From 99ae23da11d18879b46c087431832fc426680e1b Mon Sep 17 00:00:00 2001
From: Nate Koenig <natekoenig@gmail.com>
Date: Fri, 30 Nov 2012 13:08:08 -0800
Subject: [PATCH] Updated model-1_3 sdf files

---
 bowl/model-1_3.sdf                            | 4 ++--
 camera/model-1_3.sdf                          | 4 ++--
 coke_can/model-1_3.sdf                        | 4 ++--
 cordless_drill/model-1_3.sdf                  | 4 ++--
 create/model-1_3.sdf                          | 4 ++--
 cube_20k/model-1_3.sdf                        | 4 ++--
 ground_plane/model-1_3.sdf                    | 4 ++--
 hammer/model-1_3.sdf                          | 4 ++--
 hokuyo/model-1_3.sdf                          | 4 ++--
 kinect/model-1_3.sdf                          | 4 ++--
 monkey_wrench/model-1_3.sdf                   | 2 +-
 nist_elevated_floor_120/model-1_3.sdf         | 4 ++--
 nist_fiducial_barrel/model-1_3.sdf            | 4 ++--
 nist_maze_wall_120/model-1_3.sdf              | 4 ++--
 nist_maze_wall_240/model-1_3.sdf              | 4 ++--
 nist_maze_wall_triple_holes_120/model-1_3.sdf | 4 ++--
 nist_simple_ramp_120/model-1_3.sdf            | 4 ++--
 nist_stairs_120/model-1_3.sdf                 | 4 ++--
 pioneer2dx/model-1_3.sdf                      | 4 ++--
 powerplant/model-1_3.sdf                      | 2 +-
 pr2/model-1_3.sdf                             | 2 +-
 pr2_gripper/model-1_3.sdf                     | 2 +-
 saucepan/model-1_3.sdf                        | 4 ++--
 simple_arm/model-1_3.sdf                      | 4 ++--
 simple_arm_gripper/model-1_3.sdf              | 4 ++--
 simple_gripper/model-1_3.sdf                  | 4 ++--
 sun/model-1_3.sdf                             | 2 +-
 table/model-1_3.sdf                           | 4 ++--
 turtlebot/model-1_3.sdf                       | 4 ++--
 utility_cart/model-1_3.sdf                    | 4 ++--
 willowgarage/model-1_3.sdf                    | 4 ++--
 youbot/model-1_3.sdf                          | 4 ++--
 32 files changed, 59 insertions(+), 59 deletions(-)

diff --git a/bowl/model-1_3.sdf b/bowl/model-1_3.sdf
index 7bf4750..15f6c74 100644
--- a/bowl/model-1_3.sdf
+++ b/bowl/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="bowl">
     <link name="link">
       <inertial>
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/camera/model-1_3.sdf b/camera/model-1_3.sdf
index 3043ec1..4a7b16c 100644
--- a/camera/model-1_3.sdf
+++ b/camera/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="camera">
     <link name="link">
       <pose>0.05 0.05 0.05 0 0 0</pose>
@@ -31,4 +31,4 @@
       </sensor>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/coke_can/model-1_3.sdf b/coke_can/model-1_3.sdf
index b092a84..eac42e3 100644
--- a/coke_can/model-1_3.sdf
+++ b/coke_can/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="coke_can">
     <link name="link">
       <inertial>
@@ -31,4 +31,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/cordless_drill/model-1_3.sdf b/cordless_drill/model-1_3.sdf
index d5509ce..e5d51bf 100644
--- a/cordless_drill/model-1_3.sdf
+++ b/cordless_drill/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="drill">
     <link name="link">
       <inertial>
@@ -29,4 +29,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/create/model-1_3.sdf b/create/model-1_3.sdf
index 93ee529..3f146ef 100644
--- a/create/model-1_3.sdf
+++ b/create/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="create">
 
     <link name="base">
@@ -293,4 +293,4 @@
     </joint>
 
   </model>
-</gazebo>
+</sdf>
diff --git a/cube_20k/model-1_3.sdf b/cube_20k/model-1_3.sdf
index fc99d61..4d4f469 100644
--- a/cube_20k/model-1_3.sdf
+++ b/cube_20k/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="cube_20k">
     <link name="link">
       <pose>0 0 0.5 0 0 0</pose>
@@ -21,4 +21,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/ground_plane/model-1_3.sdf b/ground_plane/model-1_3.sdf
index 8950632..a3fb7ba 100644
--- a/ground_plane/model-1_3.sdf
+++ b/ground_plane/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="ground_plane">
     <static>true</static>
     <link name="link">
@@ -36,4 +36,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/hammer/model-1_3.sdf b/hammer/model-1_3.sdf
index dbd2bde..4214e05 100644
--- a/hammer/model-1_3.sdf
+++ b/hammer/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="hammer">
     <static>true</static>
     <link name="link">
@@ -41,4 +41,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/hokuyo/model-1_3.sdf b/hokuyo/model-1_3.sdf
index 3b6a15c..06bfea1 100644
--- a/hokuyo/model-1_3.sdf
+++ b/hokuyo/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="hokuyo">
     <link name="link">
       <inertial>
@@ -37,4 +37,4 @@
       </sensor>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/kinect/model-1_3.sdf b/kinect/model-1_3.sdf
index 9d3e98f..6102f1b 100644
--- a/kinect/model-1_3.sdf
+++ b/kinect/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="kinect">
     <pose>0 0 0.036 0 0 0</pose>
     <link name="link">
@@ -39,4 +39,4 @@
       </sensor>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/monkey_wrench/model-1_3.sdf b/monkey_wrench/model-1_3.sdf
index a85a7e9..bdbac9f 100644
--- a/monkey_wrench/model-1_3.sdf
+++ b/monkey_wrench/model-1_3.sdf
@@ -43,4 +43,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_elevated_floor_120/model-1_3.sdf b/nist_elevated_floor_120/model-1_3.sdf
index 935241e..b757513 100644
--- a/nist_elevated_floor_120/model-1_3.sdf
+++ b/nist_elevated_floor_120/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist_elevated_floor_120">
     <static>true</static>
     <link name="nist_elevated_floor_120">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_fiducial_barrel/model-1_3.sdf b/nist_fiducial_barrel/model-1_3.sdf
index ef90a4a..b342df9 100644
--- a/nist_fiducial_barrel/model-1_3.sdf
+++ b/nist_fiducial_barrel/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist_fiducial_barrel">
     <static>true</static>
     <link name="nist_fiducial_barrel_link">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_maze_wall_120/model-1_3.sdf b/nist_maze_wall_120/model-1_3.sdf
index 3a0d7c2..cec4bae 100644
--- a/nist_maze_wall_120/model-1_3.sdf
+++ b/nist_maze_wall_120/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist_maze_wall_120">
     <static>true</static>
     <link name="nist_maze_wall_120_link">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_maze_wall_240/model-1_3.sdf b/nist_maze_wall_240/model-1_3.sdf
index 31da6e1..ea93d18 100644
--- a/nist_maze_wall_240/model-1_3.sdf
+++ b/nist_maze_wall_240/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist_maze_wall_240">
     <static>true</static>
     <link name="nist__maze_wall_240_link">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_maze_wall_triple_holes_120/model-1_3.sdf b/nist_maze_wall_triple_holes_120/model-1_3.sdf
index 1e844d6..111eabc 100644
--- a/nist_maze_wall_triple_holes_120/model-1_3.sdf
+++ b/nist_maze_wall_triple_holes_120/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist">
     <static>true</static>
     <link name="nist_maze_wall_triple_holes_120_link">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_simple_ramp_120/model-1_3.sdf b/nist_simple_ramp_120/model-1_3.sdf
index 1939581..c0c0539 100644
--- a/nist_simple_ramp_120/model-1_3.sdf
+++ b/nist_simple_ramp_120/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist_simple_ramp_120">
     <static>true</static>
     <link name="nist_simple_ramp_120_link">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/nist_stairs_120/model-1_3.sdf b/nist_stairs_120/model-1_3.sdf
index 2d9f10c..b74925a 100644
--- a/nist_stairs_120/model-1_3.sdf
+++ b/nist_stairs_120/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="nist_stairs_120">
     <static>true</static>
     <link name="nist_stairs_120_link">
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/pioneer2dx/model-1_3.sdf b/pioneer2dx/model-1_3.sdf
index 3c531cc..63ed719 100644
--- a/pioneer2dx/model-1_3.sdf
+++ b/pioneer2dx/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="pioneer2dx">
     <link name="chassis">
       <pose>0 0 0.16 0 0 0</pose>
@@ -154,4 +154,4 @@
     </plugin>
 
   </model>
-</gazebo>
+</sdf>
diff --git a/powerplant/model-1_3.sdf b/powerplant/model-1_3.sdf
index 7c1d16c..b28267d 100644
--- a/powerplant/model-1_3.sdf
+++ b/powerplant/model-1_3.sdf
@@ -31,4 +31,4 @@
 -->
 
   </model>
-</gazebo>
+</sdf>
diff --git a/pr2/model-1_3.sdf b/pr2/model-1_3.sdf
index 40eb39d..8f4c34e 100644
--- a/pr2/model-1_3.sdf
+++ b/pr2/model-1_3.sdf
@@ -3033,4 +3033,4 @@
       </axis>
     </joint>
   </model>
-</gazebo>
+</sdf>
diff --git a/pr2_gripper/model-1_3.sdf b/pr2_gripper/model-1_3.sdf
index 295f3e3..5ce1a94 100644
--- a/pr2_gripper/model-1_3.sdf
+++ b/pr2_gripper/model-1_3.sdf
@@ -713,5 +713,5 @@
     </joint>
     <static>0</static>
   </model>
-</gazebo>
+</sdf>
 Success
diff --git a/saucepan/model-1_3.sdf b/saucepan/model-1_3.sdf
index 6a14308..e8a6fbf 100644
--- a/saucepan/model-1_3.sdf
+++ b/saucepan/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="saucepan">
     <link name="link">
       <inertial>
@@ -22,4 +22,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/simple_arm/model-1_3.sdf b/simple_arm/model-1_3.sdf
index e477cb5..7908e1a 100644
--- a/simple_arm/model-1_3.sdf
+++ b/simple_arm/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="simple_arm">
     <link name="arm_base">
       <inertial>
@@ -306,4 +306,4 @@
       </axis>
     </joint>
   </model>
-</gazebo>
+</sdf>
diff --git a/simple_arm_gripper/model-1_3.sdf b/simple_arm_gripper/model-1_3.sdf
index ac58e15..18b569b 100644
--- a/simple_arm_gripper/model-1_3.sdf
+++ b/simple_arm_gripper/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="simple_arm_gripper">
     <include>
       <uri>model://simple_arm</uri>
@@ -24,4 +24,4 @@
       </axis>
     </joint>
   </model>
-</gazebo>
+</sdf>
diff --git a/simple_gripper/model-1_3.sdf b/simple_gripper/model-1_3.sdf
index 1171798..cac4989 100644
--- a/simple_gripper/model-1_3.sdf
+++ b/simple_gripper/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="simple_gripper">
     <link name="riser">
       <pose>-0.15 0.0 0.5 0 0 0</pose>
@@ -245,4 +245,4 @@
       <palm_link>palm</palm_link>
     </gripper>
   </model>
-</gazebo>
+</sdf>
diff --git a/sun/model-1_3.sdf b/sun/model-1_3.sdf
index af51c66..cebf61b 100644
--- a/sun/model-1_3.sdf
+++ b/sun/model-1_3.sdf
@@ -16,4 +16,4 @@
 
     <direction>-0.5 0.5 -1.0</direction>
   </light>
-</gazebo>
+</sdf>
diff --git a/table/model-1_3.sdf b/table/model-1_3.sdf
index 1cc44b2..e62ce18 100644
--- a/table/model-1_3.sdf
+++ b/table/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="table">
     <static>false</static>
     <link name="link">
@@ -123,4 +123,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/turtlebot/model-1_3.sdf b/turtlebot/model-1_3.sdf
index 606dca1..db8bd12 100644
--- a/turtlebot/model-1_3.sdf
+++ b/turtlebot/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="turtlebot">
     <link name="rack">
       <inertial>
@@ -471,4 +471,4 @@
     </joint>
 
   </model>
-</gazebo>
+</sdf>
diff --git a/utility_cart/model-1_3.sdf b/utility_cart/model-1_3.sdf
index fcd0f53..fb011f6 100644
--- a/utility_cart/model-1_3.sdf
+++ b/utility_cart/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="car">
     <link name="chassis">
       <pose>0 0 0.3 0 0 0</pose>
@@ -266,4 +266,4 @@
       <aero_load>0.1</aero_load>
     </plugin>
   </model>
-</gazebo>
+</sdf>
diff --git a/willowgarage/model-1_3.sdf b/willowgarage/model-1_3.sdf
index 906ffe5..2ec39cf 100644
--- a/willowgarage/model-1_3.sdf
+++ b/willowgarage/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="willowgarage">
     <static>true</static>
     <pose>-20 -20 0 0 0 0</pose>
@@ -21,4 +21,4 @@
       </visual>
     </link>
   </model>
-</gazebo>
+</sdf>
diff --git a/youbot/model-1_3.sdf b/youbot/model-1_3.sdf
index 93f30b3..7170185 100644
--- a/youbot/model-1_3.sdf
+++ b/youbot/model-1_3.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<gazebo version="1.2">
+<sdf version="1.3">
   <model name="youbot">
     <pose>0 0 0.09 0 0 0</pose>
     <link name="base_footprint">
@@ -1416,4 +1416,4 @@
     </joint>
     <static>0</static>
   </model>
-</gazebo>
+</sdf>