diff --git a/Assets/Scripts/Devices/Camera.cs b/Assets/Scripts/Devices/Camera.cs
index 7729e79b..f21b402d 100644
--- a/Assets/Scripts/Devices/Camera.cs
+++ b/Assets/Scripts/Devices/Camera.cs
@@ -188,7 +188,6 @@ private IEnumerator CameraWorker()
 
 				readback.WaitForCompletion();
 
-
 				if (readback.hasError)
 				{
 					Debug.LogError("Failed to read GPU texture");
diff --git a/Assets/Scripts/ModelLoader.cs b/Assets/Scripts/ModelLoader.cs
index 6ae97576..ce433349 100644
--- a/Assets/Scripts/ModelLoader.cs
+++ b/Assets/Scripts/ModelLoader.cs
@@ -30,8 +30,9 @@ public class ModelLoader : MonoBehaviour
 	public string worldFileName;
 
 	private string filesRootDirectory = string.Empty;
-	private List<string> modelRootDirectories;
-	private List<string> worldRootDirectories;
+
+	public List<string> modelRootDirectories;
+	public List<string> worldRootDirectories;
 
 	private GameObject modelsRoot = null;
 
@@ -74,6 +75,8 @@ void Awake()
  		filesRootDirectory = "/usr/share/gazebo-9/";
 		modelRootDirectories.Add("../sample-resources/models/");
 		worldRootDirectories.Add("../sample-resources/worlds/");
+		// modelRootDirectories.Add("../../lgrs_resource/assets/models/");
+		// worldRootDirectories.Add("../../lgrs_resource/worlds/");
 #else
 		var separator = new char[] {':'};
 		filesRootDirectory = Environment.GetEnvironmentVariable("CLOISIM_FILES_PATH");
diff --git a/Assets/Scripts/Tools/SDF/Geometry.cs b/Assets/Scripts/Tools/SDF/Geometry.cs
index ad0da17a..4115bb2a 100644
--- a/Assets/Scripts/Tools/SDF/Geometry.cs
+++ b/Assets/Scripts/Tools/SDF/Geometry.cs
@@ -32,7 +32,6 @@ public Geometry(XmlNode _node)
 
 		protected override void ParseElements()
 		{
-
 			if (IsValidNode("box"))
 			{
 				Type = "box";
@@ -82,6 +81,7 @@ protected override void ParseElements()
 					 IsValidNode("polyline"))
 			{
 				Console.WriteLine("Currently not supported");
+				empty = true;
 			}
 			else if (IsValidNode("empty"))
 			{
@@ -102,17 +102,29 @@ public ShapeType GetShape()
 		public Type GetShapeType()
 		{
 			if (Type.Equals("box"))
+			{
 				return typeof(Box);
+			}
 			else if (Type.Equals("mesh"))
+			{
 				return typeof(Mesh);
+			}
 			else if (Type.Equals("sphere"))
+			{
 				return typeof(Sphere);
+			}
 			else if (Type.Equals("cylinder"))
+			{
 				return typeof(Cylinder);
+			}
 			else if (Type.Equals("plane"))
+			{
 				return typeof(Plane);
+			}
 			else
+			{
 				return null;
+			}
 		}
 	}
 }
\ No newline at end of file
diff --git a/Assets/Scripts/Tools/SDFImporter/SDFImporter.Sensor.cs b/Assets/Scripts/Tools/SDFImporter/SDFImporter.Sensor.cs
index 8c80852b..3f523771 100644
--- a/Assets/Scripts/Tools/SDFImporter/SDFImporter.Sensor.cs
+++ b/Assets/Scripts/Tools/SDFImporter/SDFImporter.Sensor.cs
@@ -21,7 +21,7 @@ protected override System.Object ImportSensor(in SDF.Sensor item, in System.Obje
 
 		var sensorType = item.Type;
 
-		if (sensorType.Equals("ray") || sensorType.Equals("gpu_ray"))
+		if (sensorType.Equals("lidar") || sensorType.Equals("ray") || sensorType.Equals("gpu_ray"))
 		{
 			var ray = item.GetSensor() as SDF.Ray;
 			sensor = SDFImplement.Sensor.AddLidar(ray, targetObject);
@@ -56,7 +56,8 @@ protected override System.Object ImportSensor(in SDF.Sensor item, in System.Obje
 			var gps = item.GetSensor() as SDF.GPS;
 			sensor = SDFImplement.Sensor.AddGps(gps, targetObject);
 		}
-		else if (sensorType.Equals("altimeter") || sensorType.Equals("contact") ||
+		else if (sensorType.Equals("air_pressure") ||
+				 sensorType.Equals("altimeter") || sensorType.Equals("contact") ||
 				 sensorType.Equals("force_torque") ||
 				 sensorType.Equals("logical_camera") || sensorType.Equals("magnetometer") ||
 				 sensorType.Equals("rfidtag") ||
diff --git a/ProjectSettings/ProjectSettings.asset b/ProjectSettings/ProjectSettings.asset
index 8ff13b39..7e40c104 100644
--- a/ProjectSettings/ProjectSettings.asset
+++ b/ProjectSettings/ProjectSettings.asset
@@ -121,7 +121,7 @@ PlayerSettings:
     16:10: 1
     16:9: 1
     Others: 1
-  bundleVersion: 1.4.0
+  bundleVersion: 1.4.1
   preloadedAssets: []
   metroInputSource: 0
   wsaTransparentSwapchain: 0