diff --git a/.docker/compose/nouveau-desktop.yaml b/.docker/compose/nouveau-desktop.yaml
index f18588de..d7ccecac 100644
--- a/.docker/compose/nouveau-desktop.yaml
+++ b/.docker/compose/nouveau-desktop.yaml
@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop
diff --git a/.docker/compose/nvidia-desktop.yaml b/.docker/compose/nvidia-desktop.yaml
index da240d51..86526f43 100644
--- a/.docker/compose/nvidia-desktop.yaml
+++ b/.docker/compose/nvidia-desktop.yaml
@@ -1,4 +1,3 @@
-version: "3"
 services:
   blue:
     image: ghcr.io/robotic-decision-making-lab/blue:rolling-desktop-nvidia
diff --git a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml
index b57e0937..f8aa9b50 100644
--- a/blue_bringup/launch/bluerov2/bluerov2.launch.yaml
+++ b/blue_bringup/launch/bluerov2/bluerov2.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file
diff --git a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
index 93897099..368be9ee 100644
--- a/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
+++ b/blue_bringup/launch/bluerov2_heavy/bluerov2_heavy.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file
diff --git a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
index d16e459b..6af54b05 100644
--- a/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
+++ b/blue_bringup/launch/bluerov2_heavy_reach/bluerov2_heavy_reach.launch.yaml
@@ -39,7 +39,7 @@ launch:
 
   - arg:
       name: gazebo_world_file
-      default: $(find-pkg-share blue_description)/gazebo/worlds/$(var model_name)_underwater.world
+      default: $(find-pkg-share blue_description)/gazebo/worlds/underwater.world
 
   - arg:
       name: mavros_file
diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world
deleted file mode 100644
index 4d908b1e..00000000
--- a/blue_description/gazebo/worlds/bluerov2_heavy_reach_underwater.world
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="bluerov2_heavy_reach_underwater">
-
-    <plugin
-      filename="gz-sim-physics-system"
-      name="gz::sim::systems::Physics">
-    </plugin>
-
-    <plugin
-      filename="gz-sim-user-commands-system"
-      name="gz::sim::systems::UserCommands">
-    </plugin>
-
-    <plugin
-      filename="gz-sim-scene-broadcaster-system"
-      name="gz::sim::systems::SceneBroadcaster">
-    </plugin>
-
-    <plugin filename="libgz-sim-imu-system.so"
-      name="gz::sim::systems::Imu">
-    </plugin>
-
-    <plugin
-      filename="gz-sim-buoyancy-system"
-      name="gz::sim::systems::Buoyancy">
-      <graded_buoyancy>
-        <default_density>1000</default_density>
-        <density_change>
-          <above_depth>0</above_depth>
-          <density>1</density>
-        </density_change>
-      </graded_buoyancy>
-      <enable>bluerov2_heavy_reach</enable>
-    </plugin>
-
-    <include>
-      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun</uri>
-    </include>
-
-    <include>
-      <uri>model://sand_heightmap</uri>
-      <pose>0 7 -10 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world b/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world
deleted file mode 100644
index 715d1171..00000000
--- a/blue_description/gazebo/worlds/bluerov2_heavy_underwater.world
+++ /dev/null
@@ -1,47 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="bluerov2_heavy_underwater">
-
-    <plugin
-      filename="gz-sim-physics-system"
-      name="gz::sim::systems::Physics">
-    </plugin>
-
-    <plugin
-      filename="gz-sim-user-commands-system"
-      name="gz::sim::systems::UserCommands">
-    </plugin>
-
-    <plugin
-      filename="gz-sim-scene-broadcaster-system"
-      name="gz::sim::systems::SceneBroadcaster">
-    </plugin>
-
-    <plugin filename="libgz-sim-imu-system.so"
-      name="gz::sim::systems::Imu">
-    </plugin>
-
-    <plugin
-      filename="gz-sim-buoyancy-system"
-      name="gz::sim::systems::Buoyancy">
-      <graded_buoyancy>
-        <default_density>1000</default_density>
-        <density_change>
-          <above_depth>0</above_depth>
-          <density>1</density>
-        </density_change>
-      </graded_buoyancy>
-      <enable>bluerov2_heavy</enable>
-    </plugin>
-
-    <include>
-      <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun</uri>
-    </include>
-
-    <include>
-      <uri>model://sand_heightmap</uri>
-      <pose>0 7 -10 0 0 0</pose>
-    </include>
-
-  </world>
-</sdf>
diff --git a/blue_description/gazebo/worlds/bluerov2_underwater.world b/blue_description/gazebo/worlds/underwater.world
similarity index 93%
rename from blue_description/gazebo/worlds/bluerov2_underwater.world
rename to blue_description/gazebo/worlds/underwater.world
index c1d7ce12..1eb2ddde 100644
--- a/blue_description/gazebo/worlds/bluerov2_underwater.world
+++ b/blue_description/gazebo/worlds/underwater.world
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <sdf version="1.6">
-  <world name="bluerov2_underwater">
+  <world name="underwater_world">
 
     <plugin
       filename="gz-sim-physics-system"
@@ -31,7 +31,6 @@
           <density>1</density>
         </density_change>
       </graded_buoyancy>
-      <enable>bluerov2</enable>
     </plugin>
 
     <include>