diff --git a/src/parser.cc b/src/parser.cc
index 8ea625cc0..2442f4831 100644
--- a/src/parser.cc
+++ b/src/parser.cc
@@ -1119,17 +1119,10 @@ void addNestedModel(ElementPtr _sdf, ElementPtr _includeSDF)
                      std::string(">") + name_with_nested_prefix + "<");
     // Deal with nested model inside other nested model and already with
     // ::namespace:: entries in the name
-    // Case A. ::namespace1::iter.first::namespace2
-    replace_all(str, std::string("::") + old_name + "::",
-                     std::string("::") + name_with_nested_prefix + "::");
-    // Case B. >iter.first::component
     replace_all(str, std::string(">") + old_name + "::",
                      std::string(">") + name_with_nested_prefix + "::");
-    // Case C.::component::iter.first<
-    replace_all(str, std::string("::") + old_name + "<",
-                     std::string("::") + name_with_nested_prefix + "<");
-    // remove duplicate prefixes introduced by the logic above (cases
-    // A,B,C) if the full name (iter.second) was used in the original SDF: (i.e
+    // remove duplicate prefixes introduced by the logic above
+    // if the full name (iter.second) was used in the original SDF: (i.e
     // iter.second::component)
     std::string::size_type found = name_with_nested_prefix.find(old_name);
     if (found != std::string::npos)
diff --git a/test/integration/model/nested_names_test/submodel_test.sdf b/test/integration/model/nested_names_test/submodel_test.sdf
index 3c4347800..2bd5d5294 100644
--- a/test/integration/model/nested_names_test/submodel_test.sdf
+++ b/test/integration/model/nested_names_test/submodel_test.sdf
@@ -15,7 +15,7 @@
 
       <joint name='joint2' type='revolute'>
         <parent>main_model_prefix::subnested_model::link1</parent>
-        <child>other_prefix::subnested_model</child>
+        <child>joint1</child>
       </joint>
     </model>
 </sdf>
diff --git a/test/integration/nested_model.cc b/test/integration/nested_model.cc
index 69f9702ff..098d2cb2f 100644
--- a/test/integration/nested_model.cc
+++ b/test/integration/nested_model.cc
@@ -278,15 +278,11 @@ TEST(NestedModel, IncludeFlatteningNames)
     "main_model_prefix::subnested_model");
   EXPECT_EQ(jointElem->Get<std::string>("child"),
     "main_model_prefix::subnested_model::link1") <<
-    "Flattening logic for nested models failed for case B (check parser.cc)";
+    "Flattening logic for nested models failed (check parser.cc)";
 
   sdf::ElementPtr joint2Elem = jointElem->GetNextElement("joint");
   EXPECT_EQ(joint2Elem->Get<std::string>("name"), "main_model_prefix::joint2");
   EXPECT_EQ(joint2Elem->Get<std::string>("parent"),
     "main_model_prefix::subnested_model::link1") <<
-    "Flattening logic for nested models failed for case A" <<
-    "(check parser.cc) + duplicates";
-  EXPECT_EQ(joint2Elem->Get<std::string>("child"),
-    "other_prefix::main_model_prefix::subnested_model") <<
-    "Flattening logic for nested models failed for case C (check parser.cc)";
+    "Flattening logic for nested models failed (check parser.cc)";
 }