diff --git a/cmake_metapod_configure.cmake b/cmake_metapod_configure.cmake
index 797c81c2167888064c9e7b5e5156a101a40d3df7..94b8c76518f7fb00276adaa2f97828d3fce27f7b 100644
--- a/cmake_metapod_configure.cmake
+++ b/cmake_metapod_configure.cmake
@@ -69,9 +69,9 @@ FUNCTION(ADD_SAMPLEURDFMODEL name)
   ENDIF()
   SET(_libname "metapod_${name}")
   SET(_data_path    "$ENV{ROS_WORKSPACE}/install/share/metapod/data/${name}")
-  SET(_urdf_file    "$ENV{ROS_WORKSPACE}/stacks/hrp2/hrp2_14_description/urdf/hrp2_14_reduced.urdf")
+  SET(_urdf_file    "${_data_path}/${name}.urdf")
   SET(_config_file  "${_data_path}/${name}.config")
-  SET(_license_file "${_data_path}/hrp2_14_license_file.txt")
+  SET(_license_file "${_data_path}/${name}_license_file.txt")
   SET(_model_dir    "$ENV{ROS_WORKSPACE}/install/include/metapod/models/${name}")
   SET(METAPODFROMURDF_EXECUTABLE "$ENV{ROS_WORKSPACE}/install/bin/metapodfromurdf")
 
diff --git a/tests/TestMorisawa2007.cpp b/tests/TestMorisawa2007.cpp
index 1581bc3f3a9fdd98399f793b6579b15b11dfa382..a014b6983d5275b377aa4f968100013178b128dd 100644
--- a/tests/TestMorisawa2007.cpp
+++ b/tests/TestMorisawa2007.cpp
@@ -321,7 +321,7 @@ protected:
 	      << filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " "                   // 2
 	      << filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " "                   // 3
 	      << filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " "                   // 4
-              << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " "                 // 5
+          << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " "                 // 5
 	      << filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " "                   // 6
 	      << filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " "                   // 7
 	      << filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " "                   // 8
@@ -336,7 +336,7 @@ protected:
 	      << filterprecision(m_OneStep.LeftFootPosition.ddx  ) << " "                   // 17
 	      << filterprecision(m_OneStep.LeftFootPosition.ddy  ) << " "                   // 18
 	      << filterprecision(m_OneStep.LeftFootPosition.ddz  ) << " "                   // 19
-              << filterprecision(m_OneStep.LeftFootPosition.theta*M_PI/180 ) << " "         // 20
+          << filterprecision(m_OneStep.LeftFootPosition.theta*M_PI/180 ) << " "         // 20
 	      << filterprecision(m_OneStep.LeftFootPosition.omega  ) << " "                 // 21
 	      << filterprecision(m_OneStep.LeftFootPosition.omega2  ) << " "                // 22
 	      << filterprecision(m_OneStep.RightFootPosition.x ) << " "                     // 23
@@ -704,17 +704,20 @@ protected:
       aPGI.ParseCmd(strm2);
     }
     {
-      istringstream strm2(":stepstairseq\
-                          0.0 -0.105 0.0 0.0\
-                          0.2 0.19 0.0174977327 0.0\
-                          0.2 -0.19 0.0174977327 0.0\
-                          0.2 0.19 0.0174977327 0.0\
-                          0.2 -0.19 0.0174977327 0.0\
-                          0.2 0.19 0.0174977327 0.0\
-                          0.2 -0.19 0.0174977327 0.0\
-                          0.2 0.19 0.0174977327 0.0\
-                          0.0 -0.19 0.0 0.0\
-                          ");
+        istringstream strm2(":stepstairseq\
+                            0.0 -0.105 0.0 0.0\
+                            0.2 0.19 0.0 0.0\
+                            0.2 -0.19 0.0 0.0\
+                            0.2 0.19 0.0 0.0\
+                            0.2 -0.19 0.0 0.0\
+                            0.2 0.19 0.0 0.0\
+                            0.2 -0.19 0.0 0.0\
+                            0.2 0.19 0.0 0.0\
+                            0.2 -0.19 0.0 0.0\
+                            0.2 0.19 0.0 0.0\
+                            0.2 -0.19 0.0 0.0\
+                            0.0 0.19 0.0 0.0\
+                            ");
 
       //                          0.0 -0.19 0.0 0.174532925\
       //                          0.0 0.19 0.0 0.174532925\
diff --git a/tests/TestObject.cpp b/tests/TestObject.cpp
index 4a7f97bbc6984dde5d30d50da83742d395895245..5a2ce25bc0809d38f9dbbb99a84e96e5dfdffd14 100644
--- a/tests/TestObject.cpp
+++ b/tests/TestObject.cpp
@@ -343,7 +343,7 @@ namespace PatternGeneratorJRL
 	      << filterprecision(m_OneStep.finalCOMPosition.x[0] ) << " "                   // 2
 	      << filterprecision(m_OneStep.finalCOMPosition.y[0] ) << " "                   // 3
 	      << filterprecision(m_OneStep.finalCOMPosition.z[0] ) << " "                   // 4
-	      << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " "                    // 5
+          << filterprecision(m_OneStep.finalCOMPosition.yaw[0] ) << " "                 // 5
 	      << filterprecision(m_OneStep.finalCOMPosition.x[1] ) << " "                   // 6
 	      << filterprecision(m_OneStep.finalCOMPosition.y[1] ) << " "                   // 7
 	      << filterprecision(m_OneStep.finalCOMPosition.z[1] ) << " "                   // 8