From 68424feb2d67e272504aa80fe8f1f86ad9a12557 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 30 Aug 2021 19:40:20 +0000
Subject: [PATCH] don't use empty frame for pose in sdf files use hint for
 clang that if (0) is intentional

---
 Extras/Serialize/BulletFileLoader/bFile.cpp   |   2 +-
 Extras/obj2sdf/obj2sdf.cpp                    |   4 +-
 data/cube_small.sdf                           |   2 +-
 data/gripper/wsg50_one_motor_gripper.sdf      |  54 +--
 .../wsg50_one_motor_gripper_free_base.sdf     |  58 +--
 data/gripper/wsg50_one_motor_gripper_new.sdf  |  54 +--
 .../wsg50_one_motor_gripper_new_free_base.sdf |  58 +--
 .../wsg50_one_motor_gripper_no_finger.sdf     |  42 +--
 data/gripper/wsg50_with_r2d2_gripper.sdf      |  46 +--
 data/kitchens/1.sdf                           | 340 +++++++++---------
 data/kuka_iiwa/kuka_with_gripper.sdf          | 114 +++---
 data/kuka_iiwa/kuka_with_gripper2.sdf         | 120 +++----
 data/kuka_iiwa/kuka_world.sdf                 |  64 ++--
 data/kuka_iiwa/model.sdf                      |  66 ++--
 data/kuka_iiwa/model2.sdf                     | 130 +++----
 data/stadium.sdf                              |   6 +-
 data/threecubes/newsdf.sdf                    |   6 +-
 data/two_cubes.sdf                            |  22 +-
 .../MultiBody/MultiBodyConstraintFeedback.cpp |   4 +-
 examples/MultiBody/MultiBodySoftContact.cpp   |   2 +-
 examples/MultiBody/TestJointTorqueSetup.cpp   |   4 +-
 .../gripper/wsg50_one_motor_gripper.sdf       |  54 +--
 .../wsg50_one_motor_gripper_free_base.sdf     |  58 +--
 .../gripper/wsg50_one_motor_gripper_new.sdf   |  54 +--
 .../wsg50_one_motor_gripper_new_free_base.sdf |  58 +--
 .../wsg50_one_motor_gripper_no_finger.sdf     |  42 +--
 .../gripper/wsg50_with_r2d2_gripper.sdf       |  46 +--
 .../kuka_iiwa/kuka_with_gripper.sdf           | 114 +++---
 .../kuka_iiwa/kuka_with_gripper2.sdf          | 120 +++----
 .../pybullet_data/kuka_iiwa/kuka_world.sdf    |  64 ++--
 .../gym/pybullet_data/kuka_iiwa/model.sdf     |  66 ++--
 .../gym/pybullet_data/kuka_iiwa/model2.sdf    | 130 +++----
 .../gym/pybullet_data/plane_stadium.sdf       |   2 +-
 .../pybullet/gym/pybullet_data/stadium.sdf    |   6 +-
 .../pybullet_data/stadium_no_collision.sdf    |   6 +-
 35 files changed, 1009 insertions(+), 1009 deletions(-)

diff --git a/Extras/Serialize/BulletFileLoader/bFile.cpp b/Extras/Serialize/BulletFileLoader/bFile.cpp
index 107298718..5f19dd576 100644
--- a/Extras/Serialize/BulletFileLoader/bFile.cpp
+++ b/Extras/Serialize/BulletFileLoader/bFile.cpp
@@ -737,7 +737,7 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
 	if (new_dna == -1) return;
 
 	//disable this, because we need to fixup pointers/ListBase
-	if (0)  //mFileDNA->flagEqual(old_dna))
+	if (/* DISABLES CODE */ (0))  //mFileDNA->flagEqual(old_dna))
 	{
 		short *strc = mFileDNA->getStruct(old_dna);
 		int len = mFileDNA->getLength(strc[0]);
diff --git a/Extras/obj2sdf/obj2sdf.cpp b/Extras/obj2sdf/obj2sdf.cpp
index 2f9d9da6f..a59cd68f5 100644
--- a/Extras/obj2sdf/obj2sdf.cpp
+++ b/Extras/obj2sdf/obj2sdf.cpp
@@ -271,7 +271,7 @@ int main(int argc, char* argv[])
 			fprintf(sdfFile,
 					"\t\t<model name='%s'>\n"
 					"\t\t\t<static>1</static>\n"
-					"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+					"\t\t\t<pose >0 0 0 0 0 0</pose>\n"
 					"\t\t\t<link name='link_d%d'>\n"
 					"\t\t\t<inertial>\n"
 					"\t\t\t<mass>0</mass>\n"
@@ -411,7 +411,7 @@ int main(int argc, char* argv[])
 			fprintf(sdfFile,
 					"\t\t<model name='%s'>\n"
 					"\t\t\t<static>1</static>\n"
-					"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+					"\t\t\t<pose>0 0 0 0 0 0</pose>\n"
 					"\t\t\t<link name='link_d%d'>\n"
 					"\t\t\t<inertial>\n"
 					"\t\t\t<mass>0</mass>\n"
diff --git a/data/cube_small.sdf b/data/cube_small.sdf
index 828b74df1..ee3cd8789 100644
--- a/data/cube_small.sdf
+++ b/data/cube_small.sdf
@@ -1,7 +1,7 @@
 <sdf version='1.6'>
   <world name='default'>
     <model name='unit_box_0'>
-      <pose frame=''>0 0 0.107 0 0 0</pose>
+      <pose>0 0 0.107 0 0 0</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>0.1</mass>
diff --git a/data/gripper/wsg50_one_motor_gripper.sdf b/data/gripper/wsg50_one_motor_gripper.sdf
index 1f19f174a..51d2e9abd 100644
--- a/data/gripper/wsg50_one_motor_gripper.sdf
+++ b/data/gripper/wsg50_one_motor_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.26 3.14 0 0</pose>
+    <pose>0 0 0.26 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -249,9 +249,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -264,7 +264,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -273,7 +273,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -305,7 +305,7 @@
     </joint>
     
     <link name='finger_right'>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -319,7 +319,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -329,7 +329,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -345,7 +345,7 @@
     </joint>
     
     <link name='finger_left'>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -359,7 +359,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -369,7 +369,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_free_base.sdf b/data/gripper/wsg50_one_motor_gripper_free_base.sdf
index 552c36d28..66dfb1a9d 100644
--- a/data/gripper/wsg50_one_motor_gripper_free_base.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_free_base.sdf
@@ -3,11 +3,11 @@
   <world name='default'>
   <model name='wsg50_with_gripper'>
     
-    <pose frame=''>0 -2.3 2.1 0 0 0</pose>
+    <pose>0 -2.3 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -26,9 +26,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -41,7 +41,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -56,9 +56,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -70,7 +70,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -100,9 +100,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -114,7 +114,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -145,9 +145,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -190,9 +190,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -205,7 +205,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -214,7 +214,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -247,9 +247,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -262,7 +262,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -271,7 +271,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
+      <pose>0.042 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
+      <pose>-0.042 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_new.sdf b/data/gripper/wsg50_one_motor_gripper_new.sdf
index 54f469fe0..09e43dc22 100644
--- a/data/gripper/wsg50_one_motor_gripper_new.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_new.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.7 3.14 0 0</pose>
+    <pose>0 0 0.7 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf b/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
index 0358f7a6a..e33b9ed8f 100644
--- a/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
@@ -2,11 +2,11 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
+    <pose>1.4 -0.2 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -25,9 +25,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -40,7 +40,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -55,9 +55,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -69,7 +69,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -99,9 +99,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -113,7 +113,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -144,9 +144,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -158,7 +158,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -189,9 +189,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -204,7 +204,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -213,7 +213,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -245,9 +245,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -260,7 +260,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -269,7 +269,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -304,7 +304,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -318,7 +318,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -328,7 +328,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -348,7 +348,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -362,7 +362,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -372,7 +372,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/gripper/wsg50_one_motor_gripper_no_finger.sdf b/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
index 878b1ee14..16847c72c 100644
--- a/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
+++ b/data/gripper/wsg50_one_motor_gripper_no_finger.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.4 3.14 0 0</pose>
+    <pose>0 0 0.4 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 0</pose>
+      <pose>0.055 0 0.06 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 3.14159</pose>
+        <pose>0 0 -0.06 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 3.14159</pose>
+        <pose>0 0 -0.037 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
diff --git a/data/gripper/wsg50_with_r2d2_gripper.sdf b/data/gripper/wsg50_with_r2d2_gripper.sdf
index d67959f19..b487816a6 100644
--- a/data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.27 3.14 0 0</pose>
+    <pose>0 0 0.27 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -42,7 +42,7 @@
         </inertia>
       </inertial>
       <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
 		<box>
               <size>0.2 0.05 0.05 </size>
@@ -50,7 +50,7 @@
         </geometry>
       </collision>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -67,9 +67,9 @@
     </link>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0 0 -0 0</pose>
+      <pose>-0.055 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -82,7 +82,7 @@
       </inertial>
 	  
       <collision name='gripper_left_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -91,7 +91,7 @@
         </geometry>
       </collision>
       <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -101,7 +101,7 @@
       </collision>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -110,7 +110,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -141,9 +141,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0 0 -0 3.14159</pose>
+      <pose>0.055 0 0 0 -0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -156,7 +156,7 @@
       </inertial>
 	  
       <collision name='gripper_right_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -165,7 +165,7 @@
         </geometry>
       </collision>
       <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -175,7 +175,7 @@
       </collision>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -184,7 +184,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -219,7 +219,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -233,7 +233,7 @@
       </inertial>
 	  
       <collision name='finger_right_collision'>
-	<pose frame=''>0 0 0.042 0 0 0 </pose>
+	<pose>0 0 0.042 0 0 0 </pose>
 	<geometry>        
        <box>
               <size>0.02 0.02 0.15 </size>
@@ -243,7 +243,7 @@
       </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -263,7 +263,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -277,7 +277,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -287,7 +287,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/kitchens/1.sdf b/data/kitchens/1.sdf
index 572cf7234..9e068b917 100644
--- a/data/kitchens/1.sdf
+++ b/data/kitchens/1.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='part0.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -42,7 +42,7 @@
 			</model>
 		<model name='part1.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -81,7 +81,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
@@ -120,7 +120,7 @@
 			</model>
 		<model name='part3.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d3'>
 			<inertial>
 			<mass>0</mass>
@@ -159,7 +159,7 @@
 			</model>
 		<model name='part4.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d4'>
 			<inertial>
 			<mass>0</mass>
@@ -198,7 +198,7 @@
 			</model>
 		<model name='part5.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d5'>
 			<inertial>
 			<mass>0</mass>
@@ -237,7 +237,7 @@
 			</model>
 		<model name='part6.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d6'>
 			<inertial>
 			<mass>0</mass>
@@ -276,7 +276,7 @@
 			</model>
 		<model name='part7.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d7'>
 			<inertial>
 			<mass>0</mass>
@@ -315,7 +315,7 @@
 			</model>
 		<model name='part8.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d8'>
 			<inertial>
 			<mass>0</mass>
@@ -354,7 +354,7 @@
 			</model>
 		<model name='part9.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d9'>
 			<inertial>
 			<mass>0</mass>
@@ -393,7 +393,7 @@
 			</model>
 		<model name='part10.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d10'>
 			<inertial>
 			<mass>0</mass>
@@ -432,7 +432,7 @@
 			</model>
 		<model name='part11.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d11'>
 			<inertial>
 			<mass>0</mass>
@@ -471,7 +471,7 @@
 			</model>
 		<model name='part12.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d12'>
 			<inertial>
 			<mass>0</mass>
@@ -510,7 +510,7 @@
 			</model>
 		<model name='part13.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d13'>
 			<inertial>
 			<mass>0</mass>
@@ -549,7 +549,7 @@
 			</model>
 		<model name='part14.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d14'>
 			<inertial>
 			<mass>0</mass>
@@ -588,7 +588,7 @@
 			</model>
 		<model name='part15.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d15'>
 			<inertial>
 			<mass>0</mass>
@@ -627,7 +627,7 @@
 			</model>
 		<model name='part16.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d16'>
 			<inertial>
 			<mass>0</mass>
@@ -666,7 +666,7 @@
 			</model>
 		<model name='part17.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d17'>
 			<inertial>
 			<mass>0</mass>
@@ -705,7 +705,7 @@
 			</model>
 		<model name='part18.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d18'>
 			<inertial>
 			<mass>0</mass>
@@ -744,7 +744,7 @@
 			</model>
 		<model name='part19.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d19'>
 			<inertial>
 			<mass>0</mass>
@@ -783,7 +783,7 @@
 			</model>
 		<model name='part20.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d20'>
 			<inertial>
 			<mass>0</mass>
@@ -822,7 +822,7 @@
 			</model>
 		<model name='part21.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d21'>
 			<inertial>
 			<mass>0</mass>
@@ -861,7 +861,7 @@
 			</model>
 		<model name='part22.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d22'>
 			<inertial>
 			<mass>0</mass>
@@ -900,7 +900,7 @@
 			</model>
 		<model name='part23.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d23'>
 			<inertial>
 			<mass>0</mass>
@@ -939,7 +939,7 @@
 			</model>
 		<model name='part24.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d24'>
 			<inertial>
 			<mass>0</mass>
@@ -978,7 +978,7 @@
 			</model>
 		<model name='part25.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d25'>
 			<inertial>
 			<mass>0</mass>
@@ -1017,7 +1017,7 @@
 			</model>
 		<model name='part26.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d26'>
 			<inertial>
 			<mass>0</mass>
@@ -1056,7 +1056,7 @@
 			</model>
 		<model name='part27.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d27'>
 			<inertial>
 			<mass>0</mass>
@@ -1095,7 +1095,7 @@
 			</model>
 		<model name='part28.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d28'>
 			<inertial>
 			<mass>0</mass>
@@ -1134,7 +1134,7 @@
 			</model>
 		<model name='part29.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d29'>
 			<inertial>
 			<mass>0</mass>
@@ -1173,7 +1173,7 @@
 			</model>
 		<model name='part30.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d30'>
 			<inertial>
 			<mass>0</mass>
@@ -1212,7 +1212,7 @@
 			</model>
 		<model name='part31.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d31'>
 			<inertial>
 			<mass>0</mass>
@@ -1251,7 +1251,7 @@
 			</model>
 		<model name='part32.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d32'>
 			<inertial>
 			<mass>0</mass>
@@ -1290,7 +1290,7 @@
 			</model>
 		<model name='part33.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d33'>
 			<inertial>
 			<mass>0</mass>
@@ -1329,7 +1329,7 @@
 			</model>
 		<model name='part34.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d34'>
 			<inertial>
 			<mass>0</mass>
@@ -1368,7 +1368,7 @@
 			</model>
 		<model name='part35.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d35'>
 			<inertial>
 			<mass>0</mass>
@@ -1407,7 +1407,7 @@
 			</model>
 		<model name='part36.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d36'>
 			<inertial>
 			<mass>0</mass>
@@ -1446,7 +1446,7 @@
 			</model>
 		<model name='part37.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d37'>
 			<inertial>
 			<mass>0</mass>
@@ -1485,7 +1485,7 @@
 			</model>
 		<model name='part38.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d38'>
 			<inertial>
 			<mass>0</mass>
@@ -1524,7 +1524,7 @@
 			</model>
 		<model name='part39.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d39'>
 			<inertial>
 			<mass>0</mass>
@@ -1563,7 +1563,7 @@
 			</model>
 		<model name='part40.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d40'>
 			<inertial>
 			<mass>0</mass>
@@ -1602,7 +1602,7 @@
 			</model>
 		<model name='part41.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d41'>
 			<inertial>
 			<mass>0</mass>
@@ -1641,7 +1641,7 @@
 			</model>
 		<model name='part42.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d42'>
 			<inertial>
 			<mass>0</mass>
@@ -1680,7 +1680,7 @@
 			</model>
 		<model name='part43.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d43'>
 			<inertial>
 			<mass>0</mass>
@@ -1719,7 +1719,7 @@
 			</model>
 		<model name='part44.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d44'>
 			<inertial>
 			<mass>0</mass>
@@ -1758,7 +1758,7 @@
 			</model>
 		<model name='part45.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d45'>
 			<inertial>
 			<mass>0</mass>
@@ -1797,7 +1797,7 @@
 			</model>
 		<model name='part46.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d46'>
 			<inertial>
 			<mass>0</mass>
@@ -1836,7 +1836,7 @@
 			</model>
 		<model name='part47.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d47'>
 			<inertial>
 			<mass>0</mass>
@@ -1875,7 +1875,7 @@
 			</model>
 		<model name='part48.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d48'>
 			<inertial>
 			<mass>0</mass>
@@ -1914,7 +1914,7 @@
 			</model>
 		<model name='part49.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d49'>
 			<inertial>
 			<mass>0</mass>
@@ -1953,7 +1953,7 @@
 			</model>
 		<model name='part50.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d50'>
 			<inertial>
 			<mass>0</mass>
@@ -1992,7 +1992,7 @@
 			</model>
 		<model name='part51.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d51'>
 			<inertial>
 			<mass>0</mass>
@@ -2031,7 +2031,7 @@
 			</model>
 		<model name='part52.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d52'>
 			<inertial>
 			<mass>0</mass>
@@ -2070,7 +2070,7 @@
 			</model>
 		<model name='part53.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d53'>
 			<inertial>
 			<mass>0</mass>
@@ -2109,7 +2109,7 @@
 			</model>
 		<model name='part54.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d54'>
 			<inertial>
 			<mass>0</mass>
@@ -2148,7 +2148,7 @@
 			</model>
 		<model name='part55.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d55'>
 			<inertial>
 			<mass>0</mass>
@@ -2187,7 +2187,7 @@
 			</model>
 		<model name='part56.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d56'>
 			<inertial>
 			<mass>0</mass>
@@ -2226,7 +2226,7 @@
 			</model>
 		<model name='part57.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d57'>
 			<inertial>
 			<mass>0</mass>
@@ -2265,7 +2265,7 @@
 			</model>
 		<model name='part58.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d58'>
 			<inertial>
 			<mass>0</mass>
@@ -2304,7 +2304,7 @@
 			</model>
 		<model name='part59.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d59'>
 			<inertial>
 			<mass>0</mass>
@@ -2343,7 +2343,7 @@
 			</model>
 		<model name='part60.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d60'>
 			<inertial>
 			<mass>0</mass>
@@ -2382,7 +2382,7 @@
 			</model>
 		<model name='part61.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d61'>
 			<inertial>
 			<mass>0</mass>
@@ -2421,7 +2421,7 @@
 			</model>
 		<model name='part62.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d62'>
 			<inertial>
 			<mass>0</mass>
@@ -2460,7 +2460,7 @@
 			</model>
 		<model name='part63.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d63'>
 			<inertial>
 			<mass>0</mass>
@@ -2499,7 +2499,7 @@
 			</model>
 		<model name='part64.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d64'>
 			<inertial>
 			<mass>0</mass>
@@ -2538,7 +2538,7 @@
 			</model>
 		<model name='part65.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d65'>
 			<inertial>
 			<mass>0</mass>
@@ -2577,7 +2577,7 @@
 			</model>
 		<model name='part66.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d66'>
 			<inertial>
 			<mass>0</mass>
@@ -2616,7 +2616,7 @@
 			</model>
 		<model name='part67.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d67'>
 			<inertial>
 			<mass>0</mass>
@@ -2655,7 +2655,7 @@
 			</model>
 		<model name='part68.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d68'>
 			<inertial>
 			<mass>0</mass>
@@ -2694,7 +2694,7 @@
 			</model>
 		<model name='part69.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d69'>
 			<inertial>
 			<mass>0</mass>
@@ -2733,7 +2733,7 @@
 			</model>
 		<model name='part70.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d70'>
 			<inertial>
 			<mass>0</mass>
@@ -2772,7 +2772,7 @@
 			</model>
 		<model name='part71.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d71'>
 			<inertial>
 			<mass>0</mass>
@@ -2811,7 +2811,7 @@
 			</model>
 		<model name='part72.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d72'>
 			<inertial>
 			<mass>0</mass>
@@ -2850,7 +2850,7 @@
 			</model>
 		<model name='part73.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d73'>
 			<inertial>
 			<mass>0</mass>
@@ -2889,7 +2889,7 @@
 			</model>
 		<model name='part74.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d74'>
 			<inertial>
 			<mass>0</mass>
@@ -2928,7 +2928,7 @@
 			</model>
 		<model name='part75.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d75'>
 			<inertial>
 			<mass>0</mass>
@@ -2967,7 +2967,7 @@
 			</model>
 		<model name='part76.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d76'>
 			<inertial>
 			<mass>0</mass>
@@ -3006,7 +3006,7 @@
 			</model>
 		<model name='part77.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d77'>
 			<inertial>
 			<mass>0</mass>
@@ -3045,7 +3045,7 @@
 			</model>
 		<model name='part78.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d78'>
 			<inertial>
 			<mass>0</mass>
@@ -3084,7 +3084,7 @@
 			</model>
 		<model name='part79.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d79'>
 			<inertial>
 			<mass>0</mass>
@@ -3123,7 +3123,7 @@
 			</model>
 		<model name='part80.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d80'>
 			<inertial>
 			<mass>0</mass>
@@ -3162,7 +3162,7 @@
 			</model>
 		<model name='part81.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d81'>
 			<inertial>
 			<mass>0</mass>
@@ -3201,7 +3201,7 @@
 			</model>
 		<model name='part82.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d82'>
 			<inertial>
 			<mass>0</mass>
@@ -3240,7 +3240,7 @@
 			</model>
 		<model name='part83.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d83'>
 			<inertial>
 			<mass>0</mass>
@@ -3279,7 +3279,7 @@
 			</model>
 		<model name='part84.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d84'>
 			<inertial>
 			<mass>0</mass>
@@ -3318,7 +3318,7 @@
 			</model>
 		<model name='part85.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d85'>
 			<inertial>
 			<mass>0</mass>
@@ -3357,7 +3357,7 @@
 			</model>
 		<model name='part86.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d86'>
 			<inertial>
 			<mass>0</mass>
@@ -3396,7 +3396,7 @@
 			</model>
 		<model name='part87.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d87'>
 			<inertial>
 			<mass>0</mass>
@@ -3435,7 +3435,7 @@
 			</model>
 		<model name='part88.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d88'>
 			<inertial>
 			<mass>0</mass>
@@ -3474,7 +3474,7 @@
 			</model>
 		<model name='part89.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d89'>
 			<inertial>
 			<mass>0</mass>
@@ -3513,7 +3513,7 @@
 			</model>
 		<model name='part90.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d90'>
 			<inertial>
 			<mass>0</mass>
@@ -3552,7 +3552,7 @@
 			</model>
 		<model name='part91.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d91'>
 			<inertial>
 			<mass>0</mass>
@@ -3591,7 +3591,7 @@
 			</model>
 		<model name='part92.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d92'>
 			<inertial>
 			<mass>0</mass>
@@ -3630,7 +3630,7 @@
 			</model>
 		<model name='part93.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d93'>
 			<inertial>
 			<mass>0</mass>
@@ -3669,7 +3669,7 @@
 			</model>
 		<model name='part94.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d94'>
 			<inertial>
 			<mass>0</mass>
@@ -3708,7 +3708,7 @@
 			</model>
 		<model name='part95.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d95'>
 			<inertial>
 			<mass>0</mass>
@@ -3747,7 +3747,7 @@
 			</model>
 		<model name='part96.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d96'>
 			<inertial>
 			<mass>0</mass>
@@ -3786,7 +3786,7 @@
 			</model>
 		<model name='part97.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d97'>
 			<inertial>
 			<mass>0</mass>
@@ -3825,7 +3825,7 @@
 			</model>
 		<model name='part98.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d98'>
 			<inertial>
 			<mass>0</mass>
@@ -3864,7 +3864,7 @@
 			</model>
 		<model name='part99.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d99'>
 			<inertial>
 			<mass>0</mass>
@@ -3903,7 +3903,7 @@
 			</model>
 		<model name='part100.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d100'>
 			<inertial>
 			<mass>0</mass>
@@ -3942,7 +3942,7 @@
 			</model>
 		<model name='part101.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d101'>
 			<inertial>
 			<mass>0</mass>
@@ -3981,7 +3981,7 @@
 			</model>
 		<model name='part102.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d102'>
 			<inertial>
 			<mass>0</mass>
@@ -4020,7 +4020,7 @@
 			</model>
 		<model name='part103.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d103'>
 			<inertial>
 			<mass>0</mass>
@@ -4059,7 +4059,7 @@
 			</model>
 		<model name='part104.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d104'>
 			<inertial>
 			<mass>0</mass>
@@ -4098,7 +4098,7 @@
 			</model>
 		<model name='part105.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d105'>
 			<inertial>
 			<mass>0</mass>
@@ -4138,7 +4138,7 @@
 		
 		<model name='part109.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d109'>
 			<inertial>
 			<mass>0</mass>
@@ -4178,7 +4178,7 @@
 	
 		<model name='part111.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d111'>
 			<inertial>
 			<mass>0</mass>
@@ -4217,7 +4217,7 @@
 			</model>
 		<model name='part112.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d112'>
 			<inertial>
 			<mass>0</mass>
@@ -4256,7 +4256,7 @@
 			</model>
 		<model name='part113.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d113'>
 			<inertial>
 			<mass>0</mass>
@@ -4295,7 +4295,7 @@
 			</model>
 		<model name='part114.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d114'>
 			<inertial>
 			<mass>0</mass>
@@ -4334,7 +4334,7 @@
 			</model>
 		<model name='part115.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d115'>
 			<inertial>
 			<mass>0</mass>
@@ -4373,7 +4373,7 @@
 			</model>
 		<model name='part116.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d116'>
 			<inertial>
 			<mass>0</mass>
@@ -4412,7 +4412,7 @@
 			</model>
 		<model name='part117.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d117'>
 			<inertial>
 			<mass>0</mass>
@@ -4451,7 +4451,7 @@
 			</model>
 		<model name='part118.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d118'>
 			<inertial>
 			<mass>0</mass>
@@ -4490,7 +4490,7 @@
 			</model>
 		<model name='part119.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d119'>
 			<inertial>
 			<mass>0</mass>
@@ -4529,7 +4529,7 @@
 			</model>
 		<model name='part120.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d120'>
 			<inertial>
 			<mass>0</mass>
@@ -4568,7 +4568,7 @@
 			</model>
 		<model name='part121.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d121'>
 			<inertial>
 			<mass>0</mass>
@@ -4607,7 +4607,7 @@
 			</model>
 		<model name='part122.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d122'>
 			<inertial>
 			<mass>0</mass>
@@ -4646,7 +4646,7 @@
 			</model>
 		<model name='part123.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d123'>
 			<inertial>
 			<mass>0</mass>
@@ -4685,7 +4685,7 @@
 			</model>
 		<model name='part124.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d124'>
 			<inertial>
 			<mass>0</mass>
@@ -4724,7 +4724,7 @@
 			</model>
 		<model name='part125.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d125'>
 			<inertial>
 			<mass>0</mass>
@@ -4763,7 +4763,7 @@
 			</model>
 		<model name='part126.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d126'>
 			<inertial>
 			<mass>0</mass>
@@ -4802,7 +4802,7 @@
 			</model>
 		<model name='part127.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d127'>
 			<inertial>
 			<mass>0</mass>
@@ -4841,7 +4841,7 @@
 			</model>
 		<model name='part128.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d128'>
 			<inertial>
 			<mass>0</mass>
@@ -4880,7 +4880,7 @@
 			</model>
 		<model name='part129.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d129'>
 			<inertial>
 			<mass>0</mass>
@@ -4919,7 +4919,7 @@
 			</model>
 		<model name='part130.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d130'>
 			<inertial>
 			<mass>0</mass>
@@ -4958,7 +4958,7 @@
 			</model>
 		<model name='part131.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d131'>
 			<inertial>
 			<mass>0</mass>
@@ -4997,7 +4997,7 @@
 			</model>
 		<model name='part132.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d132'>
 			<inertial>
 			<mass>0</mass>
@@ -5036,7 +5036,7 @@
 			</model>
 		<model name='part133.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d133'>
 			<inertial>
 			<mass>0</mass>
@@ -5075,7 +5075,7 @@
 			</model>
 		<model name='part134.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d134'>
 			<inertial>
 			<mass>0</mass>
@@ -5114,7 +5114,7 @@
 			</model>
 		<model name='part135.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d135'>
 			<inertial>
 			<mass>0</mass>
@@ -5153,7 +5153,7 @@
 			</model>
 		<model name='part136.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d136'>
 			<inertial>
 			<mass>0</mass>
@@ -5192,7 +5192,7 @@
 			</model>
 		<model name='part137.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d137'>
 			<inertial>
 			<mass>0</mass>
@@ -5231,7 +5231,7 @@
 			</model>
 		<model name='part138.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d138'>
 			<inertial>
 			<mass>0</mass>
@@ -5270,7 +5270,7 @@
 			</model>
 		<model name='part139.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d139'>
 			<inertial>
 			<mass>0</mass>
@@ -5309,7 +5309,7 @@
 			</model>
 		<model name='part140.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d140'>
 			<inertial>
 			<mass>0</mass>
@@ -5348,7 +5348,7 @@
 			</model>
 		<model name='part141.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d141'>
 			<inertial>
 			<mass>0</mass>
@@ -5387,7 +5387,7 @@
 			</model>
 		<model name='part142.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d142'>
 			<inertial>
 			<mass>0</mass>
@@ -5426,7 +5426,7 @@
 			</model>
 		<model name='part143.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d143'>
 			<inertial>
 			<mass>0</mass>
@@ -5465,7 +5465,7 @@
 			</model>
 		<model name='part144.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d144'>
 			<inertial>
 			<mass>0</mass>
@@ -5504,7 +5504,7 @@
 			</model>
 		<model name='part145.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d145'>
 			<inertial>
 			<mass>0</mass>
@@ -5543,7 +5543,7 @@
 			</model>
 		<model name='part146.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d146'>
 			<inertial>
 			<mass>0</mass>
@@ -5574,7 +5574,7 @@
 			</model>
 		<model name='part147.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d147'>
 			<inertial>
 			<mass>0</mass>
@@ -5613,7 +5613,7 @@
 			</model>
 		<model name='part148.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d148'>
 			<inertial>
 			<mass>0</mass>
@@ -5652,7 +5652,7 @@
 			</model>
 		<model name='part149.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d149'>
 			<inertial>
 			<mass>0</mass>
@@ -5691,7 +5691,7 @@
 			</model>
 		<model name='part150.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d150'>
 			<inertial>
 			<mass>0</mass>
@@ -5730,7 +5730,7 @@
 			</model>
 		<model name='part151.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d151'>
 			<inertial>
 			<mass>0</mass>
@@ -5769,7 +5769,7 @@
 			</model>
 		<model name='part152.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d152'>
 			<inertial>
 			<mass>0</mass>
@@ -5808,7 +5808,7 @@
 			</model>
 		<model name='part153.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d153'>
 			<inertial>
 			<mass>0</mass>
@@ -5847,7 +5847,7 @@
 			</model>
 		<model name='part154.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d154'>
 			<inertial>
 			<mass>0</mass>
@@ -5886,7 +5886,7 @@
 			</model>
 		<model name='part155.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d155'>
 			<inertial>
 			<mass>0</mass>
@@ -5925,7 +5925,7 @@
 			</model>
 		<model name='part156.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d156'>
 			<inertial>
 			<mass>0</mass>
@@ -5964,7 +5964,7 @@
 			</model>
 		<model name='part157.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d157'>
 			<inertial>
 			<mass>0</mass>
@@ -6003,7 +6003,7 @@
 			</model>
 		<model name='part158.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d158'>
 			<inertial>
 			<mass>0</mass>
@@ -6042,7 +6042,7 @@
 			</model>
 		<model name='part159.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d159'>
 			<inertial>
 			<mass>0</mass>
@@ -6081,7 +6081,7 @@
 			</model>
 		<model name='part160.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d160'>
 			<inertial>
 			<mass>0</mass>
@@ -6120,7 +6120,7 @@
 			</model>
 		<model name='part161.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d161'>
 			<inertial>
 			<mass>0</mass>
@@ -6159,7 +6159,7 @@
 			</model>
 		<model name='part162.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d162'>
 			<inertial>
 			<mass>0</mass>
@@ -6198,7 +6198,7 @@
 			</model>
 		<model name='part163.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d163'>
 			<inertial>
 			<mass>0</mass>
@@ -6237,7 +6237,7 @@
 			</model>
 		<model name='part164.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d164'>
 			<inertial>
 			<mass>0</mass>
@@ -6276,7 +6276,7 @@
 			</model>
 		<model name='part165.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d165'>
 			<inertial>
 			<mass>0</mass>
@@ -6315,7 +6315,7 @@
 			</model>
 		<model name='part166.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d166'>
 			<inertial>
 			<mass>0</mass>
@@ -6354,7 +6354,7 @@
 			</model>
 		<model name='part167.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d167'>
 			<inertial>
 			<mass>0</mass>
@@ -6393,7 +6393,7 @@
 			</model>
 		<model name='part168.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d168'>
 			<inertial>
 			<mass>0</mass>
@@ -6432,7 +6432,7 @@
 			</model>
 		<model name='part169.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d169'>
 			<inertial>
 			<mass>0</mass>
@@ -6471,7 +6471,7 @@
 			</model>
 		<model name='part170.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d170'>
 			<inertial>
 			<mass>0</mass>
@@ -6510,7 +6510,7 @@
 			</model>
 		<model name='part171.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d171'>
 			<inertial>
 			<mass>0</mass>
@@ -6549,7 +6549,7 @@
 			</model>
 		<model name='part172.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d172'>
 			<inertial>
 			<mass>0</mass>
@@ -6588,7 +6588,7 @@
 			</model>
 		<model name='part173.obj'>
 			<static>1</static>
-			<pose frame=''>-12.0 -13.9 0 0 0 0</pose>
+			<pose>-12.0 -13.9 0 0 0 0</pose>
 			<link name='link_d173'>
 			<inertial>
 			<mass>0</mass>
diff --git a/data/kuka_iiwa/kuka_with_gripper.sdf b/data/kuka_iiwa/kuka_with_gripper.sdf
index fd8ba3554..4d2a07ec6 100644
--- a/data/kuka_iiwa/kuka_with_gripper.sdf
+++ b/data/kuka_iiwa/kuka_with_gripper.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -462,9 +462,9 @@
       <child>base_link</child>
     </joint>
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -476,7 +476,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -511,9 +511,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -525,7 +525,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -544,9 +544,9 @@
       <child>left_finger_base</child>
     </joint>
     <link name='left_finger_base'>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -558,7 +558,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -573,7 +573,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,9 +606,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -620,7 +620,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -635,7 +635,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -664,9 +664,9 @@
       </axis>
     </joint>
     <link name='right_finger'>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -678,7 +678,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -697,9 +697,9 @@
       <child>right_finger_base</child>
     </joint>
     <link name='right_finger_base'>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -711,7 +711,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -726,7 +726,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -759,9 +759,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -773,7 +773,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -788,7 +788,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/kuka_iiwa/kuka_with_gripper2.sdf b/data/kuka_iiwa/kuka_with_gripper2.sdf
index 9c3787bcb..d9ef5197f 100644
--- a/data/kuka_iiwa/kuka_with_gripper2.sdf
+++ b/data/kuka_iiwa/kuka_with_gripper2.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>1.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -468,9 +468,9 @@
     
     
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -482,7 +482,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -496,7 +496,7 @@
         </material>
       </visual>
         <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -531,9 +531,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -545,7 +545,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -559,7 +559,7 @@
         </material>
       </visual>
        <collision name='left_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -577,9 +577,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -591,7 +591,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,7 +606,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -639,9 +639,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -653,7 +653,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -668,7 +668,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -701,9 +701,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -715,7 +715,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -729,7 +729,7 @@
         </material>
       </visual>
       <collision name='right_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -752,9 +752,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -766,7 +766,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -781,7 +781,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -814,9 +814,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -828,7 +828,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -843,7 +843,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/data/kuka_iiwa/kuka_world.sdf b/data/kuka_iiwa/kuka_world.sdf
index d48d51382..3292b4b2e 100644
--- a/data/kuka_iiwa/kuka_world.sdf
+++ b/data/kuka_iiwa/kuka_world.sdf
@@ -6,9 +6,9 @@
       <child>lbr_iiwa_link_0</child>
     </joint>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0.01</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -20,7 +20,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -29,7 +29,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -39,9 +39,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -53,7 +53,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -62,7 +62,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -92,9 +92,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -106,7 +106,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -115,7 +115,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -145,9 +145,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -168,7 +168,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -198,9 +198,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -212,7 +212,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -221,7 +221,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -251,9 +251,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -265,7 +265,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -274,7 +274,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -304,9 +304,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -318,7 +318,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -327,7 +327,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -357,9 +357,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -371,7 +371,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -380,7 +380,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/data/kuka_iiwa/model.sdf b/data/kuka_iiwa/model.sdf
index a93d09c50..4eb2c9c97 100644
--- a/data/kuka_iiwa/model.sdf
+++ b/data/kuka_iiwa/model.sdf
@@ -1,11 +1,11 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
-  <pose frame=''>0 -2.3 0.7 0 0 0</pose>
+  <pose>0 -2.3 0.7 0 0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -17,7 +17,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -26,7 +26,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -42,9 +42,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -56,7 +56,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -65,7 +65,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -101,9 +101,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -115,7 +115,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -124,7 +124,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -160,9 +160,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -174,7 +174,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -183,7 +183,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -219,9 +219,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -233,7 +233,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -242,7 +242,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -278,9 +278,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -292,7 +292,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -301,7 +301,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -337,9 +337,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -351,7 +351,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -360,7 +360,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -396,9 +396,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -410,7 +410,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -419,7 +419,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/data/kuka_iiwa/model2.sdf b/data/kuka_iiwa/model2.sdf
index 117357cf4..ea244b8ac 100644
--- a/data/kuka_iiwa/model2.sdf
+++ b/data/kuka_iiwa/model2.sdf
@@ -2,9 +2,9 @@
 <world name='default'>
   <model name='lbr_iiwa'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -16,7 +16,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -25,7 +25,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -35,9 +35,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -49,7 +49,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,7 +58,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -88,9 +88,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -102,7 +102,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -111,7 +111,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -141,9 +141,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -155,7 +155,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -164,7 +164,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -194,9 +194,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -208,7 +208,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -217,7 +217,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,9 +247,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -261,7 +261,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -270,7 +270,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -300,9 +300,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -314,7 +314,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -323,7 +323,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -353,9 +353,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -367,7 +367,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -376,7 +376,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -408,11 +408,11 @@
   </model>
   
   <model name='lbr_iiwa'>
-    <pose frame=''>2 2 0 0 -0 0</pose>
+    <pose>2 2 0 0 -0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -424,7 +424,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -433,7 +433,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -443,9 +443,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -457,7 +457,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -466,7 +466,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -496,9 +496,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -510,7 +510,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -519,7 +519,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -549,9 +549,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -563,7 +563,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -572,7 +572,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -602,9 +602,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -616,7 +616,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -625,7 +625,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -655,9 +655,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -669,7 +669,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -678,7 +678,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -708,9 +708,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -722,7 +722,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -731,7 +731,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -761,9 +761,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -775,7 +775,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -784,7 +784,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/data/stadium.sdf b/data/stadium.sdf
index 585b4eb16..2e212ab1f 100644
--- a/data/stadium.sdf
+++ b/data/stadium.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='roboschool/models_outdoor/stadium/part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/data/threecubes/newsdf.sdf b/data/threecubes/newsdf.sdf
index b30db2f16..456c5ad17 100644
--- a/data/threecubes/newsdf.sdf
+++ b/data/threecubes/newsdf.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -42,7 +42,7 @@
 			</model>
 		<model name='part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -81,7 +81,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf
index 0a1d0973c..acaa739cf 100644
--- a/data/two_cubes.sdf
+++ b/data/two_cubes.sdf
@@ -3,7 +3,7 @@
     <light name='sun' type='directional'>
      <yunfei>99.2</yunfei> 
 	<cast_shadows>1</cast_shadows>
-      <pose frame=''>0 0 10 0 -0 0</pose>
+      <pose>0 0 10 0 -0 0</pose>
       <diffuse>0.8 0.8 0.8 1</diffuse>
       <specular>0.2 0.2 0.2 1</specular>
       <attenuation>
@@ -87,7 +87,7 @@
     </spherical_coordinates>
     <model name='unit_box_0'>
  <static>1</static>
-      <pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
+      <pose>0.512455 -1.58317 0.5 0 -0 0</pose>
       <link name='unit_box_0::link'>
       
         <inertial>
@@ -142,7 +142,7 @@
       </link>
     </model>
     <model name='unit_box_0_clone'>
-      <pose frame=''>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
+      <pose>0.105158 -4.55002 1.499995 -2.89297 -0.988287 -3.14159</pose>
       <link name='unit_box_0::link'>
         <inertial>
           <mass>1</mass>
@@ -197,42 +197,42 @@
       <wall_time>1462824251 956472000</wall_time>
       <iterations>0</iterations>
       <model name='ground_plane'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <scale>1 1 1</scale>
         <link name='link'>
-          <pose frame=''>0 0 0 0 -0 0</pose>
+          <pose>0 0 0 0 -0 0</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <model name='unit_box_0'>
-        <pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
+        <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
         <scale>1 1 1</scale>
         <link name='unit_box_0::link'>
-          <pose frame=''>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
+          <pose>0.223196 -1.84719 0.499995 -2.89297 -0.988287 -3.14159</pose>
           <velocity>0.004896 3e-06 -0.004891 -6e-06 0.009793 -0</velocity>
           <acceleration>0.010615 0.006191 -9.78231 -0.012424 0.021225 -1.8e-05</acceleration>
           <wrench>0.010615 0.006191 -9.78231 0 -0 0</wrench>
         </link>
       </model>
       <model name='unit_box_0_clone'>
-        <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+        <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
         <scale>1 1 1</scale>
         <link name='unit_box_0::link'>
-          <pose frame=''>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
+          <pose>0.105158 -4.55002 0.499995 -2.89297 -0.988287 -3.14159</pose>
           <velocity>0 0 0 0 -0 0</velocity>
           <acceleration>0 0 0 0 -0 0</acceleration>
           <wrench>0 0 0 0 -0 0</wrench>
         </link>
       </model>
       <light name='sun'>
-        <pose frame=''>0 0 10 0 -0 0</pose>
+        <pose>0 0 10 0 -0 0</pose>
       </light>
     </state>
     <gui fullscreen='0'>
       <camera name='user_camera'>
-        <pose frame=''>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
+        <pose>8.0562 -8.87312 3.07529 0 0.205021 2.5208</pose>
         <view_controller>orbit</view_controller>
         <projection_type>perspective</projection_type>
       </camera>
diff --git a/examples/MultiBody/MultiBodyConstraintFeedback.cpp b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
index b8b421fc1..73b4e8dfe 100644
--- a/examples/MultiBody/MultiBodyConstraintFeedback.cpp
+++ b/examples/MultiBody/MultiBodyConstraintFeedback.cpp
@@ -228,7 +228,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
 		m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
 
 		//////////////////////////////////////////////
-		if (0)  //numLinks > 0)
+		if (/* DISABLES CODE */ (0))  //numLinks > 0)
 		{
 			btScalar q0 = 45.f * SIMD_PI / 180.f;
 			if (!spherical)
@@ -349,7 +349,7 @@ void MultiBodyConstraintFeedbackSetup::initPhysics()
 void MultiBodyConstraintFeedbackSetup::stepSimulation(float deltaTime)
 {
 	//m_multiBody->addLinkForce(0,btVector3(100,100,100));
-	if (0)  //m_once)
+	if (/* DISABLES CODE */ (0))  //m_once)
 	{
 		m_once = false;
 		m_multiBody->addJointTorque(0, 10.0);
diff --git a/examples/MultiBody/MultiBodySoftContact.cpp b/examples/MultiBody/MultiBodySoftContact.cpp
index 4a143ee20..2e59edc10 100644
--- a/examples/MultiBody/MultiBodySoftContact.cpp
+++ b/examples/MultiBody/MultiBodySoftContact.cpp
@@ -130,7 +130,7 @@ void MultiBodySoftContact::initPhysics()
 
 void MultiBodySoftContact::stepSimulation(float deltaTime)
 {
-	if (0)  //m_once)
+	if (/* DISABLES CODE */ (0))  //m_once)
 	{
 		m_once = false;
 		m_multiBody->addJointTorque(0, 10.0);
diff --git a/examples/MultiBody/TestJointTorqueSetup.cpp b/examples/MultiBody/TestJointTorqueSetup.cpp
index 7963713d2..3c94e2060 100644
--- a/examples/MultiBody/TestJointTorqueSetup.cpp
+++ b/examples/MultiBody/TestJointTorqueSetup.cpp
@@ -230,7 +230,7 @@ void TestJointTorqueSetup::initPhysics()
 		m_dynamicsWorld->setGravity(btVector3(0, 0, -10));
 
 		//////////////////////////////////////////////
-		if (0)  //numLinks > 0)
+		if (/* DISABLES CODE */ (0))  //numLinks > 0)
 		{
 			btScalar q0 = 45.f * SIMD_PI / 180.f;
 			if (!spherical)
@@ -356,7 +356,7 @@ void TestJointTorqueSetup::initPhysics()
 void TestJointTorqueSetup::stepSimulation(float deltaTime)
 {
 	//m_multiBody->addLinkForce(0,btVector3(100,100,100));
-	if (0)  //m_once)
+	if (/* DISABLES CODE */ (0))  //m_once)
 	{
 		m_once = false;
 		m_multiBody->addJointTorque(0, 10.0);
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
index 1f19f174a..51d2e9abd 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.26 3.14 0 0</pose>
+    <pose>0 0 0.26 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -249,9 +249,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -264,7 +264,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -273,7 +273,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -305,7 +305,7 @@
     </joint>
     
     <link name='finger_right'>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -319,7 +319,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -329,7 +329,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -345,7 +345,7 @@
     </joint>
     
     <link name='finger_left'>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -359,7 +359,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -369,7 +369,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
index 552c36d28..66dfb1a9d 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_free_base.sdf
@@ -3,11 +3,11 @@
   <world name='default'>
   <model name='wsg50_with_gripper'>
     
-    <pose frame=''>0 -2.3 2.1 0 0 0</pose>
+    <pose>0 -2.3 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -26,9 +26,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -41,7 +41,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -56,9 +56,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -70,7 +70,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -100,9 +100,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -114,7 +114,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -145,9 +145,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -190,9 +190,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -205,7 +205,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -214,7 +214,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -247,9 +247,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -262,7 +262,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -271,7 +271,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>0.042 0 0.145 0 0 1.5708</pose>
+      <pose>0.042 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <lateral_friction value="1.0"/>
         <spinning_friction value="1.5"/>
       </contact>
-      <pose frame=''>-0.042 0 0.145 0 0 4.71239</pose>
+      <pose>-0.042 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
index 54f469fe0..09e43dc22 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.7 3.14 0 0</pose>
+    <pose>0 0 0.7 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -307,7 +307,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -321,7 +321,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -331,7 +331,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -351,7 +351,7 @@
         <spinning_friction>.3</spinning_friction>
         <rolling_friction>0.04</rolling_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -365,7 +365,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -375,7 +375,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
index 0358f7a6a..e33b9ed8f 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_new_free_base.sdf
@@ -2,11 +2,11 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>1.4 -0.2 2.1 0 0 0</pose>
+    <pose>1.4 -0.2 2.1 0 0 0</pose>
     <link name='world'>
-	<pose frame=''>0 0 0 0 0 0</pose>
+	<pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>1</ixx>
@@ -25,9 +25,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -40,7 +40,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -55,9 +55,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -69,7 +69,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -99,9 +99,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -113,7 +113,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -144,9 +144,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -158,7 +158,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -189,9 +189,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -204,7 +204,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -213,7 +213,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -245,9 +245,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
+      <pose>0.055 0 0.06 0 0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -260,7 +260,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -269,7 +269,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -304,7 +304,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -318,7 +318,7 @@
       </inertial>
 	  
         <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
+  	<pose>0 0 0.042 0 0 0 </pose>
   	<geometry>        
          <box>
                 <size>0.02 0.02 0.15 </size>
@@ -328,7 +328,7 @@
         </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -348,7 +348,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -362,7 +362,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -372,7 +372,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
index 878b1ee14..16847c72c 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_one_motor_gripper_no_finger.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.4 3.14 0 0</pose>
+    <pose>0 0 0.4 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
+      <pose>0 0 0 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -43,7 +43,7 @@
       </inertial>
 	  
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,9 +58,9 @@
     </link>
 	
     <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
+      <pose>0 0 0.03 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -72,7 +72,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
+        <pose>0 0 0.01 0 0 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.02 </size>
@@ -102,9 +102,9 @@
     </joint>
 	
     <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -116,7 +116,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
+        <pose>-0.03 0 0.01 0 -1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -147,9 +147,9 @@
     </joint>
 	
     <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
+      <pose>0 0 0.04 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
+        <pose>0 0 0.035 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -161,7 +161,7 @@
         </inertia>
       </inertial>
       <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
+        <pose>0.03 0 0.01 0 1.2 0</pose>
         <geometry>
 		  <box>
             <size>0.02 0.02 0.07 </size>
@@ -192,9 +192,9 @@
     </joint>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
+      <pose>-0.055 0 0.06 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -207,7 +207,7 @@
       </inertial>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
+        <pose>0 0 -0.06 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -216,7 +216,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
+        <pose>0 0 -0.037 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -248,9 +248,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 0</pose>
+      <pose>0.055 0 0.06 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -263,7 +263,7 @@
       </inertial>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 3.14159</pose>
+        <pose>0 0 -0.06 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -272,7 +272,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 3.14159</pose>
+        <pose>0 0 -0.037 0 0 3.14159</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
diff --git a/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf b/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
index d67959f19..b487816a6 100644
--- a/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
+++ b/examples/pybullet/gym/pybullet_data/gripper/wsg50_with_r2d2_gripper.sdf
@@ -2,7 +2,7 @@
 <sdf version='1.6'>
   <world name='default'>
   <model name='wsg50_with_gripper'>
-    <pose frame=''>0 0 0.27 3.14 0 0</pose>
+    <pose>0 0 0.27 3.14 0 0</pose>
 	
     <link name='world'>
 	</link>
@@ -28,9 +28,9 @@
     </joint>
 
     <link name='base_link'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -42,7 +42,7 @@
         </inertia>
       </inertial>
       <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
 		<box>
               <size>0.2 0.05 0.05 </size>
@@ -50,7 +50,7 @@
         </geometry>
       </collision>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -67,9 +67,9 @@
     </link>
 
     <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0 0 -0 0</pose>
+      <pose>-0.055 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -82,7 +82,7 @@
       </inertial>
 	  
       <collision name='gripper_left_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -91,7 +91,7 @@
         </geometry>
       </collision>
       <collision name='gripper_left_fixed_joint_lump__finger_left_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -101,7 +101,7 @@
       </collision>
 	  
       <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -110,7 +110,7 @@
         </geometry>
       </visual>
       <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -141,9 +141,9 @@
     </joint>
 	
     <link name='gripper_right'>
-      <pose frame=''>0.055 0 0 0 -0 3.14159</pose>
+      <pose>0.055 0 0 0 -0 3.14159</pose>
       <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
+        <pose>0 0 0.0115 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -156,7 +156,7 @@
       </inertial>
 	  
       <collision name='gripper_right_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -165,7 +165,7 @@
         </geometry>
       </collision>
       <collision name='gripper_right_fixed_joint_lump__finger_right_collision_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -175,7 +175,7 @@
       </collision>
 	  
       <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -184,7 +184,7 @@
         </geometry>
       </visual>
       <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 0.023 0 -0 0</pose>
+        <pose>0 0 0.023 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>0.001 0.001 0.001</scale>
@@ -219,7 +219,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
+      <pose>0.062 0 0.145 0 0 1.5708</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -233,7 +233,7 @@
       </inertial>
 	  
       <collision name='finger_right_collision'>
-	<pose frame=''>0 0 0.042 0 0 0 </pose>
+	<pose>0 0 0.042 0 0 0 </pose>
 	<geometry>        
        <box>
               <size>0.02 0.02 0.15 </size>
@@ -243,7 +243,7 @@
       </collision>
 	  
       <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -263,7 +263,7 @@
         <lateral_friction>1.0</lateral_friction>
         <spinning_friction>1.5</spinning_friction>
       </contact>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
+      <pose>-0.062 0 0.145 0 0 4.71239</pose>
       <inertial>
         <mass>0.2</mass>
         <inertia>
@@ -277,7 +277,7 @@
       </inertial>
 	  
       <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
+        <pose>0 0 0.042 0 0 0 </pose>
         <geometry>
                <box>
               <size>0.02 0.02 0.15 </size>
@@ -287,7 +287,7 @@
       </collision>
 	  
       <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
index fd8ba3554..4d2a07ec6 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -462,9 +462,9 @@
       <child>base_link</child>
     </joint>
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>1.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -476,7 +476,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -511,9 +511,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -525,7 +525,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -544,9 +544,9 @@
       <child>left_finger_base</child>
     </joint>
     <link name='left_finger_base'>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -558,7 +558,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -573,7 +573,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,9 +606,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -620,7 +620,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -635,7 +635,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -664,9 +664,9 @@
       </axis>
     </joint>
     <link name='right_finger'>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.1</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -678,7 +678,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -697,9 +697,9 @@
       <child>right_finger_base</child>
     </joint>
     <link name='right_finger_base'>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -711,7 +711,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -726,7 +726,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -759,9 +759,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>1.0</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -773,7 +773,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -788,7 +788,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
index 9c3787bcb..d9ef5197f 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_with_gripper2.sdf
@@ -11,9 +11,9 @@
   <world name='default'>
   <model name='lbr_iiwa_with_wsg50'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -25,7 +25,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -34,7 +34,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -50,9 +50,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -64,7 +64,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -73,7 +73,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -108,9 +108,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -122,7 +122,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -131,7 +131,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -166,9 +166,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -180,7 +180,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -189,7 +189,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -224,9 +224,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -238,7 +238,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,7 +247,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -282,9 +282,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -296,7 +296,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -305,7 +305,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -340,9 +340,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -354,7 +354,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -363,7 +363,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -398,9 +398,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>1.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -412,7 +412,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -421,7 +421,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -468,9 +468,9 @@
     
     
     <link name='base_link'>
-      <pose frame=''>0 0 1.305 0 -0 0</pose>
+      <pose>0 0 1.305 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>1</ixx>
@@ -482,7 +482,7 @@
         </inertia>
       </inertial>
       <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -496,7 +496,7 @@
         </material>
       </visual>
         <collision name='base_link_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
 		  <box>
 		     <size>0.05 0.05 0.1 </size>
@@ -531,9 +531,9 @@
       </axis>
     </joint>
     <link name='left_finger'>
-      <pose frame=''>0 0.024 1.35 0 -0.05 0</pose>
+      <pose>0 0.024 1.35 0 -0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -545,7 +545,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -559,7 +559,7 @@
         </material>
       </visual>
        <collision name='left_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -577,9 +577,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.005 0.024 1.43 0 -0.3 0</pose>
+      <pose>-0.005 0.024 1.43 0 -0.3 0</pose>
       <inertial>
-        <pose frame=''>-0.003 0 0.04 0 0 0 </pose>
+        <pose>-0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -591,7 +591,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -606,7 +606,7 @@
         </material>
       </visual>
       <collision name='left_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -639,9 +639,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>-0.02 0.024 1.49 0 0.2 0</pose>
+      <pose>-0.02 0.024 1.49 0 0.2 0</pose>
       <inertial>
-        <pose frame=''>-0.005 0 0.026 0 0 0 </pose>
+        <pose>-0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -653,7 +653,7 @@
         </inertia>
       </inertial>
       <visual name='left_finger_tip_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -668,7 +668,7 @@
         </material>
       </visual>
       <collision name='left_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -701,9 +701,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0 0.024 1.35 0 0.05 0</pose>
+      <pose>0 0.024 1.35 0 0.05 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -715,7 +715,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -729,7 +729,7 @@
         </material>
       </visual>
       <collision name='right_finger_collision'>
-        <pose frame=''>0 0 0.04 0 0 0</pose>
+        <pose>0 0 0.04 0 0 0</pose>
         <geometry>
           <box>
             <size>0.01 0.01 0.08</size>
@@ -752,9 +752,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.005 0.024 1.43 0 0.3 0</pose>
+      <pose>0.005 0.024 1.43 0 0.3 0</pose>
       <inertial>
-        <pose frame=''>0.003 0 0.04 0 0 0 </pose>
+        <pose>0.003 0 0.04 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -766,7 +766,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_base_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -781,7 +781,7 @@
         </material>
       </visual>
       <collision name='right_finger_base_collision'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
+        <pose>0 0 0 0 0 0 </pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -814,9 +814,9 @@
         <lateral_friction>0.8</lateral_friction>
         <spinning_friction>.1</spinning_friction>
       </contact>
-      <pose frame=''>0.02 0.024 1.49 0 -0.2 0</pose>
+      <pose>0.02 0.024 1.49 0 -0.2 0</pose>
       <inertial>
-        <pose frame=''>0.005 0 0.026 0 0 0 </pose>
+        <pose>0.005 0 0.026 0 0 0 </pose>
         <mass>0.2</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -828,7 +828,7 @@
         </inertia>
       </inertial>
       <visual name='right_finger_visual'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
@@ -843,7 +843,7 @@
         </material>
       </visual>
       <collision name='right_finger_tip_collision'>
-        <pose frame=''>0 0 0 0 0 0</pose>
+        <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1 </scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
index d48d51382..3292b4b2e 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/kuka_world.sdf
@@ -6,9 +6,9 @@
       <child>lbr_iiwa_link_0</child>
     </joint>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0.01</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -20,7 +20,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -29,7 +29,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -39,9 +39,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -53,7 +53,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -62,7 +62,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -92,9 +92,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -106,7 +106,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -115,7 +115,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -145,9 +145,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -159,7 +159,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -168,7 +168,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -198,9 +198,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -212,7 +212,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -221,7 +221,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -251,9 +251,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -265,7 +265,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -274,7 +274,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -304,9 +304,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -318,7 +318,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -327,7 +327,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -357,9 +357,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -371,7 +371,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -380,7 +380,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
index a93d09c50..4eb2c9c97 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model.sdf
@@ -1,11 +1,11 @@
 <sdf version='1.6'>
 <world name='default'>
   <model name='lbr_iiwa'>
-  <pose frame=''>0 -2.3 0.7 0 0 0</pose>
+  <pose>0 -2.3 0.7 0 0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -17,7 +17,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -26,7 +26,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -42,9 +42,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -56,7 +56,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -65,7 +65,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -101,9 +101,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -115,7 +115,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -124,7 +124,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -160,9 +160,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -174,7 +174,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -183,7 +183,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -219,9 +219,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -233,7 +233,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -242,7 +242,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -278,9 +278,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -292,7 +292,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -301,7 +301,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -337,9 +337,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -351,7 +351,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -360,7 +360,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -396,9 +396,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -410,7 +410,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -419,7 +419,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
index 117357cf4..ea244b8ac 100644
--- a/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
+++ b/examples/pybullet/gym/pybullet_data/kuka_iiwa/model2.sdf
@@ -2,9 +2,9 @@
 <world name='default'>
   <model name='lbr_iiwa'>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -16,7 +16,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -25,7 +25,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -35,9 +35,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -49,7 +49,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -58,7 +58,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -88,9 +88,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -102,7 +102,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -111,7 +111,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -141,9 +141,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -155,7 +155,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -164,7 +164,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -194,9 +194,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -208,7 +208,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -217,7 +217,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -247,9 +247,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -261,7 +261,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -270,7 +270,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -300,9 +300,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -314,7 +314,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -323,7 +323,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -353,9 +353,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -367,7 +367,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -376,7 +376,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -408,11 +408,11 @@
   </model>
   
   <model name='lbr_iiwa'>
-    <pose frame=''>2 2 0 0 -0 0</pose>
+    <pose>2 2 0 0 -0 0</pose>
     <link name='lbr_iiwa_link_0'>
-      <pose frame=''>0 0 0 0 -0 0</pose>
+      <pose>0 0 0 0 -0 0</pose>
       <inertial>
-        <pose frame=''>-0.1 0 0.07 0 -0 0</pose>
+        <pose>-0.1 0 0.07 0 -0 0</pose>
         <mass>0</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -424,7 +424,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_0_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -433,7 +433,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_0_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -443,9 +443,9 @@
       </visual>
     </link>
     <link name='lbr_iiwa_link_1'>
-      <pose frame=''>0 0 0.1575 0 -0 0</pose>
+      <pose>0 0 0.1575 0 -0 0</pose>
       <inertial>
-        <pose frame=''>0 -0.03 0.12 0 -0 0</pose>
+        <pose>0 -0.03 0.12 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.1</ixx>
@@ -457,7 +457,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_1_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -466,7 +466,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_1_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -496,9 +496,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_2'>
-      <pose frame=''>0 0 0.36 1.5708 -0 -3.14159</pose>
+      <pose>0 0 0.36 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0003 0.059 0.042 0 -0 0</pose>
+        <pose>0.0003 0.059 0.042 0 -0 0</pose>
         <mass>4</mass>
         <inertia>
           <ixx>0.05</ixx>
@@ -510,7 +510,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_2_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -519,7 +519,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_2_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -549,9 +549,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_3'>
-      <pose frame=''>0 -0 0.5645 0 0 0</pose>
+      <pose>0 -0 0.5645 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.03 0.13 0 -0 0</pose>
+        <pose>0 0.03 0.13 0 -0 0</pose>
         <mass>3</mass>
         <inertia>
           <ixx>0.08</ixx>
@@ -563,7 +563,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_3_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -572,7 +572,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_3_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -602,9 +602,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_4'>
-      <pose frame=''>0 -0 0.78 1.5708 0 0</pose>
+      <pose>0 -0 0.78 1.5708 0 0</pose>
       <inertial>
-        <pose frame=''>0 0.067 0.034 0 -0 0</pose>
+        <pose>0 0.067 0.034 0 -0 0</pose>
         <mass>2.7</mass>
         <inertia>
           <ixx>0.03</ixx>
@@ -616,7 +616,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_4_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -625,7 +625,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_4_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -655,9 +655,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_5'>
-      <pose frame=''>0 -0 0.9645 0 -0 -3.14159</pose>
+      <pose>0 -0 0.9645 0 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0.0001 0.021 0.076 0 -0 0</pose>
+        <pose>0.0001 0.021 0.076 0 -0 0</pose>
         <mass>1.7</mass>
         <inertia>
           <ixx>0.02</ixx>
@@ -669,7 +669,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_5_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -678,7 +678,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_5_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -708,9 +708,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_6'>
-      <pose frame=''>0 0 1.18 1.5708 -0 -3.14159</pose>
+      <pose>0 0 1.18 1.5708 -0 -3.14159</pose>
       <inertial>
-        <pose frame=''>0 0.0006 0.0004 0 -0 0</pose>
+        <pose>0 0.0006 0.0004 0 -0 0</pose>
         <mass>1.8</mass>
         <inertia>
           <ixx>0.005</ixx>
@@ -722,7 +722,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_6_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -731,7 +731,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_6_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -761,9 +761,9 @@
       </axis>
     </joint>
     <link name='lbr_iiwa_link_7'>
-      <pose frame=''>0 0 1.261 0 0 0</pose>
+      <pose>0 0 1.261 0 0 0</pose>
       <inertial>
-        <pose frame=''>0 0 0.02 0 -0 0</pose>
+        <pose>0 0 0.02 0 -0 0</pose>
         <mass>0.3</mass>
         <inertia>
           <ixx>0.001</ixx>
@@ -775,7 +775,7 @@
         </inertia>
       </inertial>
       <collision name='lbr_iiwa_link_7_collision'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
@@ -784,7 +784,7 @@
         </geometry>
       </collision>
       <visual name='lbr_iiwa_link_7_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
+        <pose>0 0 0 0 -0 0</pose>
         <geometry>
           <mesh>
             <scale>1 1 1</scale>
diff --git a/examples/pybullet/gym/pybullet_data/plane_stadium.sdf b/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
index 8d7152860..65e88248a 100644
--- a/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
+++ b/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='floor_obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='floor'>
 			<inertial>
 			<mass>0</mass>
diff --git a/examples/pybullet/gym/pybullet_data/stadium.sdf b/examples/pybullet/gym/pybullet_data/stadium.sdf
index 585b4eb16..2e212ab1f 100644
--- a/examples/pybullet/gym/pybullet_data/stadium.sdf
+++ b/examples/pybullet/gym/pybullet_data/stadium.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='roboschool/models_outdoor/stadium/part1.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d1'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>
diff --git a/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf b/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
index 5ed0b533a..168119552 100644
--- a/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
+++ b/examples/pybullet/gym/pybullet_data/stadium_no_collision.sdf
@@ -3,7 +3,7 @@
 	<gravity>0 0 -9.8</gravity>
 		<model name='roboschool/models_outdoor/stadium/part0.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d0'>
 			<inertial>
 			<mass>0</mass>
@@ -34,7 +34,7 @@
 			</model>
 		<model name='floor_obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='floor'>
 			<inertial>
 			<mass>0</mass>
@@ -73,7 +73,7 @@
 			</model>
 		<model name='part2.obj'>
 			<static>1</static>
-			<pose frame=''>0 0 0 0 0 0</pose>
+			<pose>0 0 0 0 0 0</pose>
 			<link name='link_d2'>
 			<inertial>
 			<mass>0</mass>