces.jl
index 454eccd4..d1178fb9 100644
--- a/test/test_worldforces.jl
+++ b/test/test_worldforces.jl
@@ -5,7 +5,7 @@ using JuliaSimCompiler
 using OrdinaryDiffEq
 doplot() = false
 world = Multibody.world
-W(args...; kwargs...) = Multibody.world
+
 t = Multibody.t
 D = Differential(t)
 
@@ -14,7 +14,7 @@ D = Differential(t)
 # ==============================================================================
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         b = Body(m=1, state=true, isroot=true, quat=false, neg_w=false)
@@ -46,7 +46,7 @@ sol = solve(prob, Tsit5())
 # Tests here pass for any combination of quat and neg_w
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         force = WorldForce()
         body = Body(m=1, state=true, isroot=true, quat=false, neg_w=false)
     end
@@ -84,7 +84,7 @@ sol = solve(prob, Tsit5())
 # ==============================================================================
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:world)
         forceb = WorldForce(resolve_frame=:world)
         body = BodyShape(r=[1,0,0], state=true, isroot=true, quat=false, neg_w=true)
@@ -124,7 +124,7 @@ sol = solve(prob, Tsit5(), reltol=1e-8)
 # ==============================================================================
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         body = BodyShape(r=[1,0,0], state=true, isroot=true, quat=false, neg_w=true)
@@ -162,7 +162,7 @@ sol = solve(prob, Tsit5(), reltol=1e-8)
 # ==============================================================================
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         body = BodyCylinder(r=[1,0,0], state=true, isroot=true, quat=false, neg_w=true, density=1, diameter=0.1)
@@ -202,7 +202,7 @@ sol = solve(prob, Tsit5(), reltol=1e-8)
 using LinearAlgebra
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b, radius=0.15, scale=0.2)
         forceb = WorldForce(resolve_frame=:frame_b, radius=0.15, scale=0.2)
         b0 = Body(m=1e-32, I_11=1e-32, I_22=1e-32, I_33=1e-32, state_priority=0, radius=0.14, color=[1,0,0,0.5])
@@ -244,7 +244,7 @@ sol = solve(prob, Rodas4(), reltol=1e-8)
 # ==============================================================================
 @mtkmodel TestWorldForce begin 
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b, radius=0.15, scale=0.2)
         forceb = WorldForce(resolve_frame=:frame_b, radius=0.15, scale=0.2)
         b0 = Body(m=1e-32, I_11=1e-32, I_22=1e-32, I_33=1e-32, state_priority=0, radius=0.14, color=[1,0,0,0.5])
@@ -289,7 +289,7 @@ sol = solve(prob, Tsit5(), abstol=1e-8, reltol=1e-8)
 # =============================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================================
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         b0 = Body(m=1, state_priority=0, radius=0.1, color=[0,0,1,0.2])
@@ -325,7 +325,7 @@ reshape(sol(1, idxs = [testwf.forceb.frame_b.f; testwf.forcea.frame_b.f; testwf.
 
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         b0 = Body(m=1, state_priority=0, radius=0.1, color=[0,0,1,0.2])
@@ -358,7 +358,7 @@ sol = solve(prob, Tsit5())
 
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         body = Body(m=1, state=true, isroot=true, quat=false, radius=0.05, color=[1,0,0,1])
@@ -392,7 +392,7 @@ sol = solve(prob, Tsit5())
 # ==============================================================================
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)
         b0 = Body(m=1, state_priority=0)
@@ -444,7 +444,7 @@ sol(1, idxs=testwf.b0.w_a)
 # This works with both quat and Euler
 @mtkmodel TestWorldForce begin
     @components begin
-        world = W()
+        world = World()
         freemotion = FreeMotion(state=true, isroot=true, quat=false)
         forcea = WorldForce(resolve_frame=:frame_b)
         forceb = WorldForce(resolve_frame=:frame_b)