diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index c3ad2ff6..c71900e1 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -168,6 +168,7 @@ void mjCModel::CopyList(std::vector<T*>& dest,
       candidate->ResolveReferences(this);
     } catch (mjCError err) {
       // if not present, skip the element
+      // TODO: do not skip elements that contain user errors
       delete candidate;
       continue;
     }
@@ -256,25 +257,20 @@ mjCModel& mjCModel::operator+=(const mjCModel& other) {
 
 
 template <class T>
-void mjCModel::RemoveFromList(std::vector<T*>& list, const mjCModel& other) {
+void mjCModel::RemoveFromList(std::vector<T*>& list) {
   int nlist = (int)list.size();
   int removed = 0;
   for (int i = 0; i < nlist; i++) {
     T* element = list[i];
     element->id -= removed;
-    try {
-      // check if the element contains an error
-      element->NameSpace(&other);
-      element->CopyFromSpec();
-      element->ResolveReferences(&other);
-    } catch (mjCError err) {
-      continue;
-    }
     try {
       // check if the element references something that was removed
+      // TODO: do not remove elements that contain user errors
       element->NameSpace(this);
+      element->CopyFromSpec();
       element->ResolveReferences(this);
     } catch (mjCError err) {
+      ids[element->elemtype].erase(element->name);
       delete element;
       list.erase(list.begin() + i);
       nlist--;
@@ -315,12 +311,12 @@ mjCModel& mjCModel::operator-=(const mjCBody& subtree) {
   ProcessLists(/*checkrepeat=*/false);
 
   // check if we have to remove anything else
-  RemoveFromList(pairs_, oldmodel);
-  RemoveFromList(excludes_, oldmodel);
-  RemoveFromList(tendons_, oldmodel);
-  RemoveFromList(equalities_, oldmodel);
-  RemoveFromList(actuators_, oldmodel);
-  RemoveFromList(sensors_, oldmodel);
+  RemoveFromList(pairs_);
+  RemoveFromList(excludes_);
+  RemoveFromList(tendons_);
+  RemoveFromList(equalities_);
+  RemoveFromList(actuators_);
+  RemoveFromList(sensors_);
 
   // restore to the original state
   if (!compiled) {
diff --git a/src/user/user_model.h b/src/user/user_model.h
index b35222b1..7b86aaef 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -342,8 +342,8 @@ class mjCModel : public mjCModel_, private mjSpec {
   template <class T> void CopyList(std::vector<T*>& dest,
                                    const std::vector<T*>& sources);
 
-  // delete from list the elements that are compatible with other but not this model
-  template <class T> void RemoveFromList(std::vector<T*>& list, const mjCModel& other);
+  // delete from list the elements that cause an error
+  template <class T> void RemoveFromList(std::vector<T*>& list);
 
   // create mjCBase lists from children lists
   void CreateObjectLists();
diff --git a/test/user/testdata/lengthrange.xml b/test/user/testdata/lengthrange.xml
index 8e12b6d2..b1b0219e 100644
--- a/test/user/testdata/lengthrange.xml
+++ b/test/user/testdata/lengthrange.xml
@@ -23,22 +23,6 @@
   </tendon>
 
   <actuator>
-    <position name="b00" tendon="b00" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b01" tendon="b01" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b02" tendon="b02" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b03" tendon="b03" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b04" tendon="b04" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b05" tendon="b05" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b06" tendon="b06" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b07" tendon="b07" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b08" tendon="b08" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b09" tendon="b09" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b10" tendon="b10" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b11" tendon="b11" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b12" tendon="b12" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b13" tendon="b13" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b14" tendon="b14" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b15" tendon="b15" ctrlrange="0 3" kp="100" dampratio="1"/>
-    <position name="b16" tendon="b16" ctrlrange="0 3" kp="100" dampratio="1"/>
+    <position name="b" tendon="b" ctrlrange="0 3" kp="100" dampratio="1"/>
   </actuator>
 </mujoco>