diff --git a/buoy_gazebo/worlds/electrohydraulicPTO.sdf b/buoy_gazebo/worlds/electrohydraulicPTO.sdf
index 034f19c8..f137ee3a 100644
--- a/buoy_gazebo/worlds/electrohydraulicPTO.sdf
+++ b/buoy_gazebo/worlds/electrohydraulicPTO.sdf
@@ -1,85 +1,12 @@
 <?xml version="1.0" ?>
 <sdf version="1.8">
     <world name="world_demo">
-    
+
         <physics name="1ms" type="ignored">
             <max_step_size>.001</max_step_size>
             <real_time_factor>1.0</real_time_factor>
         </physics>
 
-        <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics">
-            <engine>"libignition-physics-dartsim-plugin.so"</engine> 
-        </plugin>
-
-        <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
-        <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
-        
-        <gui fullscreen="0">
-        
-            <!-- 3D scene -->
-            <plugin filename="GzScene3D" name="3D View">
-                <ignition-gui>
-                    <title>3D View</title>
-                    <property key="showTitleBar" type="bool">false</property>
-                    <property key="state" type="string">docked</property>
-                </ignition-gui>
-        
-                <engine>ogre</engine>
-                <scene>scene</scene>
-                <ambient_light>1.0 1.0 1.0</ambient_light>
-                <background_color>0.8 0.8 0.8</background_color>
-                <camera_pose>-6 0 6 0 0.5 0</camera_pose>
-            </plugin>
-        
-            <!-- World control -->
-            <plugin filename="WorldControl" name="World control">
-                <ignition-gui>
-                    <title>World control</title>
-                    <property key="showTitleBar" type="bool">false</property>
-                    <property key="resizable" type="bool">false</property>
-                    <property key="height" type="double">72</property>
-                    <property key="width" type="double">121</property>
-                    <property key="z" type="double">1</property>
-                    <property key="state" type="string">floating</property>
-                    <anchors target="3D View">
-                        <line own="left" target="left"/>
-                        <line own="bottom" target="bottom"/>
-                    </anchors>
-                </ignition-gui>
-        
-                <play_pause>true</play_pause>
-                <step>true</step>
-                <start_paused>true</start_paused>
-                <service>/world/world_demo/control</service>
-                <stats_topic>/world/world_demo/stats</stats_topic>
-            </plugin>
-        
-            <!-- World statistics -->
-            <plugin filename="WorldStats" name="World stats">
-                <ignition-gui>
-                    <title>World stats</title>
-                    <property key="showTitleBar" type="bool">false</property>
-                    <property key="resizable" type="bool">false</property>
-                    <property key="height" type="double">110</property>
-                    <property key="width" type="double">290</property>
-                    <property key="z" type="double">1</property>
-                    <property key="state" type="string">floating</property>
-                    <anchors target="3D View">
-                        <line own="right" target="right"/>
-                        <line own="bottom" target="bottom"/>
-                    </anchors>
-                </ignition-gui>
-                <sim_time>true</sim_time>
-                <real_time>true</real_time>
-                <real_time_factor>true</real_time_factor>
-                <iterations>true</iterations>
-                <topic>/world/world_demo/stats</topic>
-            </plugin>
-
-            <!-- Entity tree -->
-            <plugin filename="EntityTree" name="Entity tree"/>
-        </gui>
-
         <light name="sun" type="directional">
             <cast_shadows>true</cast_shadows>
             <pose>0 0 10 0 0 0</pose>
diff --git a/buoy_gazebo/worlds/mbari_wec.sdf b/buoy_gazebo/worlds/mbari_wec.sdf
index 26427e2f..53d6dbe1 100644
--- a/buoy_gazebo/worlds/mbari_wec.sdf
+++ b/buoy_gazebo/worlds/mbari_wec.sdf
@@ -7,79 +7,6 @@
       <real_time_factor>1.0</real_time_factor>
     </physics>
 
-    <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics">
-      <engine>"libignition-physics-dartsim-plugin.so"</engine> 
-    </plugin>
-
-    <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
-    <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
-
-    <gui fullscreen="0">
-
-      <!-- 3D scene -->
-      <plugin filename="GzScene3D" name="3D View">
-        <ignition-gui>
-          <title>3D View</title>
-          <property key="showTitleBar" type="bool">false</property>
-          <property key="state" type="string">docked</property>
-        </ignition-gui>
-
-        <engine>ogre</engine>
-        <scene>scene</scene>
-        <ambient_light>1.0 1.0 1.0</ambient_light>
-        <background_color>0.8 0.8 0.8</background_color>
-        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
-      </plugin>
-
-      <!-- World control -->
-      <plugin filename="WorldControl" name="World control">
-        <ignition-gui>
-          <title>World control</title>
-          <property key="showTitleBar" type="bool">false</property>
-          <property key="resizable" type="bool">false</property>
-          <property key="height" type="double">72</property>
-          <property key="width" type="double">121</property>
-          <property key="z" type="double">1</property>
-          <property key="state" type="string">floating</property>
-          <anchors target="3D View">
-            <line own="left" target="left"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
-
-        <play_pause>true</play_pause>
-        <step>true</step>
-        <start_paused>true</start_paused>
-        <service>/world/world_demo/control</service>
-        <stats_topic>/world/world_demo/stats</stats_topic>
-      </plugin>
-
-      <!-- World statistics -->
-      <plugin filename="WorldStats" name="World stats">
-        <ignition-gui>
-          <title>World stats</title>
-          <property key="showTitleBar" type="bool">false</property>
-          <property key="resizable" type="bool">false</property>
-          <property key="height" type="double">110</property>
-          <property key="width" type="double">290</property>
-          <property key="z" type="double">1</property>
-          <property key="state" type="string">floating</property>
-          <anchors target="3D View">
-            <line own="right" target="right"/>
-            <line own="bottom" target="bottom"/>
-          </anchors>
-        </ignition-gui>
-        <sim_time>true</sim_time>
-        <real_time>true</real_time>
-        <real_time_factor>true</real_time_factor>
-        <iterations>true</iterations>
-        <topic>/world/world_demo/stats</topic>
-      </plugin>
-
-        <!-- Entity tree -->
-      <plugin filename="EntityTree" name="Entity tree"/>
-    </gui>
-
     <light name="sun" type="directional">
       <cast_shadows>true</cast_shadows>
       <pose>0 0 10 0 0 0</pose>
@@ -225,7 +152,7 @@
           </limit>
           <xyz>0.0 0.0 1.0</xyz>
           <dynamics>
-            <spring_stiffness>55000</spring_stiffness>  
+            <spring_stiffness>55000</spring_stiffness>
             <spring_reference>0.0</spring_reference>
             <damping>1000.0</damping>
             <friction>0.0</friction>
diff --git a/buoy_gazebo/worlds/pneumatic_spring.sdf b/buoy_gazebo/worlds/pneumatic_spring.sdf
index 5c5c89f9..295ab8c9 100644
--- a/buoy_gazebo/worlds/pneumatic_spring.sdf
+++ b/buoy_gazebo/worlds/pneumatic_spring.sdf
@@ -7,79 +7,6 @@
             <real_time_factor>1.0</real_time_factor>
         </physics>
 
-        <plugin filename="libignition-gazebo-physics-system.so" name="ignition::gazebo::systems::Physics">
-            <engine>"libignition-physics-dartsim-plugin.so"</engine>
-        </plugin>
-
-        <plugin filename="libignition-gazebo-user-commands-system.so" name="ignition::gazebo::systems::UserCommands"/>
-        <plugin filename="libignition-gazebo-scene-broadcaster-system.so" name="ignition::gazebo::systems::SceneBroadcaster"/>
-        
-        <gui fullscreen="0">
-
-            <!-- 3D scene -->
-            <plugin filename="GzScene3D" name="3D View">
-                <ignition-gui>
-                    <title>3D View</title>
-                    <property key="showTitleBar" type="bool">false</property>
-                    <property key="state" type="string">docked</property>
-                </ignition-gui>
-
-                <engine>ogre</engine>
-                <scene>scene</scene>
-                <ambient_light>1.0 1.0 1.0</ambient_light>
-                <background_color>0.8 0.8 0.8</background_color>
-                <camera_pose>-6 0 6 0 0.5 0</camera_pose>
-            </plugin>
-
-            <!-- World control -->
-            <plugin filename="WorldControl" name="World control">
-                <ignition-gui>
-                    <title>World control</title>
-                    <property key="showTitleBar" type="bool">false</property>
-                    <property key="resizable" type="bool">false</property>
-                    <property key="height" type="double">72</property>
-                    <property key="width" type="double">121</property>
-                    <property key="z" type="double">1</property>
-                    <property key="state" type="string">floating</property>
-                    <anchors target="3D View">
-                        <line own="left" target="left"/>
-                        <line own="bottom" target="bottom"/>
-                    </anchors>
-                </ignition-gui>
-
-                <play_pause>true</play_pause>
-                <step>true</step>
-                <start_paused>true</start_paused>
-                <service>/world/world_demo/control</service>
-                <stats_topic>/world/world_demo/stats</stats_topic>
-            </plugin>
-
-            <!-- World statistics -->
-            <plugin filename="WorldStats" name="World stats">
-                <ignition-gui>
-                    <title>World stats</title>
-                    <property key="showTitleBar" type="bool">false</property>
-                    <property key="resizable" type="bool">false</property>
-                    <property key="height" type="double">110</property>
-                    <property key="width" type="double">290</property>
-                    <property key="z" type="double">1</property>
-                    <property key="state" type="string">floating</property>
-                    <anchors target="3D View">
-                        <line own="right" target="right"/>
-                        <line own="bottom" target="bottom"/>
-                    </anchors>
-                </ignition-gui>
-                <sim_time>true</sim_time>
-                <real_time>true</real_time>
-                <real_time_factor>true</real_time_factor>
-                <iterations>true</iterations>
-                <topic>/world/world_demo/stats</topic>
-            </plugin>
-
-            <!-- Entity tree -->
-            <plugin filename="EntityTree" name="Entity tree"/>
-        </gui>
-        
         <light name="sun" type="directional">
             <cast_shadows>true</cast_shadows>
             <pose>0 0 10 0 0 0</pose>
@@ -337,7 +264,7 @@
                 <P1>410291</P1>
                 <P2>410266</P2>
             </plugin>
-            
+
             <!-- <debug_prescribed_velocity>true</debug_prescribed_velocity>-->
             <plugin filename="PolytropicPneumaticSpring" name="ignition::gazebo::systems::PolytropicPneumaticSpring">
                 <JointName>joint_poly</JointName>