Error loading SDF in Gazebo 1.3.1

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I'm trying to load a simple SDF in Gazebo and I'm getting an error.

I'm running Gazebo 1.3.1.

The SDF is copied straight from a tutorial. The code is:

<?xml version='1.0'?>
<sdf version='1.3'>
  <model name="my_robot">
     <static>true</static>
       <link name='chassis'>
        <pose>0 0 .1 0 0 0</pose>

        <collision name='collision'>
          <geometry>
            <box>
              <size>.4 .2 .1</size>
            </box>
          </geometry>
        </collision>

        <visual name='visual'>
          <geometry>
            <box>
              <size>.4 .2 .1</size>
            </box>
          </geometry>
        </visual>
      </link>
  </model>
</sdf>

I tried to launch it using:

gzfactory spawn -f model3.sdf

The error I'm getting is this:

Error [SDF.cc:984] Unable to find value for key[origin]
Error [SDF.cc:738] Missing element description for [origin]
Segmentation fault (core dumped)

Someone else posted about this error here. It was said to be fixed in the bug report, but I don't think it was.

Is there a fix for this? Is there a better way to spawn an SDF?

Verdict: Probably a bug. Filed here . Workaround: Follow the directions given in the answer below or equivalently in the Gazebo Handbook.