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/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index e4bdb6fc5..a8edca29a 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1484,6 +1484,28 @@ B3_SHARED_API int b3CreateCollisionShapeAddSphere(b3SharedMemoryCommandHandle co
 	return -1;
 }
 
+B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int numVertices, const double* vertices)
+{
+	PhysicsClient* cl = (PhysicsClient*)physClient;
+	b3Assert(cl);
+	b3Assert(cl->canSubmitCommand());
+	if (cl)
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_RESET_MESH_DATA;
+		command->m_updateFlags = 0;
+		command->m_resetMeshDataArgs.m_numVertices = numVertices;
+		command->m_resetMeshDataArgs.m_bodyUniqueId = bodyUniqueId;
+		command->m_resetMeshDataArgs.m_flags = 0;
+		int totalUploadSizeInBytes = numVertices * sizeof(double) *3;
+		cl->uploadBulletFileToSharedMemory((const char*)vertices, totalUploadSizeInBytes);
+		return (b3SharedMemoryCommandHandle)command;
+	}
+	return 0;
+}
+
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3GetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index d7a9eadd2..0823b5f65 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -534,6 +534,7 @@ extern "C"
 	
 	B3_SHARED_API void b3GetMeshData(b3PhysicsClientHandle physClient, struct b3MeshData* meshData);
 
+	B3_SHARED_API b3SharedMemoryCommandHandle b3ResetMeshDataCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int num_vertices, const double* vertices);
 
 	B3_SHARED_API b3SharedMemoryCommandHandle b3CreateVisualShapeCommandInit(b3PhysicsClientHandle physClient);
 	B3_SHARED_API int b3CreateVisualShapeAddSphere(b3SharedMemoryCommandHandle commandHandle, double radius);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 456a1c4be..3512fe3ef 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -1521,12 +1521,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus()
 				b3Warning("Removing user data failed");
 				break;
 			}
+			case CMD_RESET_MESH_DATA_FAILED:
+			{
+				b3Warning("resetMeshData failed");
+				break;
+			}
 			case CMD_REQUEST_USER_DATA_COMPLETED:
 			case CMD_SYNC_USER_DATA_COMPLETED:
 			case CMD_REMOVE_USER_DATA_COMPLETED:
 			case CMD_ADD_USER_DATA_COMPLETED:
 			case CMD_REMOVE_STATE_FAILED:
 			case CMD_REMOVE_STATE_COMPLETED:
+			case CMD_RESET_MESH_DATA_COMPLETED:
 			{
 				break;
 			}
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index 69490ed77..ef72e7e19 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -1306,6 +1306,14 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 			}
 			break;
 		}
+		case CMD_RESET_MESH_DATA_COMPLETED:
+		{
+			break;
+		}
+		case CMD_RESET_MESH_DATA_FAILED:
+		{
+			break;
+		}
 		case CMD_REMOVE_STATE_FAILED:
 		{
 			break;
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 824bee9e5..bd12afb51 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5485,6 +5485,44 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
 		}
 	}
 }
+
+bool PhysicsServerCommandProcessor::processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
+{
+	bool hasStatus = true;
+	BT_PROFILE("CMD_REQUEST_MESH_DATA");
+	serverStatusOut.m_type = CMD_RESET_MESH_DATA_FAILED;
+	int sizeInBytes = 0;
+
+	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
+	if (bodyHandle)
+	{
+		int totalBytesPerVertex = sizeof(btVector3);
+		double* vertexUpload = (double*)bufferServerToClient;
+
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+
+		if (bodyHandle->m_softBody)
+		{
+			btSoftBody* psb = bodyHandle->m_softBody;
+
+			int numVertices = psb->m_nodes.size();
+			if (clientCmd.m_resetMeshDataArgs.m_numVertices == numVertices)
+			{
+				for (int i = 0; i < numVertices; ++i)
+				{
+					btSoftBody::Node& n = psb->m_nodes[i];
+					n.m_x.setValue(vertexUpload[i*3+0], vertexUpload[i*3+1],vertexUpload[i*3+2]);
+				}
+				serverStatusOut.m_type = CMD_RESET_MESH_DATA_COMPLETED;
+			}
+		}
+#endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+	}
+	serverStatusOut.m_numDataStreamBytes = 0;
+
+	return hasStatus;
+}
+
 bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	bool hasStatus = true;
@@ -14345,6 +14383,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 			hasStatus = processRequestMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
 			break;
 		}
+		case CMD_RESET_MESH_DATA:
+		{
+			hasStatus = processResetMeshDataCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
+			break;
+		}
+
 		case CMD_CREATE_MULTI_BODY:
 		{
 			hasStatus = processCreateMultiBodyCommand(clientCmd, serverStatusOut, bufferServerToClient, bufferSizeInBytes);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index e90ddb064..ad6c403aa 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -32,6 +32,7 @@ protected:
 	bool processCreateCollisionShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCreateVisualShapeCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processRequestMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
+	bool processResetMeshDataCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processCustomCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processUserDebugDrawCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
 	bool processSetVRCameraStateCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 6347a44d7..75d7ab9a7 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -1141,6 +1141,13 @@ struct b3RequestMeshDataArgs
 	int m_flags;
 };
 
+struct b3ResetMeshDataArgs
+{
+	int m_bodyUniqueId;
+	int m_numVertices;
+	int m_flags;
+};
+
 struct b3SendMeshDataArgs
 {
 	int m_numVerticesCopied;
@@ -1209,6 +1216,8 @@ struct SharedMemoryCommand
 		struct UserDataRequestArgs m_removeUserDataRequestArgs;
 		struct b3CollisionFilterArgs m_collisionFilterArgs;
 		struct b3RequestMeshDataArgs m_requestMeshDataArgs;
+		struct b3ResetMeshDataArgs m_resetMeshDataArgs;
+
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 9ea8c1694..2649fc44d 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -117,6 +117,7 @@ enum EnumSharedMemoryClientCommand
 	CMD_REQUEST_MESH_DATA,
 	
 	CMD_PERFORM_COLLISION_DETECTION,
+	CMD_RESET_MESH_DATA,
 	//don't go beyond this command!
 	CMD_MAX_CLIENT_COMMANDS,
 };
@@ -241,6 +242,8 @@ enum EnumSharedMemoryServerStatus
 	CMD_REQUEST_MESH_DATA_FAILED,
 
 	CMD_PERFORM_COLLISION_DETECTION_COMPLETED,
+	CMD_RESET_MESH_DATA_COMPLETED,
+	CMD_RESET_MESH_DATA_FAILED,
 	//don't go beyond 'CMD_MAX_SERVER_COMMANDS!
 	CMD_MAX_SERVER_COMMANDS
 };
diff --git a/examples/TinyRenderer/TinyRenderer.cpp b/examples/TinyRenderer/TinyRenderer.cpp
index 4ea51ebec..4340ce822 100644
--- a/examples/TinyRenderer/TinyRenderer.cpp
+++ b/examples/TinyRenderer/TinyRenderer.cpp
@@ -213,6 +213,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
 	m_lightAmbientCoeff = 0.6;
 	m_lightDiffuseCoeff = 0.35;
 	m_lightSpecularCoeff = 0.05;
+
 }
 
 TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedObjectArray<float>& depthBuffer, b3AlignedObjectArray<float>* shadowBuffer, b3AlignedObjectArray<int>* segmentationMaskBuffer, int objectIndex, int linkIndex)
@@ -254,6 +255,7 @@ TinyRenderObjectData::TinyRenderObjectData(TGAImage& rgbColorBuffer, b3AlignedOb
 	Vec3f center(0, 0, 0);
 	Vec3f up(0, 0, 1);
 	m_lightDirWorld.setValue(0, 0, 0);
+	m_lightDistance = 10;
 	m_lightColor.setValue(1, 1, 1);
 	m_localScaling.setValue(1, 1, 1);
 	m_modelMatrix = Matrix::identity();
diff --git a/examples/TinyRenderer/main.cpp b/examples/TinyRenderer/main.cpp
index fed8c39ca..0cd2e3cb6 100644
--- a/examples/TinyRenderer/main.cpp
+++ b/examples/TinyRenderer/main.cpp
@@ -56,7 +56,8 @@ void MyKeyboardCallback(int keycode, int state)
 		sOldKeyboardCB(keycode, state);
 }
 #include "TinyRenderer.h"
-float color2[4] = { 1,0,0,1 };
+#include "our_gl.h"
+
 
 int main(int argc, char* argv[])
 {
@@ -108,10 +109,11 @@ int main(int argc, char* argv[])
 
 	b3Vector3 pos = b3MakeVector3(0, 0, 0);
 	b3Quaternion orn(0, 0, 0, 1);
+	float color[4] = {1,1,1,1};
 	
 	b3Vector3 scaling = b3MakeVector3(1, 1, 1);
-	//app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
-	//app->m_renderer->writeTransforms();
+	app->m_renderer->registerGraphicsInstance(cubeIndex, pos, orn, color, scaling);
+	app->m_renderer->writeTransforms();
 
 	do
 	{
@@ -160,6 +162,15 @@ int main(int argc, char* argv[])
 		tr.setOrigin(org);
 		tr.getOpenGLMatrix(modelMat);
 
+		TinyRender::Vec3f       eye(1,1,3);
+		TinyRender::Vec3f    center(0,0,0);
+		TinyRender::Vec3f        up(0,1,0);
+    
+		renderData.m_viewMatrix = TinyRender::lookat(eye, center, up);
+		renderData.m_viewportMatrix = TinyRender::viewport(gWidth/8, gHeight/8, gWidth*3/4, gHeight*3/4);
+		renderData.m_projectionMatrix = TinyRender::projection(-1.f/(eye-center).norm());
+
+
 		for (int i = 0; i < 4; i++)
 		{
 			for (int j = 0; j < 4; j++)
@@ -170,6 +181,7 @@ int main(int argc, char* argv[])
 		}
 
 		//render the object
+		float color2[4] = { 1,1,1,1 };
 		renderData.m_model->setColorRGBA(color2);
 		TinyRenderer::renderObject(renderData);
 
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/laikago/chassis_zup_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj
new file mode 100644
index 000000000..8170a550b
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/chassis_zup_lores.obj
@@ -0,0 +1,2525 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib chassis_zup.mtl
+o EXP_OTL_-_EXP_OTL_BDYR1_median.002
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj
new file mode 100644
index 000000000..b6fd3479e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_lores.obj
@@ -0,0 +1,301 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib hip_motor.mtl
+o Hip_Motor
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj
new file mode 100644
index 000000000..233fe7c62
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/hip_motor_mirror_lores.obj
@@ -0,0 +1,268 @@
+# Blender v2.79 (sub 7) OBJ File: ''
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf
new file mode 100644
index 000000000..725e46ac3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/laikago_toes_zup_lores.urdf
@@ -0,0 +1,598 @@
+<?xml version="1.0" ?>
+<robot name="plane">
+  <link name="chassis">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="13.715"/>
+       <inertia ixx="0.22" ixy="0" ixz="0" iyy="0.431" iyz="0" izz="0.565"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz=" 0  0 0"/>
+      <geometry>
+        <mesh filename="chassis_zup_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="chassis_vhacd_mod_zup.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="FR_hip_motor">
+    <contact>
+      <lateral_friction value="1"/>
+    </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy=".002" iyz="0" izz=".001"/>
+    </inertial>
+
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+
+    <joint name="FR_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 -1"/>
+    <parent link="chassis"/>
+    <child link="FR_hip_motor"/>
+    <origin rpy="1.57079 0 1.57079" xyz="0.199095 -0.0817145 -0.03"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="FR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.015" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.01"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_mirror_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="FR_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FR_hip_motor"/>
+    <child link="FR_upper_leg"/>
+    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="FR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0.0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+    </link>
+    <joint name="FR_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FR_upper_leg"/>
+    <child link="FR_lower_leg"/>
+
+    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+   <link name="FL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </material>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+      </link>
+
+   <joint name="FL_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis"/>
+    <child link="FL_hip_motor"/>
+    <origin rpy="1.57079 0 1.57079" xyz="0.199095 0.0817145 -0.03"/>
+
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+  <link name="FL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+       <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+
+        <mesh filename="upper_leg_left_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+      </material>
+    </visual>
+
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+
+  <joint name="FL_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FL_hip_motor"/>
+    <child link="FL_upper_leg"/>
+    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+  <link name="FL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+       </material>
+    </visual>
+
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+  <joint name="FL_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="FL_upper_leg"/>
+    <child link="FL_lower_leg"/>
+    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+
+
+
+
+   <link name="RR_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
+    </inertial>
+
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+     <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_mirror.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 -1"/>
+    <parent link="chassis"/>
+    <child link="RR_hip_motor"/>
+    <origin rpy="1.57079 0 1.57079" xyz="-0.238195 -0.0817145 -0.03"/>
+
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="RR_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+     <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_mirror2_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_right_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RR_hip_motor"/>
+    <child link="RR_upper_leg"/>
+    <origin rpy="0 0 0" xyz="-0.053565 0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+     <link name="RR_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+       <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+     <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+    <joint name="RR_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RR_upper_leg"/>
+    <child link="RR_lower_leg"/>
+    <origin rpy="0 0 0" xyz="0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+   <link name="RL_hip_motor">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-.02 0 0"/>
+       <mass value="1.095"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.001"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="hip_motor.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+      </link>
+
+   <joint name="RL_hip_motor_2_chassis_joint" type="continuous">
+    <axis xyz="0 0 1"/>
+    <parent link="chassis"/>
+    <child link="RL_hip_motor"/>
+
+    <origin rpy="1.57079 0 1.57079" xyz="-0.238195 0.0817145 -0.03"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+  <link name="RL_upper_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.04 -0.04"/>
+       <mass value="1.527"/>
+       <inertia ixx="0.016" ixy="0" ixz="0" iyy="0.007" iyz="0" izz="0.011"/>
+    </inertial>
+     <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_left2_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="upper_leg_left_vhacd.obj" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+
+  <joint name="RL_upper_leg_2_hip_motor_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RL_hip_motor"/>
+    <child link="RL_upper_leg"/>
+    <origin rpy="0 0 0" xyz="0.055855  0 0"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+
+  <link name="RL_lower_leg">
+  <contact>
+      <lateral_friction value="1"/>
+  </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 -0.16 -0.02"/>
+       <mass value="0.241"/>
+       <inertia ixx="0.002" ixy="0" ixz="0" iyy="0.002" iyz="0" izz="0.002"/>
+    </inertial>
+   <visual>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg3_lores.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white"/>
+    </visual>
+
+    <collision>
+      <origin rpy="0 1.57079 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="lower_leg_3.stl" scale="1 1 1"/>
+      </geometry>
+    </collision>
+
+    </link>
+
+  <joint name="RL_lower_leg_2_upper_leg_joint" type="continuous">
+    <axis xyz="1 0 0"/>
+    <parent link="RL_upper_leg"/>
+    <child link="RL_lower_leg"/>
+    <origin rpy="0 0 0" xyz="-0.02069  -0.20833  -0.1422"/>
+    <limit effort="100" velocity="100"/>
+    <joint_properties damping=".0" friction=".0"/>
+  </joint>
+
+   <link name="toeRL">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeRL" type="fixed">
+    <parent link="RL_lower_leg"/>
+    <child link="toeRL"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="toeRR">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeRR" type="fixed">
+    <parent link="RR_lower_leg"/>
+    <child link="toeRR"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="toeFL">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeFL" type="fixed">
+    <parent link="FL_lower_leg"/>
+    <child link="toeFL"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+
+  <link name="toeFR">
+    <contact>
+      <friction_anchor/>
+      <stiffness value="30000.0"/>
+      <damping value="1000.0"/>
+      <spinning_friction value="0.1"/>
+      <lateral_friction value="1.0"/>
+    </contact>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.0"/>
+      </geometry>
+      <material name="white"/>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <sphere radius="0.03"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="0.1"/>
+      <inertia ixx="0.000025" ixy="0" ixz="0" iyy="0.000025" iyz="0" izz="0.000025"/>
+    </inertial>
+  </link>
+  <joint name="jtoeFR" type="fixed">
+    <parent link="FR_lower_leg"/>
+    <child link="toeFR"/>
+    <origin xyz="0 -0.25 -0.022"/>
+    <dynamics damping="0.0" friction="0.0"/>
+  </joint>
+</robot>
+
diff --git a/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj
new file mode 100644
index 000000000..8999169c3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/lower_leg3_lores.obj
@@ -0,0 +1,334 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib lower_leg3.mtl
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj
new file mode 100644
index 000000000..7c3d9c447
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left2_lores.obj
@@ -0,0 +1,437 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
+mtllib upper_leg_left2.mtl
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj
new file mode 100644
index 000000000..253ee5776
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_left_lores.obj
@@ -0,0 +1,614 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj
new file mode 100644
index 000000000..b78900f9c
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror2_lores.obj
@@ -0,0 +1,551 @@
+# Blender v2.79 (sub 7) OBJ File: ''
+# www.blender.org
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diff --git a/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj
new file mode 100644
index 000000000..24e02c302
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/laikago/upper_leg_mirror_lores.obj
@@ -0,0 +1,568 @@
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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>
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py
new file mode 100644
index 000000000..38c33c02a
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_run_policy.py
@@ -0,0 +1,148 @@
+"""
+
+Code to load a policy and generate rollout data. Adapted from https://github.com/berkeleydeeprlcourse. 
+Example usage:
+python3 laikago_ars_run_policy.py --expert_policy_file=data/lin_policy_plus_best_10.npz --json_file=data/params.json
+
+"""
+import numpy as np
+import gym
+import time
+import pybullet_envs
+try:
+  import tds_environments
+except:
+  pass
+import json
+from arspb.policies import *
+import time
+import arspb.trained_policies as tp
+import os
+
+
+import os
+import gin
+from pybullet_envs.minitaur.envs_v2 import env_loader
+
+
+import pybullet_data as pd
+
+
+
+def create_laikago_env(args):
+  CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
+  CONFIG_FILES = [
+      os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
+      os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
+      os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
+      os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
+  ]
+   
+  #gin.bind_parameter("scene_base.SceneBase.data_root", pd.getDataPath()+"/")
+  for gin_file in CONFIG_FILES:
+    gin.parse_config_file(gin_file)
+  gin.bind_parameter("SimulationParameters.enable_rendering", True)
+  gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
+                     10000)
+  env = env_loader.load()
+  return env
+
+  
+def main(argv):
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--expert_policy_file', type=str, default="")
+    parser.add_argument('--nosleep', action='store_true')
+
+    parser.add_argument('--num_rollouts', type=int, default=20,
+                        help='Number of expert rollouts')
+    parser.add_argument('--json_file', type=str, default="")
+    parser.add_argument('--run_on_robot', action='store_true')
+    if len(argv):
+      args = parser.parse_args(argv)
+    else:
+      args = parser.parse_args()
+
+    print('loading and building expert policy')
+    if len(args.json_file)==0:
+      args.json_file = tp.getDataPath()+"/"+ args.envname+"/params.json"    
+    with open(args.json_file) as f:
+       params = json.load(f)
+    print("params=",params)
+    if len(args.expert_policy_file)==0:
+      args.expert_policy_file=tp.getDataPath()+"/"+args.envname+"/nn_policy_plus.npz" 
+      if not os.path.exists(args.expert_policy_file):
+        args.expert_policy_file=tp.getDataPath()+"/"+args.envname+"/lin_policy_plus.npz"
+    data = np.load(args.expert_policy_file, allow_pickle=True)
+
+    print('create Laikago gym environment:')
+    env = create_laikago_env(args)
+
+
+    lst = data.files
+    weights = data[lst[0]][0]
+    mu = data[lst[0]][1]
+    print("mu=",mu)
+    std = data[lst[0]][2]
+    print("std=",std)
+        
+    ob_dim = env.observation_space.shape[0]
+    ac_dim = env.action_space.shape[0]
+    ac_lb = env.action_space.low
+    ac_ub = env.action_space.high
+    
+    policy_params={'type': params["policy_type"],
+                   'ob_filter':params['filter'],
+                   'ob_dim':ob_dim,
+                   'ac_dim':ac_dim,
+                   'action_lower_bound' : ac_lb,
+                   'action_upper_bound' : ac_ub,
+    }
+    policy_params['weights'] = weights
+    policy_params['observation_filter_mean'] = mu
+    policy_params['observation_filter_std'] = std
+    if params["policy_type"]=="nn":
+      print("FullyConnectedNeuralNetworkPolicy")
+      policy_sizes_string = params['policy_network_size_list'].split(',')
+      print("policy_sizes_string=",policy_sizes_string)
+      policy_sizes_list = [int(item) for item in policy_sizes_string]
+      print("policy_sizes_list=",policy_sizes_list)
+      policy_params['policy_network_size'] = policy_sizes_list
+      policy = FullyConnectedNeuralNetworkPolicy(policy_params, update_filter=False)
+    else:
+      print("LinearPolicy2")
+      policy = LinearPolicy2(policy_params, update_filter=False)
+    policy.get_weights()
+   
+    returns = []
+    observations = []
+    actions = []
+    for i in range(args.num_rollouts):
+        print('iter', i)
+        obs = env.reset()
+        done = False
+        totalr = 0.
+        steps = 0
+        while not done:
+            action = policy.act(obs)
+            observations.append(obs)
+            actions.append(action)
+            
+            #time.sleep(1)
+            obs, r, done, _ = env.step(action)
+            totalr += r
+            steps += 1
+            
+            #if steps % 100 == 0: print("%i/%i"%(steps, env.spec.timestep_limit))
+            #if steps >= env.spec.timestep_limit:
+            #    break
+        #print("steps=",steps)
+        returns.append(totalr)
+
+    print('returns', returns)
+    print('mean return', np.mean(returns))
+    print('std of return', np.std(returns))
+    
+if __name__ == '__main__':
+    import sys
+    main(sys.argv[1:])
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py
new file mode 100644
index 000000000..f04404f3e
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/envs_v2/laikago_ars_train.py
@@ -0,0 +1,521 @@
+'''
+Parallel implementation of the Augmented Random Search method.
+Horia Mania --- hmania@berkeley.edu
+Aurelia Guy
+Benjamin Recht 
+'''
+
+import parser
+import time
+import os
+import numpy as np
+import gym
+
+import arspb.logz as logz
+import ray
+import arspb.utils as utils
+import arspb.optimizers as optimizers
+from arspb.policies import *
+import socket
+from arspb.shared_noise import *
+
+##############################
+#create an envs_v2 laikago env
+
+import os
+
+import gin
+from pybullet_envs.minitaur.envs_v2 import env_loader
+import pybullet_data as pd
+
+
+
+def create_laikago_env():
+  CONFIG_DIR = pd.getDataPath()+"/configs_v2/"
+  CONFIG_FILES = [
+      os.path.join(CONFIG_DIR, "base/laikago_with_imu.gin"),
+      os.path.join(CONFIG_DIR, "tasks/fwd_task_no_termination.gin"),
+      os.path.join(CONFIG_DIR, "wrappers/pmtg_wrapper.gin"),
+      os.path.join(CONFIG_DIR, "scenes/simple_scene.gin")
+  ]
+  
+  #gin.bind_parameter("scene_base.SceneBase.data_root", pd.getDataPath()+"/")
+  for gin_file in CONFIG_FILES:
+    gin.parse_config_file(gin_file)
+  gin.bind_parameter("SimulationParameters.enable_rendering", False)
+  gin.bind_parameter("terminal_conditions.maxstep_terminal_condition.max_step",
+                     10000)
+  env = env_loader.load()
+  return env
+  
+  
+##############################
+
+@ray.remote
+class Worker(object):
+    """ 
+    Object class for parallel rollout generation.
+    """
+
+    def __init__(self, env_seed,
+                 env_name='',
+                 policy_params = None,
+                 deltas=None,
+                 rollout_length=1000,
+                 delta_std=0.01):
+
+        # initialize OpenAI environment for each worker
+        try:
+          import pybullet_envs
+        except:
+          pass
+        try:
+          import tds_environments
+        except:
+          pass
+
+        self.env = create_laikago_env()
+        self.env.seed(env_seed)
+
+        # each worker gets access to the shared noise table
+        # with independent random streams for sampling
+        # from the shared noise table. 
+        self.deltas = SharedNoiseTable(deltas, env_seed + 7)
+        self.policy_params = policy_params
+        if policy_params['type'] == 'linear':
+            print("LinearPolicy2")
+            self.policy = LinearPolicy2(policy_params)
+        elif policy_params['type'] == 'nn':
+            print("FullyConnectedNeuralNetworkPolicy")
+            self.policy = FullyConnectedNeuralNetworkPolicy(policy_params)
+        else:
+            raise NotImplementedError
+            
+        self.delta_std = delta_std
+        self.rollout_length = rollout_length
+
+        
+    def get_weights_plus_stats(self):
+        """ 
+        Get current policy weights and current statistics of past states.
+        """
+        #assert self.policy_params['type'] == 'linear'
+        return self.policy.get_weights_plus_stats()
+    
+
+    def rollout(self, shift = 0., rollout_length = None):
+        """ 
+        Performs one rollout of maximum length rollout_length. 
+        At each time-step it substracts shift from the reward.
+        """
+        
+        if rollout_length is None:
+            rollout_length = self.rollout_length
+
+        total_reward = 0.
+        steps = 0
+
+        ob = self.env.reset()
+        for i in range(rollout_length):
+            action = self.policy.act(ob)
+            ob, reward, done, _ = self.env.step(action)
+            steps += 1
+            total_reward += (reward - shift)
+            if done:
+                break
+            
+        return total_reward, steps
+
+    def do_rollouts(self, w_policy, num_rollouts = 1, shift = 1, evaluate = False):
+        """ 
+        Generate multiple rollouts with a policy parametrized by w_policy.
+        """
+
+        rollout_rewards, deltas_idx = [], []
+        steps = 0
+
+        for i in range(num_rollouts):
+
+            if evaluate:
+                self.policy.update_weights(w_policy)
+                deltas_idx.append(-1)
+                
+                # set to false so that evaluation rollouts are not used for updating state statistics
+                self.policy.update_filter = False
+
+                # for evaluation we do not shift the rewards (shift = 0) and we use the
+                # default rollout length (1000 for the MuJoCo locomotion tasks)
+                reward, r_steps = self.rollout(shift = 0., rollout_length = self.rollout_length)
+                rollout_rewards.append(reward)
+                
+            else:
+                idx, delta = self.deltas.get_delta(w_policy.size)
+             
+                delta = (self.delta_std * delta).reshape(w_policy.shape)
+                deltas_idx.append(idx)
+
+                # set to true so that state statistics are updated 
+                self.policy.update_filter = True
+
+                # compute reward and number of timesteps used for positive perturbation rollout
+                self.policy.update_weights(w_policy + delta)
+                pos_reward, pos_steps  = self.rollout(shift = shift)
+
+                # compute reward and number of timesteps used for negative pertubation rollout
+                self.policy.update_weights(w_policy - delta)
+                neg_reward, neg_steps = self.rollout(shift = shift) 
+                steps += pos_steps + neg_steps
+
+                rollout_rewards.append([pos_reward, neg_reward])
+                            
+        return {'deltas_idx': deltas_idx, 'rollout_rewards': rollout_rewards, "steps" : steps}
+    
+    def stats_increment(self):
+        self.policy.observation_filter.stats_increment()
+        return
+
+    def get_weights(self):
+        return self.policy.get_weights()
+    
+    def get_filter(self):
+        return self.policy.observation_filter
+
+    def sync_filter(self, other):
+        self.policy.observation_filter.sync(other)
+        return
+
+    
+class ARSLearner(object):
+    """ 
+    Object class implementing the ARS algorithm.
+    """
+
+    def __init__(self, env_name='HalfCheetah-v1',
+                 policy_params=None,
+                 num_workers=32, 
+                 num_deltas=320, 
+                 deltas_used=320,
+                 delta_std=0.01, 
+                 logdir=None, 
+                 rollout_length=4000,
+                 step_size=0.01,
+                 shift='constant zero',
+                 params=None,
+                 seed=123):
+
+        logz.configure_output_dir(logdir)
+        logz.save_params(params)
+        try:
+          import pybullet_envs
+        except:
+          pass
+        try:
+          import tds_environments
+        except:
+          pass
+
+        env = create_laikago_env()
+        
+        self.timesteps = 0
+        self.action_size = env.action_space.shape[0]
+        self.ob_size = env.observation_space.shape[0]
+        self.num_deltas = num_deltas
+        self.deltas_used = deltas_used
+        self.rollout_length = rollout_length
+        self.step_size = step_size
+        self.delta_std = delta_std
+        self.logdir = logdir
+        self.shift = shift
+        self.params = params
+        self.max_past_avg_reward = float('-inf')
+        self.num_episodes_used = float('inf')
+
+        
+        # create shared table for storing noise
+        print("Creating deltas table.")
+        deltas_id = create_shared_noise.remote()
+        self.deltas = SharedNoiseTable(ray.get(deltas_id), seed = seed + 3)
+        print('Created deltas table.')
+
+        # initialize workers with different random seeds
+        print('Initializing workers.') 
+        self.num_workers = num_workers
+        self.workers = [Worker.remote(seed + 7 * i,
+                                      env_name=env_name,
+                                      policy_params=policy_params,
+                                      deltas=deltas_id,
+                                      rollout_length=rollout_length,
+                                      delta_std=delta_std) for i in range(num_workers)]
+
+
+        # initialize policy 
+        if policy_params['type'] == 'linear':
+            print("LinearPolicy2")
+            self.policy = LinearPolicy2(policy_params)
+            self.w_policy = self.policy.get_weights()
+        elif policy_params['type'] == 'nn':
+            print("FullyConnectedNeuralNetworkPolicy")
+            self.policy = FullyConnectedNeuralNetworkPolicy(policy_params)
+            self.w_policy = self.policy.get_weights()
+        else:
+            raise NotImplementedError
+            
+        # initialize optimization algorithm
+        self.optimizer = optimizers.SGD(self.w_policy, self.step_size)        
+        print("Initialization of ARS complete.")
+
+    def aggregate_rollouts(self, num_rollouts = None, evaluate = False):
+        """ 
+        Aggregate update step from rollouts generated in parallel.
+        """
+
+        if num_rollouts is None:
+            num_deltas = self.num_deltas
+        else:
+            num_deltas = num_rollouts
+            
+        # put policy weights in the object store
+        policy_id = ray.put(self.w_policy)
+
+        t1 = time.time()
+        num_rollouts = int(num_deltas / self.num_workers)
+            
+        # parallel generation of rollouts
+        rollout_ids_one = [worker.do_rollouts.remote(policy_id,
+                                                 num_rollouts = num_rollouts,
+                                                 shift = self.shift,
+                                                 evaluate=evaluate) for worker in self.workers]
+
+        rollout_ids_two = [worker.do_rollouts.remote(policy_id,
+                                                 num_rollouts = 1,
+                                                 shift = self.shift,
+                                                 evaluate=evaluate) for worker in self.workers[:(num_deltas % self.num_workers)]]
+
+        # gather results 
+        results_one = ray.get(rollout_ids_one)
+        results_two = ray.get(rollout_ids_two)
+
+        rollout_rewards, deltas_idx = [], [] 
+
+        for result in results_one:
+            if not evaluate:
+                self.timesteps += result["steps"]
+            deltas_idx += result['deltas_idx']
+            rollout_rewards += result['rollout_rewards']
+
+        for result in results_two:
+            if not evaluate:
+                self.timesteps += result["steps"]
+            deltas_idx += result['deltas_idx']
+            rollout_rewards += result['rollout_rewards']
+
+        deltas_idx = np.array(deltas_idx)
+        rollout_rewards = np.array(rollout_rewards, dtype = np.float64)
+        
+        print('Maximum reward of collected rollouts:', rollout_rewards.max())
+        t2 = time.time()
+
+        print('Time to generate rollouts:', t2 - t1)
+
+        if evaluate:
+            return rollout_rewards
+
+        # select top performing directions if deltas_used < num_deltas
+        max_rewards = np.max(rollout_rewards, axis = 1)
+        if self.deltas_used > self.num_deltas:
+            self.deltas_used = self.num_deltas
+            
+        idx = np.arange(max_rewards.size)[max_rewards >= np.percentile(max_rewards, 100*(1 - (self.deltas_used / self.num_deltas)))]
+        deltas_idx = deltas_idx[idx]
+        rollout_rewards = rollout_rewards[idx,:]
+        
+        # normalize rewards by their standard deviation
+        np_std = np.std(rollout_rewards)
+        if np_std>1e-6:
+          rollout_rewards /= np_std
+
+        t1 = time.time()
+        # aggregate rollouts to form g_hat, the gradient used to compute SGD step
+        g_hat, count = utils.batched_weighted_sum(rollout_rewards[:,0] - rollout_rewards[:,1],
+                                                  (self.deltas.get(idx, self.w_policy.size)
+                                                   for idx in deltas_idx),
+                                                  batch_size = 500)
+        g_hat /= deltas_idx.size
+        t2 = time.time()
+        print('time to aggregate rollouts', t2 - t1)
+        return g_hat
+        
+
+    def train_step(self):
+        """ 
+        Perform one update step of the policy weights.
+        """
+        
+        g_hat = self.aggregate_rollouts()                    
+        print("Euclidean norm of update step:", np.linalg.norm(g_hat))
+        self.w_policy -= self.optimizer._compute_step(g_hat).reshape(self.w_policy.shape)
+        return
+
+    def train(self, num_iter):
+
+        start = time.time()
+        best_mean_rewards = -1e30
+        
+        for i in range(num_iter):
+            
+            t1 = time.time()
+            self.train_step()
+            t2 = time.time()
+            print('total time of one step', t2 - t1)           
+            print('iter ', i,' done')
+
+            # record statistics every 10 iterations
+            if ((i + 1) % 10 == 0):
+                
+                rewards = self.aggregate_rollouts(num_rollouts = 100, evaluate = True)
+                w = ray.get(self.workers[0].get_weights_plus_stats.remote())
+                np.savez(self.logdir + "/lin_policy_plus_latest", w)
+                
+                mean_rewards = np.mean(rewards)
+                if (mean_rewards > best_mean_rewards):
+                  best_mean_rewards = mean_rewards
+                  np.savez(self.logdir + "/lin_policy_plus_best_"+str(i+1), w)
+                  
+                
+                print(sorted(self.params.items()))
+                logz.log_tabular("Time", time.time() - start)
+                logz.log_tabular("Iteration", i + 1)
+                logz.log_tabular("AverageReward", np.mean(rewards))
+                logz.log_tabular("StdRewards", np.std(rewards))
+                logz.log_tabular("MaxRewardRollout", np.max(rewards))
+                logz.log_tabular("MinRewardRollout", np.min(rewards))
+                logz.log_tabular("timesteps", self.timesteps)
+                logz.dump_tabular()
+                
+            t1 = time.time()
+            # get statistics from all workers
+            for j in range(self.num_workers):
+                self.policy.observation_filter.update(ray.get(self.workers[j].get_filter.remote()))
+            self.policy.observation_filter.stats_increment()
+
+            # make sure master filter buffer is clear
+            self.policy.observation_filter.clear_buffer()
+            # sync all workers
+            filter_id = ray.put(self.policy.observation_filter)
+            setting_filters_ids = [worker.sync_filter.remote(filter_id) for worker in self.workers]
+            # waiting for sync of all workers
+            ray.get(setting_filters_ids)
+         
+            increment_filters_ids = [worker.stats_increment.remote() for worker in self.workers]
+            # waiting for increment of all workers
+            ray.get(increment_filters_ids)            
+            t2 = time.time()
+            print('Time to sync statistics:', t2 - t1)
+                        
+        return 
+
+def run_ars(params):
+    dir_path = params['dir_path']
+    
+    if not(os.path.exists(dir_path)):
+        os.makedirs(dir_path)
+    logdir = dir_path
+    if not(os.path.exists(logdir)):
+        os.makedirs(logdir)
+
+    try:
+      import pybullet_envs
+    except:
+      pass
+    try:
+      import tds_environments
+    except:
+      pass
+    env = create_laikago_env()
+    ob_dim = env.observation_space.shape[0]
+    ac_dim = env.action_space.shape[0]
+    ac_lb = env.action_space.low
+    ac_ub = env.action_space.high
+
+    # set policy parameters. Possible filters: 'MeanStdFilter' for v2, 'NoFilter' for v1.
+    if params["policy_type"]=="nn":
+      policy_sizes_string = params['policy_network_size_list'].split(',')
+      print("policy_sizes_string=",policy_sizes_string)
+      policy_sizes_list = [int(item) for item in policy_sizes_string]
+      print("policy_sizes_list=",policy_sizes_list)
+      activation = params['activation']
+      policy_params={'type': params["policy_type"],
+                     'ob_filter':params['filter'],
+                     'policy_network_size' : policy_sizes_list,
+                     'ob_dim':ob_dim,
+                     'ac_dim':ac_dim,
+                     'activation' : activation,
+                     'action_lower_bound' : ac_lb,
+                     'action_upper_bound' : ac_ub,
+      }
+    else:
+      del params['policy_network_size_list']
+      del params['activation']
+      policy_params={'type': params["policy_type"],
+                     'ob_filter':params['filter'],
+                     'ob_dim':ob_dim,
+                     'ac_dim':ac_dim,
+                     'action_lower_bound' : ac_lb,
+                     'action_upper_bound' : ac_ub,
+      }
+    
+    
+    ARS = ARSLearner(env_name=params['env_name'],
+                     policy_params=policy_params,
+                     num_workers=params['n_workers'], 
+                     num_deltas=params['n_directions'],
+                     deltas_used=params['deltas_used'],
+                     step_size=params['step_size'],
+                     delta_std=params['delta_std'], 
+                     logdir=logdir,
+                     rollout_length=params['rollout_length'],
+                     shift=params['shift'],
+                     params=params,
+                     seed = params['seed'])
+        
+    ARS.train(params['n_iter'])
+       
+    return 
+
+
+if __name__ == '__main__':
+    import argparse
+    parser = argparse.ArgumentParser()
+    parser.add_argument('--env_name', type=str, default='InvertedPendulumSwingupBulletEnv-v0')
+    parser.add_argument('--n_iter', '-n', type=int, default=1000)
+    parser.add_argument('--n_directions', '-nd', type=int, default=16)
+    parser.add_argument('--deltas_used', '-du', type=int, default=16)
+    parser.add_argument('--step_size', '-s', type=float, default=0.03)
+    parser.add_argument('--delta_std', '-std', type=float, default=.03)
+    parser.add_argument('--n_workers', '-e', type=int, default=18)
+    parser.add_argument('--rollout_length', '-r', type=int, default=2000)
+
+    # for Swimmer-v1 and HalfCheetah-v1 use shift = 0
+    # for Hopper-v1, Walker2d-v1, and Ant-v1 use shift = 1
+    # for Humanoid-v1 used shift = 5
+    parser.add_argument('--shift', type=float, default=0)
+    parser.add_argument('--seed', type=int, default=37)
+    parser.add_argument('--policy_type', type=str, help="Policy type, linear or nn (neural network)", default= 'linear')
+    parser.add_argument('--dir_path', type=str, default='data')
+
+    # for ARS V1 use filter = 'NoFilter'
+    parser.add_argument('--filter', type=str, default='MeanStdFilter')
+    parser.add_argument('--activation', type=str, help="Neural network policy activation function, tanh or clip", default="tanh")
+    parser.add_argument('--policy_network_size', action='store', dest='policy_network_size_list',type=str, nargs='*', default='64,64')
+    
+
+
+    
+
+    local_ip = socket.gethostbyname(socket.gethostname())
+    ray.init(address= local_ip + ':6379')
+    
+    args = parser.parse_args()
+    params = vars(args)
+    run_ars(params)
+
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
index 6c429abf7..d33daabe0 100644
--- a/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
+++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/enjoy.py
@@ -1,56 +1,72 @@
-# Code adapted from https://github.com/araffin/rl-baselines-zoo
-# it requires stable-baselines to be installed
-# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F
+# Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo
+# it requires stable-baselines3 to be installed
+# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb
 # You can run it using: python -m pybullet_envs.stable_baselines.enjoy --algo td3 --env HalfCheetahBulletEnv-v0
 # Author: Antonin RAFFIN
 # MIT License
 import os
 import time
 import argparse
-import multiprocessing
 
 import gym
 import numpy as np
 import pybullet_envs
 
-from stable_baselines import SAC, TD3
-from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
+from stable_baselines3 import SAC, TD3
 
 
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser("Enjoy an RL agent trained using Stable Baselines")
-    parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
-                        type=str, required=False, choices=['sac', 'td3'])
-    parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
-    parser.add_argument('-n', '--n-episodes', help='Number of episodes', default=5,
-                        type=int)
-    parser.add_argument('--no-render', action='store_true', default=False,
-                        help='Do not render the environment')
-    parser.add_argument('--load-best', action='store_true', default=False,
-                        help='Load best model instead of last model if available')
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(
+        "Enjoy an RL agent trained using Stable Baselines3"
+    )
+    parser.add_argument(
+        "--algo",
+        help="RL Algorithm (Soft Actor-Critic by default)",
+        default="sac",
+        type=str,
+        required=False,
+        choices=["sac", "td3"],
+    )
+    parser.add_argument(
+        "--env", type=str, default="HalfCheetahBulletEnv-v0", help="environment ID"
+    )
+    parser.add_argument(
+        "-n", "--n-episodes", help="Number of episodes", default=5, type=int
+    )
+    parser.add_argument(
+        "--no-render",
+        action="store_true",
+        default=False,
+        help="Do not render the environment",
+    )
+    parser.add_argument(
+        "--load-best",
+        action="store_true",
+        default=False,
+        help="Load best model instead of last model if available",
+    )
     args = parser.parse_args()
 
     env_id = args.env
     # Create an env similar to the training env
-    env = TimeFeatureWrapper(gym.make(env_id))
+    env = gym.make(env_id)
 
-    # Use SubprocVecEnv for rendering
+    # Enable GUI
     if not args.no_render:
-      env.render(mode='human')
+        env.render(mode="human")
 
     algo = {
-        'sac': SAC,
-        'td3': TD3
+        "sac": SAC,
+        "td3": TD3,
     }[args.algo]
 
     # We assume that the saved model is in the same folder
-    save_path = '{}_{}.zip'.format(args.algo, env_id)
+    save_path = f"{args.algo}_{env_id}.zip"
 
     if not os.path.isfile(save_path) or args.load_best:
         print("Loading best model")
         # Try to load best model
-        save_path = os.path.join('{}_{}'.format(args.algo, env_id), 'best_model.zip')
-
+        save_path = os.path.join(f"{args.algo}_{env_id}", "best_model.zip")
 
     # Load the saved model
     model = algo.load(save_path, env=env)
@@ -70,12 +86,14 @@ if __name__ == '__main__':
 
                 episode_length += 1
                 if not args.no_render:
-                    env.render(mode='human')
-                    dt = 1. / 240.
+                    env.render(mode="human")
+                    dt = 1.0 / 240.0
                     time.sleep(dt)
             episode_rewards.append(episode_reward)
             episode_lengths.append(episode_length)
-            print("Episode {} reward={}, length={}".format(len(episode_rewards), episode_reward, episode_length))
+            print(
+                f"Episode {len(episode_rewards)} reward={episode_reward}, length={episode_length}"
+            )
 
         mean_reward = np.mean(episode_rewards)
         std_reward = np.std(episode_rewards)
@@ -83,10 +101,10 @@ if __name__ == '__main__':
         mean_len, std_len = np.mean(episode_lengths), np.std(episode_lengths)
 
         print("==== Results ====")
-        print("Episode_reward={:.2f} +/- {:.2f}".format(mean_reward, std_reward))
-        print("Episode_length={:.2f} +/- {:.2f}".format(mean_len, std_len))
+        print(f"Episode_reward={mean_reward:.2f} +/- {std_reward:.2f}")
+        print(f"Episode_length={mean_len:.2f} +/- {std_len:.2f}")
     except KeyboardInterrupt:
         pass
 
     # Close process
-    env.close()
\ No newline at end of file
+    env.close()
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
index 260cbbf9d..1eacc59b4 100644
--- a/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
+++ b/examples/pybullet/gym/pybullet_envs/stable_baselines/train.py
@@ -1,74 +1,105 @@
-# Code adapted from https://github.com/araffin/rl-baselines-zoo
-# it requires stable-baselines to be installed
-# Colab Notebook: https://colab.research.google.com/drive/1nZkHO4QTYfAksm9ZTaZ5vXyC7szZxC3F
+# Code adapted from https://github.com/DLR-RM/rl-baselines3-zoo
+# it requires stable-baselines3 to be installed
+# Colab Notebook: https://colab.research.google.com/github/Stable-Baselines-Team/rl-colab-notebooks/blob/sb3/pybullet.ipynb
 # You can run it using: python -m pybullet_envs.stable_baselines.train --algo td3 --env HalfCheetahBulletEnv-v0
 # Author: Antonin RAFFIN
 # MIT License
 import argparse
 
-import pybullet_envs
+import pybullet_envs  # register pybullet envs
 
 import gym
 import numpy as np
-from stable_baselines import SAC, TD3
-from stable_baselines.common.noise import NormalActionNoise
-from stable_baselines.common.callbacks import EvalCallback, CheckpointCallback
-from stable_baselines.common.vec_env import DummyVecEnv
-
-from pybullet_envs.stable_baselines.utils import TimeFeatureWrapper
+from stable_baselines3 import SAC, TD3
+from stable_baselines3.common.noise import NormalActionNoise
+from stable_baselines3.common.callbacks import EvalCallback, CheckpointCallback
+from stable_baselines3.common.monitor import Monitor
 
 
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser("Train an RL agent using Stable Baselines")
-    parser.add_argument('--algo', help='RL Algorithm (Soft Actor-Critic by default)', default='sac',
-                        type=str, required=False, choices=['sac', 'td3'])
-    parser.add_argument('--env', type=str, default='HalfCheetahBulletEnv-v0', help='environment ID')
-    parser.add_argument('-n', '--n-timesteps', help='Number of training timesteps', default=int(1e6),
-                        type=int)
-    parser.add_argument('--save-freq', help='Save the model every n steps (if negative, no checkpoint)',
-                    default=-1, type=int)
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser("Train an RL agent using Stable Baselines3")
+    parser.add_argument(
+        "--algo",
+        help="RL Algorithm (Soft Actor-Critic by default)",
+        default="sac",
+        type=str,
+        required=False,
+        choices=["sac", "td3"],
+    )
+    parser.add_argument(
+        "--env", type=str, default="HalfCheetahBulletEnv-v0", help="environment ID"
+    )
+    parser.add_argument(
+        "-n",
+        "--n-timesteps",
+        help="Number of training timesteps",
+        default=int(1e6),
+        type=int,
+    )
+    parser.add_argument(
+        "--save-freq",
+        help="Save the model every n steps (if negative, no checkpoint)",
+        default=-1,
+        type=int,
+    )
     args = parser.parse_args()
 
     env_id = args.env
     n_timesteps = args.n_timesteps
-    save_path = '{}_{}'.format(args.algo, env_id)
+    save_path = f"{args.algo}_{env_id}"
 
     # Instantiate and wrap the environment
-    env = TimeFeatureWrapper(gym.make(env_id))
+    env = gym.make(env_id)
 
     # Create the evaluation environment and callbacks
-    eval_env = DummyVecEnv([lambda: TimeFeatureWrapper(gym.make(env_id))])
+    eval_env = Monitor(gym.make(env_id))
 
     callbacks = [EvalCallback(eval_env, best_model_save_path=save_path)]
 
     # Save a checkpoint every n steps
     if args.save_freq > 0:
-        callbacks.append(CheckpointCallback(save_freq=args.save_freq, save_path=save_path,
-                                            name_prefix='rl_model'))
+        callbacks.append(
+            CheckpointCallback(
+                save_freq=args.save_freq, save_path=save_path, name_prefix="rl_model"
+            )
+        )
 
     algo = {
-        'sac': SAC,
-        'td3': TD3
+        "sac": SAC,
+        "td3": TD3,
     }[args.algo]
 
     n_actions = env.action_space.shape[0]
 
-    # Tuned hyperparameters from https://github.com/araffin/rl-baselines-zoo
+    # Tuned hyperparameters from https://github.com/DLR-RM/rl-baselines3-zoo
     hyperparams = {
-        'sac': dict(batch_size=256, gamma=0.98, policy_kwargs=dict(layers=[256, 256]),
-                    learning_starts=10000, buffer_size=int(2e5), tau=0.01),
-
-        'td3': dict(batch_size=100, policy_kwargs=dict(layers=[400, 300]),
-                    learning_rate=1e-3, learning_starts=10000, buffer_size=int(1e6),
-                    train_freq=1000, gradient_steps=1000,
-                    action_noise=NormalActionNoise(mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)))
+        "sac": dict(
+            batch_size=256,
+            gamma=0.98,
+            policy_kwargs=dict(net_arch=[256, 256]),
+            learning_starts=10000,
+            buffer_size=int(3e5),
+            tau=0.01,
+        ),
+        "td3": dict(
+            batch_size=100,
+            policy_kwargs=dict(net_arch=[400, 300]),
+            learning_rate=1e-3,
+            learning_starts=10000,
+            buffer_size=int(1e6),
+            train_freq=1,
+            gradient_steps=1,
+            action_noise=NormalActionNoise(
+                mean=np.zeros(n_actions), sigma=0.1 * np.ones(n_actions)
+            ),
+        ),
     }[args.algo]
 
-    model = algo('MlpPolicy', env, verbose=1, **hyperparams)
+    model = algo("MlpPolicy", env, verbose=1, **hyperparams)
     try:
         model.learn(n_timesteps, callback=callbacks)
     except KeyboardInterrupt:
         pass
 
-    print("Saving to {}.zip".format(save_path))
+    print(f"Saving to {save_path}.zip")
     model.save(save_path)
diff --git a/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py b/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
deleted file mode 100644
index fc64da7e7..000000000
--- a/examples/pybullet/gym/pybullet_envs/stable_baselines/utils.py
+++ /dev/null
@@ -1,59 +0,0 @@
-# Code adapted from https://github.com/araffin/rl-baselines-zoo
-# it requires stable-baselines to be installed
-# Author: Antonin RAFFIN
-# MIT License
-import gym
-import numpy as np
-from gym.wrappers import TimeLimit
-
-
-class TimeFeatureWrapper(gym.Wrapper):
-    """
-    Add remaining time to observation space for fixed length episodes.
-    See https://arxiv.org/abs/1712.00378 and https://github.com/aravindr93/mjrl/issues/13.
-
-    :param env: (gym.Env)
-    :param max_steps: (int) Max number of steps of an episode
-        if it is not wrapped in a TimeLimit object.
-    :param test_mode: (bool) In test mode, the time feature is constant,
-        equal to zero. This allow to check that the agent did not overfit this feature,
-        learning a deterministic pre-defined sequence of actions.
-    """
-    def __init__(self, env, max_steps=1000, test_mode=False):
-        assert isinstance(env.observation_space, gym.spaces.Box)
-        # Add a time feature to the observation
-        low, high = env.observation_space.low, env.observation_space.high
-        low, high = np.concatenate((low, [0])), np.concatenate((high, [1.]))
-        env.observation_space = gym.spaces.Box(low=low, high=high, dtype=np.float32)
-
-        super(TimeFeatureWrapper, self).__init__(env)
-
-        if isinstance(env, TimeLimit):
-            self._max_steps = env._max_episode_steps
-        else:
-            self._max_steps = max_steps
-        self._current_step = 0
-        self._test_mode = test_mode
-
-    def reset(self):
-        self._current_step = 0
-        return self._get_obs(self.env.reset())
-
-    def step(self, action):
-        self._current_step += 1
-        obs, reward, done, info = self.env.step(action)
-        return self._get_obs(obs), reward, done, info
-
-    def _get_obs(self, obs):
-        """
-        Concatenate the time feature to the current observation.
-
-        :param obs: (np.ndarray)
-        :return: (np.ndarray)
-        """
-        # Remaining time is more general
-        time_feature = 1 - (self._current_step / self._max_steps)
-        if self._test_mode:
-            time_feature = 1.0
-        # Optionnaly: concatenate [time_feature, time_feature ** 2]
-        return np.concatenate((obs, [time_feature]))
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index b26034e3d..f3ee74452 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1,4 +1,4 @@
-//#include "D:/dev/visual leak detector/include/vld.h"
+//#include "D:/dev/VisualLeakDetector/include/vld.h"
 
 #include "../SharedMemory/PhysicsClientC_API.h"
 #include "../SharedMemory/PhysicsDirectC_API.h"
@@ -9116,6 +9116,55 @@ static PyObject* pybullet_getMeshData(PyObject* self, PyObject* args, PyObject*
 	return NULL;
 }
 
+
+static PyObject* pybullet_resetMeshData(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	int bodyUniqueId = -1;
+	b3PhysicsClientHandle sm = 0;
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	struct b3MeshData meshData;
+	int statusType;
+	PyObject* verticesObj = 0;
+	int physicsClientId = 0;
+	int numVertices = 0;
+
+	static char* kwlist[] = { "bodyUniqueId",  "vertices", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iO|i", kwlist, &bodyUniqueId, &verticesObj, &physicsClientId))
+	{
+		return NULL;
+	}
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	numVertices = extractVertices(verticesObj, 0, B3_MAX_NUM_VERTICES);
+	if (numVertices)
+	{
+		double* vertices = numVertices ? malloc(numVertices * 3 * sizeof(double)) : 0;
+		numVertices = extractVertices(verticesObj, vertices, B3_MAX_NUM_VERTICES);
+
+		command = b3ResetMeshDataCommandInit(sm, bodyUniqueId, numVertices, vertices);
+	
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+		statusType = b3GetStatusType(statusHandle);
+		
+		free(vertices);
+
+		if (statusType == CMD_RESET_MESH_DATA_COMPLETED)
+		{
+			Py_INCREF(Py_None);
+			return Py_None;
+		}
+	}
+	
+	PyErr_SetString(SpamError, "resetMeshData failed");
+	return NULL;
+}
+
 static PyObject* pybullet_createVisualShape(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	int physicsClientId = 0;
@@ -12522,9 +12571,12 @@ static PyMethodDef SpamMethods[] = {
 	{"removeCollisionShape", (PyCFunction)pybullet_removeCollisionShape, METH_VARARGS | METH_KEYWORDS,
 	 "Remove a collision shape. Only useful when the collision shape is not used in a body (to perform a getClosestPoint query)."},
 
-     {"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
+	{"getMeshData", (PyCFunction)pybullet_getMeshData, METH_VARARGS | METH_KEYWORDS,
 	 "Get mesh data. Returns vertices etc from the mesh."},
 
+	{"resetMeshData", (PyCFunction)pybullet_resetMeshData, METH_VARARGS | METH_KEYWORDS,
+	 "Reset mesh data. Only implemented for deformable bodies."},
+
 	{"createVisualShape", (PyCFunction)pybullet_createVisualShape, METH_VARARGS | METH_KEYWORDS,
 	 "Create a visual shape. Returns a non-negative (int) unique id, if successfull, negative otherwise."},
 
diff --git a/src/BulletSoftBody/btDeformableContactConstraint.h b/src/BulletSoftBody/btDeformableContactConstraint.h
index 1e2c9f5bc..ddecb40fc 100644
--- a/src/BulletSoftBody/btDeformableContactConstraint.h
+++ b/src/BulletSoftBody/btDeformableContactConstraint.h
@@ -37,7 +37,7 @@ public:
 	{
 	}
 
-	btDeformableContactConstraint() {}
+	btDeformableContactConstraint() : m_static(false) {}
 
 	btDeformableContactConstraint(const btDeformableContactConstraint& other)
 		: m_static(other.m_static), m_normal(other.m_normal), m_infoGlobal(other.m_infoGlobal)
@@ -150,7 +150,7 @@ public:
 
 	btDeformableRigidContactConstraint(const btSoftBody::DeformableRigidContact& c, const btContactSolverInfo& infoGlobal);
 	btDeformableRigidContactConstraint(const btDeformableRigidContactConstraint& other);
-	btDeformableRigidContactConstraint() {}
+	btDeformableRigidContactConstraint() : m_binding(false) {}
 	virtual ~btDeformableRigidContactConstraint()
 	{
 	}