diff --git a/endpad/model.sdf b/endpad/model.sdf
index 0e89888..46e92cc 100644
--- a/endpad/model.sdf
+++ b/endpad/model.sdf
@@ -12,7 +12,7 @@
       </collision>
 
       <visual name="visual">
-        <pose>0 0 -0.2 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://endpad/meshes/endpad.dae</uri>
diff --git a/hoop/model.config b/hoop/model.config
index 20c78f2..db5da0e 100644
--- a/hoop/model.config
+++ b/hoop/model.config
@@ -8,6 +8,6 @@
         <email>jackie@osrfoundation.org</email>
     </author>
     <description>
-      A 0.6m diameter hoop mounted on a 5m pole.
+      Approximately 2.0m diameter hoop mounted on a 5m pole.
     </description>
 </model>
diff --git a/iris_test/model.config b/iris_test/model.config
index 0722555..ee9aa0c 100644
--- a/iris_test/model.config
+++ b/iris_test/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>iris_description</name>
+  <name>3DR Iris with Standoffs</name>
   <version>1.0</version>
   <sdf version="1.5">iris_standoffs.sdf</sdf>
 
@@ -22,14 +22,14 @@
     <name>Markus Achtelik</name>
   </author>
 
-  <maintainer email="hsu@osrfoundation.org">john</maintainer>
+  <maintainer email="hsu@osrfoundation.org">john hsu</maintainer>
 
 
   <description>
     A copy of the 3DR Iris model taken from
-    https://github.com/PX4/sitl_gazebo/blob/master/models/iris/iris.sdf
-    Local modifications for debugging.
-    This model includes a 2D gimbal.
+    https://github.com/PX4/sitl_gazebo/tree/master/models
+    Local modifications include some debugging changes
+      and addition of a nested simplified 2D gimbal.
   </description>
 
   <depend>
diff --git a/number1/model.config b/number1/model.config
index 39740b4..6337f1c 100644
--- a/number1/model.config
+++ b/number1/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>Number1</name>
+  <name>Number 1</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
diff --git a/number6/model.config b/number6/model.config
index b649373..b3839d5 100644
--- a/number6/model.config
+++ b/number6/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>Number5</name>
+  <name>Number6</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
diff --git a/number6/model.sdf b/number6/model.sdf
index 81eda06..d2e92c9 100644
--- a/number6/model.sdf
+++ b/number6/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
-  <model name="number5">
+  <model name="number6">
     <static>true</static>
     <link name="link">
       <visual name="visual">
diff --git a/number7/model.config b/number7/model.config
index b649373..4e1024c 100644
--- a/number7/model.config
+++ b/number7/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>Number5</name>
+  <name>Number7</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
diff --git a/number7/model.sdf b/number7/model.sdf
index 5bc85df..b250798 100644
--- a/number7/model.sdf
+++ b/number7/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
-  <model name="number5">
+  <model name="number7">
     <static>true</static>
     <link name="link">
       <visual name="visual">
diff --git a/number8/model.config b/number8/model.config
index b649373..3d16186 100644
--- a/number8/model.config
+++ b/number8/model.config
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 
 <model>
-  <name>Number5</name>
+  <name>Number8</name>
   <version>1.0</version>
   <sdf version="1.5">model.sdf</sdf>
 
diff --git a/number8/model.sdf b/number8/model.sdf
index f91a825..9af7b20 100644
--- a/number8/model.sdf
+++ b/number8/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
-  <model name="number5">
+  <model name="number8">
     <static>true</static>
     <link name="link">
       <visual name="visual">
diff --git a/number9/model.sdf b/number9/model.sdf
index 584b3da..da21388 100644
--- a/number9/model.sdf
+++ b/number9/model.sdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <sdf version="1.5">
-  <model name="number5">
+  <model name="number9">
     <static>true</static>
     <link name="link">
       <visual name="visual">
diff --git a/small_2d_gimbal/model.config b/small_2d_gimbal/model.config
index a1b7610..e4c436e 100644
--- a/small_2d_gimbal/model.config
+++ b/small_2d_gimbal/model.config
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <model>
-    <name>small_2d_gimbal</name>
+    <name>Gimbal Small 2D</name>
     <version>1.0</version>
     <sdf version="1.5">model.sdf</sdf>
     <author>
diff --git a/startpad/model.sdf b/startpad/model.sdf
index aeb96e0..3f7534c 100644
--- a/startpad/model.sdf
+++ b/startpad/model.sdf
@@ -12,7 +12,7 @@
       </collision>
 
       <visual name="visual">
-        <pose>0 0 -0.2 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <uri>model://startpad/meshes/startpad.dae</uri>