From 9c27f3b3c4a65f9b9d3726ff003de1b0ca68852e Mon Sep 17 00:00:00 2001
From: Kei Okada <kei.okada@gmail.com>
Date: Wed, 24 Jun 2015 12:11:07 +0900
Subject: [PATCH] add modelwith sdf 1.4 for indigo

---
 cafe_table/model-1_4.sdf | 42 ++++++++++++++++++++++++++++++++++++++++
 cafe_table/model.config  |  1 +
 2 files changed, 43 insertions(+)
 create mode 100644 cafe_table/model-1_4.sdf

diff --git a/cafe_table/model-1_4.sdf b/cafe_table/model-1_4.sdf
new file mode 100644
index 0000000..86497f0
--- /dev/null
+++ b/cafe_table/model-1_4.sdf
@@ -0,0 +1,42 @@
+<?xml version="1.0" ?>
+<sdf version="1.4">
+  <model name="cafe_table">
+    <static>true</static>
+    <link name="link">
+      <collision name="surface">
+        <pose>0 0 0.755 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.913 0.913 0.04</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="column">
+        <pose>0 0 0.37 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.042 0.042 0.74</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <collision name="base">
+        <pose>0 0 0.02 0 0 0</pose>
+        <geometry>
+          <box>
+            <size>0.56 0.56 0.04</size>
+          </box>
+        </geometry>
+      </collision>
+
+      <visual name="visual">
+        <geometry>
+          <mesh>
+            <uri>model://cafe_table/meshes/cafe_table.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+    </link>
+  </model>
+</sdf>
diff --git a/cafe_table/model.config b/cafe_table/model.config
index 434f7ce..f73e02a 100644
--- a/cafe_table/model.config
+++ b/cafe_table/model.config
@@ -3,6 +3,7 @@
 <model>
   <name>Cafe table</name>
   <version>1.0</version>
+  <sdf version="1.4">model-1_4.sdf</sdf>
   <sdf version="1.5">model.sdf</sdf>
 
   <author>