diff --git a/VirtualRobot/MJCF/elements/core/Attribute.h b/VirtualRobot/MJCF/elements/core/Attribute.h
index 5cd84a866f66f91660fa38df91733354496b2438..69e039fb361b719bdf295bcd4c5ec0447b736d12 100644
--- a/VirtualRobot/MJCF/elements/core/Attribute.h
+++ b/VirtualRobot/MJCF/elements/core/Attribute.h
@@ -203,12 +203,12 @@ namespace mjcf
 // Macro for a requried or optional Attribute in an Element<Derived> of type AttrT
 // with potentially different memberName and attrName
 #define mjcf_AttributeFullNoDef(Derived, AttrT, memberName, attrName, required) \
-    AttributeNoDef<Derived, AttrT> memberName {*this, attrName, required}
+    ::mjcf::AttributeNoDef<Derived, AttrT> memberName {*this, attrName, required}
     
 // Macro for an optional Attribute in an Element<Derived> of type AttrT
 // with potentially different memberName and attrName.
 #define mjcf_AttributeFullDef(Derived, AttrT, memberName, attrName, defaultValue) \
-    AttributeDef<Derived, AttrT> memberName {*this, attrName, defaultValue}
+    ::mjcf::AttributeDef<Derived, AttrT> memberName {*this, attrName, defaultValue}
 
     
 // A requried Attribute in an Element<Derived> of type AttrT.
diff --git a/VirtualRobot/MJCF/elements/core/Element.h b/VirtualRobot/MJCF/elements/core/Element.h
index c5c76435b4c00212d1b7f5a559b894980519aa67..321ad1a27a75ee4c5a963d7289a2d29cf20231e3 100644
--- a/VirtualRobot/MJCF/elements/core/Element.h
+++ b/VirtualRobot/MJCF/elements/core/Element.h
@@ -490,7 +490,7 @@ namespace mjcf
 
 #define mjcf_ElementDerivedConstructorsBase(Base, Derived)  \
     Derived() : Base<Derived>() {}                   \
-    Derived(Document* document, tinyxml2::XMLElement* elem) : Base<Derived>(document, elem) {} \
+    Derived(Document* document, ::tinyxml2::XMLElement* elem) : Base<Derived>(document, elem) {} \
     Derived(const Base<Derived>& base) : Base<Derived>(base) {}      \
     Derived(const Derived& other) : Base<Derived>(other) {} \
     Derived(Derived&& other) : Base<Derived>(other) {}      \
diff --git a/VirtualRobot/MJCF/elements/core/exceptions.cpp b/VirtualRobot/MJCF/elements/core/exceptions.cpp
index 9d96ef948c234c36c55f2340becaab9173897996..3d0784c38c959b1f8b603938cb5860834c70dc85 100644
--- a/VirtualRobot/MJCF/elements/core/exceptions.cpp
+++ b/VirtualRobot/MJCF/elements/core/exceptions.cpp
@@ -20,7 +20,7 @@ ParseAttributeError::ParseAttributeError(
         const std::string& source, 
         const std::type_info& targetType, 
         const std::string& reason) :
-    MjcfError("Could not parse attribute string '" + source + " to " + targetType.name() + ".\n"
+    MjcfError("Could not parse attribute string '" + source + "' to " + targetType.name() + ".\n"
               "Reason: " + reason)
 {}