diff --git a/urdf/go2_description.urdf b/urdf/go2_description.urdf
index 2097167..9c7d05b 100644
--- a/urdf/go2_description.urdf
+++ b/urdf/go2_description.urdf
@@ -187,11 +187,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/thigh.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
@@ -242,11 +237,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/calf.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 -0.21 0" xyz="0.008 0 -0.06" />
@@ -341,11 +331,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/foot.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.002 0 0" />
@@ -391,11 +376,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/hip.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
@@ -446,11 +426,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/thigh_mirror.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
@@ -501,11 +476,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/calf_mirror.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
@@ -600,11 +570,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/foot.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.002 0 0" />
@@ -650,11 +615,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/hip.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="1.5707963267948966 0 0" xyz="0 0.08 0" />
@@ -705,11 +665,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/thigh.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
@@ -760,11 +715,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/calf.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
@@ -859,11 +809,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/foot.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.002 0 0" />
@@ -909,11 +854,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/hip.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="1.5707963267948966 0 0" xyz="0 -0.08 0" />
@@ -964,11 +904,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/thigh_mirror.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 1.5707963267948966 0" xyz="0 0 -0.1065" />
@@ -1019,11 +954,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/calf_mirror.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 -0.2 0" xyz="0.01 0 -0.06" />
@@ -1118,11 +1048,6 @@ Stephen Brawner (brawner@gmail.com)
         <mesh
           filename="../dae/foot.dae" />
       </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="-0.002 0 0" />