diff --git a/L3-table/model.config b/L3-table/model.config
new file mode 100644
index 0000000..9378a51
--- /dev/null
+++ b/L3-table/model.config
@@ -0,0 +1,11 @@
+
+
+ L3-table
+ 1.0
+ model.sdf
+
+
+
+
+
+
diff --git a/L3-table/model.sdf b/L3-table/model.sdf
new file mode 100644
index 0000000..10cd461
--- /dev/null
+++ b/L3-table/model.sdf
@@ -0,0 +1,82 @@
+
+
+
+ true
+
+
+ 0 0 0.7125 0 0 0
+
+
+ 1.2 0.6 0.025
+
+
+
+
+
+ 0.6
+ 0.6
+
+
+
+
+
+ 0 0 0.7125 0 0 0
+
+
+ 1.2 0.6 0.025
+
+
+
+
+
+
+
+ 0 0 0.375 0 0 0
+
+
+ 0.9 0.1 0.65
+
+
+
+
+ 0 0 0.375 0 0 0
+
+
+ 0.9 0.1 0.65
+
+
+
+
+
+
+
+ 0 0 0.025 0 0 0
+
+
+ 1 0.4 0.05
+
+
+
+
+ 0 0 0.025 0 0 0
+
+
+ 1 0.4 0.05
+
+
+
+
+
+
+
+
+
\ No newline at end of file
diff --git a/gazebo_link_to_tf.py b/gazebo_link_to_tf.py
index 19ecde4..674f9d1 100644
--- a/gazebo_link_to_tf.py
+++ b/gazebo_link_to_tf.py
@@ -5,7 +5,7 @@ from gazebo_msgs.msg import LinkStates
def callback(data):
# Get index
baxter_base_idx = data.name.index("baxter::base")
- brick_idx = data.name.index("Brick::Brick")
+ brick_idx = data.name.index("t1::Table")
# Get baxter_base pose and Brick pose w.r.t. gazebo world
baxter_base_pose = data.pose[baxter_base_idx]
brick_pose = data.pose[brick_idx]
@@ -23,8 +23,7 @@ def callback(data):
def gazebo_link_subscriber():
- rospy.init_node('gazebo_link_subscriber')
- rospy.Subscriber("/gazebo/link_states", LinkStates, callback)
+ rospy.init_node('gazebo_link_subscriber')rospy.Subscriber("/gazebo/link_states", LinkStates, callback)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
diff --git a/states.link b/states.link
index 115f90e..8b80100 100644
--- a/states.link
+++ b/states.link
@@ -16,7 +16,7 @@ name: ['ground_plane::link',
'ia1::Brick',
'ia2::Brick',
'ia3::Brick',
- 'ib1::Brick',
+ 'ib1::Brick',
'ib2::Brick',
'ic1::Brick',
'ic2::Brick',