diff --git a/drc_practice_2x4/model-1_4.sdf b/drc_practice_2x4/model-1_4.sdf
index 6e01eb7..0ffb56a 100644
--- a/drc_practice_2x4/model-1_4.sdf
+++ b/drc_practice_2x4/model-1_4.sdf
@@ -33,7 +33,6 @@
           <contact>
             <ode>
               <soft_cfm>0.001 </soft_cfm><!--"sponginess", 0.0=hard-->
-              <soft_erp> </soft_erp>
               <kp>10000.0 </kp>
               <kd>1000.0 </kd>
               <max_vel>0.01 </max_vel>
diff --git a/drc_practice_2x4/model.sdf b/drc_practice_2x4/model.sdf
index 732a7e0..8d2846f 100644
--- a/drc_practice_2x4/model.sdf
+++ b/drc_practice_2x4/model.sdf
@@ -34,7 +34,6 @@
             <ode>
               <soft_cfm>0.001</soft_cfm>
               <!--"sponginess", 0.0=hard-->
-              <soft_erp />
               <kp>10000.0</kp>
               <kd>1000.0</kd>
               <max_vel>0.01</max_vel>
diff --git a/drc_practice_ball_valve/model-1_4.sdf b/drc_practice_ball_valve/model-1_4.sdf
index 7c11f1e..054fea3 100644
--- a/drc_practice_ball_valve/model-1_4.sdf
+++ b/drc_practice_ball_valve/model-1_4.sdf
@@ -35,7 +35,6 @@
           <contact>
             <ode>
               <soft_cfm>0.01</soft_cfm><!--"sponginess", 0.0=hard-->
-              <soft_erp></soft_erp>
               <kp>10000.0</kp>
               <kd>1000.0</kd>
               <max_vel>0.01</max_vel>
diff --git a/drc_practice_ball_valve/model.sdf b/drc_practice_ball_valve/model.sdf
index 8c608a8..93f6bc2 100644
--- a/drc_practice_ball_valve/model.sdf
+++ b/drc_practice_ball_valve/model.sdf
@@ -36,7 +36,6 @@
             <ode>
               <soft_cfm>0.01</soft_cfm>
               <!--"sponginess", 0.0=hard-->
-              <soft_erp />
               <kp>10000.0</kp>
               <kd>1000.0</kd>
               <max_vel>0.01</max_vel>
diff --git a/drc_practice_handle_wheel_valve/model-1_4.sdf b/drc_practice_handle_wheel_valve/model-1_4.sdf
index 7bb5c32..a477f6a 100644
--- a/drc_practice_handle_wheel_valve/model-1_4.sdf
+++ b/drc_practice_handle_wheel_valve/model-1_4.sdf
@@ -36,7 +36,6 @@
           <contact>
             <ode>
               <soft_cfm>0.01</soft_cfm>
-              <soft_erp></soft_erp>
               <kp>1000000.0</kp>
               <kd>100000.0</kd>
               <max_vel>0.01</max_vel>
diff --git a/drc_practice_handle_wheel_valve/model.sdf b/drc_practice_handle_wheel_valve/model.sdf
index 8dd8492..d2a2f42 100644
--- a/drc_practice_handle_wheel_valve/model.sdf
+++ b/drc_practice_handle_wheel_valve/model.sdf
@@ -34,7 +34,6 @@
           <contact>
             <ode>
               <soft_cfm>0.01</soft_cfm>
-              <soft_erp />
               <kp>1000000.0</kp>
               <kd>100000.0</kd>
               <max_vel>0.01</max_vel>
diff --git a/drc_practice_wood_slats/model-1_4.sdf b/drc_practice_wood_slats/model-1_4.sdf
index 993bcf3..37a6573 100644
--- a/drc_practice_wood_slats/model-1_4.sdf
+++ b/drc_practice_wood_slats/model-1_4.sdf
@@ -23,7 +23,6 @@
           <contact>
             <ode>
               <soft_cfm>0.001 </soft_cfm><!--"sponginess", 0.0=hard-->
-              <soft_erp> </soft_erp>
               <kp>10000.0 </kp>
               <kd>1000.0 </kd>
               <max_vel>0.01 </max_vel>
diff --git a/drc_practice_wood_slats/model.sdf b/drc_practice_wood_slats/model.sdf
index 6b18992..ae724d8 100644
--- a/drc_practice_wood_slats/model.sdf
+++ b/drc_practice_wood_slats/model.sdf
@@ -24,7 +24,6 @@
             <ode>
               <soft_cfm>0.001</soft_cfm>
               <!--"sponginess", 0.0=hard-->
-              <soft_erp />
               <kp>10000.0</kp>
               <kd>1000.0</kd>
               <max_vel>0.01</max_vel>
diff --git a/hinged_door/model-1_4.sdf b/hinged_door/model-1_4.sdf
index 8edeb0d..ca48ba1 100644
--- a/hinged_door/model-1_4.sdf
+++ b/hinged_door/model-1_4.sdf
@@ -144,8 +144,6 @@
         <limit>
           <lower>0</lower>
           <upper>1.58</upper>
-          <effort></effort>
-          <velocity></velocity>
         </limit>
         <dynamics>
           <damping>1.0</damping>
diff --git a/hinged_door/model.sdf b/hinged_door/model.sdf
index ab59104..4cfe9f5 100644
--- a/hinged_door/model.sdf
+++ b/hinged_door/model.sdf
@@ -132,8 +132,6 @@
         <limit>
           <lower>0</lower>
           <upper>1.58</upper>
-          <effort />
-          <velocity />
         </limit>
         <dynamics>
           <damping>1.0</damping>
diff --git a/pr2/model-1_3.sdf b/pr2/model-1_3.sdf
index 7b377b6..9548f36 100644
--- a/pr2/model-1_3.sdf
+++ b/pr2/model-1_3.sdf
@@ -597,7 +597,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name='head_tilt_link_geom_head_mount_kinect_rgb_link'>
@@ -616,7 +616,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name='head_tilt_link_geom_head_mount_link'>
@@ -652,7 +652,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name='head_tilt_link_geom_head_plate_frame'>
diff --git a/pr2/model-1_4.sdf b/pr2/model-1_4.sdf
index f80cc58..78068fd 100644
--- a/pr2/model-1_4.sdf
+++ b/pr2/model-1_4.sdf
@@ -597,7 +597,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name='head_tilt_link_geom_head_mount_kinect_rgb_link'>
@@ -616,7 +616,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name='head_tilt_link_geom_head_mount_link'>
@@ -652,7 +652,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name='head_tilt_link_geom_head_plate_frame'>
diff --git a/pr2/model.sdf b/pr2/model.sdf
index 08e5a5c..51717e5 100644
--- a/pr2/model.sdf
+++ b/pr2/model.sdf
@@ -596,7 +596,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name="head_tilt_link_geom_head_mount_kinect_rgb_link">
@@ -615,7 +615,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name="head_tilt_link_geom_head_mount_link">
@@ -651,7 +651,7 @@
           </sphere>
         </geometry>
         <material>
-          <script>Gazebo/Red</script>
+          <script><name>Gazebo/Red</name></script>
         </material>
       </visual>
       <collision name="head_tilt_link_geom_head_plate_frame">
@@ -670,7 +670,7 @@
           </box>
         </geometry>
         <material>
-          <script>Gazebo/Grey</script>
+          <script><name>Gazebo/Grey</name></script>
         </material>
       </visual>
       <sensor name="head_mount_sensor" type="camera">
diff --git a/pr2_gripper/model-1_2.sdf b/pr2_gripper/model-1_2.sdf
index 295f3e3..6de07ff 100644
--- a/pr2_gripper/model-1_2.sdf
+++ b/pr2_gripper/model-1_2.sdf
@@ -714,4 +714,3 @@
     <static>0</static>
   </model>
 </gazebo>
-Success
diff --git a/robocup14_spl_goal/model-1_4.sdf b/robocup14_spl_goal/model-1_4.sdf
index 49df132..2049ad9 100644
--- a/robocup14_spl_goal/model-1_4.sdf
+++ b/robocup14_spl_goal/model-1_4.sdf
@@ -173,7 +173,7 @@
       </visual>
     </link>
 
-    <link name="center_support_horiz_lower">_h
+    <link name="center_support_horiz_lower">
       <pose>0.44 0 0.01 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
@@ -197,7 +197,7 @@
       </visual>
     </link>
 
-    <link name="center_support_horiz_upper">_
+    <link name="center_support_horiz_upper">
       <pose>0.44 0 0.79 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
diff --git a/robocup14_spl_goal/model.sdf b/robocup14_spl_goal/model.sdf
index 4c83b01..0f8a40b 100644
--- a/robocup14_spl_goal/model.sdf
+++ b/robocup14_spl_goal/model.sdf
@@ -166,7 +166,6 @@
       </visual>
     </link>
     <link name="center_support_horiz_lower">
-      _h
       <pose>0.44 0 0.01 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
@@ -190,7 +189,6 @@
       </visual>
     </link>
     <link name="center_support_horiz_upper">
-      _
       <pose>0.44 0 0.79 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
diff --git a/robocup_3Dsim_goal/model-1_4.sdf b/robocup_3Dsim_goal/model-1_4.sdf
index 0de9ad1..44d3bf2 100644
--- a/robocup_3Dsim_goal/model-1_4.sdf
+++ b/robocup_3Dsim_goal/model-1_4.sdf
@@ -173,7 +173,7 @@
       </visual>
     </link>
 
-    <link name="center_support_horiz_lower">_h
+    <link name="center_support_horiz_lower">
       <pose>0.44 0 0.01 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
@@ -197,7 +197,7 @@
       </visual>
     </link>
 
-    <link name="center_support_horiz_upper">_
+    <link name="center_support_horiz_upper">
       <pose>0.44 0 0.79 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
diff --git a/robocup_3Dsim_goal/model.sdf b/robocup_3Dsim_goal/model.sdf
index c93141a..8e090c9 100644
--- a/robocup_3Dsim_goal/model.sdf
+++ b/robocup_3Dsim_goal/model.sdf
@@ -166,7 +166,6 @@
       </visual>
     </link>
     <link name="center_support_horiz_lower">
-      _h
       <pose>0.44 0 0.01 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
@@ -190,7 +189,6 @@
       </visual>
     </link>
     <link name="center_support_horiz_upper">
-      _
       <pose>0.44 0 0.79 0 1.5708 0</pose>
       <collision name="collision">
         <geometry>
diff --git a/starting_pen/model-1_4.sdf b/starting_pen/model-1_4.sdf
index e1a9c12..ac2037a 100644
--- a/starting_pen/model-1_4.sdf
+++ b/starting_pen/model-1_4.sdf
@@ -55,7 +55,7 @@
           <box>
             <size>4.25 0.45 4.28</size>
           </box>
-        </geometry>hg
+        </geometry>
       </collision>
 
       <collision name="wall_07">
diff --git a/starting_pen/model.sdf b/starting_pen/model.sdf
index a99dd13..0998334 100644
--- a/starting_pen/model.sdf
+++ b/starting_pen/model.sdf
@@ -50,7 +50,6 @@
             <size>4.25 0.45 4.28</size>
           </box>
         </geometry>
-        hg
       </collision>
       <collision name="wall_07">
         <pose>1.94 12.3 2.14 0 0 0</pose>