From 549f760d3eba8d87f70ac69192bdd568906e2fdf Mon Sep 17 00:00:00 2001
From: Steve Peters <scpeters@osrfoundation.org>
Date: Fri, 19 Apr 2013 11:43:38 -0700
Subject: [PATCH] Fix a few model.config files and a pose error in ClearPath
 Husky

---
 house_1/model.config              | 2 +-
 husky/husky-1_3.sdf               | 2 +-
 husky/husky.sdf                   | 2 +-
 nist_simple_ramp_120/model.config | 2 +-
 nist_stairs_120/model.sdf         | 2 +-
 saucepan/model.sdf                | 2 +-
 6 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/house_1/model.config b/house_1/model.config
index bc3443b..9e2648f 100644
--- a/house_1/model.config
+++ b/house_1/model.config
@@ -4,7 +4,7 @@
   <name>House 1</name>
   <version>1.0</version>
   <sdf version="1.3">model-1_3.sdf</sdf>
-  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.4">model.sdf</sdf>
 
   <author>
     <name>Cole Biesemeyer</name>
diff --git a/husky/husky-1_3.sdf b/husky/husky-1_3.sdf
index 342afe1..e42f042 100644
--- a/husky/husky-1_3.sdf
+++ b/husky/husky-1_3.sdf
@@ -17,7 +17,7 @@
 
       <inertial>
         <mass>33.855</mass>
-        <pose>-0.0856132 -0.000839955 0.238145</pose>
+        <pose>-0.0856132 -0.000839955 0.238145  0 0 0</pose>
         <inertia>
           <ixx>2.2343</ixx>
           <ixy>-0.023642</ixy>
diff --git a/husky/husky.sdf b/husky/husky.sdf
index 4808fb3..b7cf43a 100644
--- a/husky/husky.sdf
+++ b/husky/husky.sdf
@@ -17,7 +17,7 @@
 
       <inertial>
         <mass>33.855</mass>
-        <pose>-0.0856132 -0.000839955 0.238145</pose>
+        <pose>-0.0856132 -0.000839955 0.238145  0 0 0</pose>
         <inertia>
           <ixx>2.2343</ixx>
           <ixy>-0.023642</ixy>
diff --git a/nist_simple_ramp_120/model.config b/nist_simple_ramp_120/model.config
index be13153..73bc43b 100644
--- a/nist_simple_ramp_120/model.config
+++ b/nist_simple_ramp_120/model.config
@@ -5,7 +5,7 @@
   <version>1.0</version>
   <sdf version="1.2">model-1_2.sdf</sdf>
   <sdf version="1.3">model-1_3.sdf</sdf>
-  <sdf version="1.4">model-1_4.sdf</sdf>
+  <sdf version="1.4">model.sdf</sdf>
 
   <author>
     <name>Stefan Kohlbrecher</name>
diff --git a/nist_stairs_120/model.sdf b/nist_stairs_120/model.sdf
index b74925a..10d777d 100644
--- a/nist_stairs_120/model.sdf
+++ b/nist_stairs_120/model.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.3">
+<sdf version="1.4">
   <model name="nist_stairs_120">
     <static>true</static>
     <link name="nist_stairs_120_link">
diff --git a/saucepan/model.sdf b/saucepan/model.sdf
index e8a6fbf..38bb8db 100644
--- a/saucepan/model.sdf
+++ b/saucepan/model.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.3">
+<sdf version="1.4">
   <model name="saucepan">
     <link name="link">
       <inertial>