diff --git a/msg/WorldResource.msg b/msg/WorldResource.msg
index 8061e86..b10615e 100644
--- a/msg/WorldResource.msg
+++ b/msg/WorldResource.msg
@@ -3,7 +3,7 @@
 # Depending on the world format, loading of a world might be associated with changes
 # in certain parameters, including physics settings such as gravity.
 # World resources may be defined in standard or simulation-specific formats,
-# and, depending on the simulator, loaded from local or remote repositories. 
+# and, depending on the simulator, loaded from local or remote repositories.
 
 
 string name                               # World name, which is not necessarily unique.
diff --git a/package.xml b/package.xml
index f9c7d22..b64073f 100644
--- a/package.xml
+++ b/package.xml
@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>simulation_interfaces</name>
-  <version>2.0.0</version>
+  <version>2.0.1</version>
   <description>A package containing simulation interfaces including messages, services and actions</description>
   <maintainer email="adam.dabrowski@robotec.ai">Adam Dabrowski</maintainer>
   <license>Apache License 2.0</license>
diff --git a/srv/LoadWorld.srv b/srv/LoadWorld.srv
index c4736d4..7106724 100644
--- a/srv/LoadWorld.srv
+++ b/srv/LoadWorld.srv
@@ -5,9 +5,8 @@
 # Currently loaded worlds will be unloaded before attempting to load a new one.
 # Any previously spawned entities will be removed. Once a world is loaded, simulation will be left in a Stopped state.
 
-string uri                                  # Resource such as SDF, USD, MJCF, or other simulator-native format world file.
-
-string resource_string                      # Simulation world passed as a string. This field is used if the uri field is empty.
+Resource world_resource                     # Resource such as SDF, USD, MJCF, or other simulator-native format world file or,
+                                            # Simulation world passed as a string. 
 
 bool fail_on_unsupported_element            # Fail on unsupported elements (such as SDFormat sub-tags). By default, such elements are ignored.