From b5d4dc6cd87af3e4b4af3817904fcc8b7d6316f1 Mon Sep 17 00:00:00 2001
From: rickstaa <rick.staa@outlook.com>
Date: Fri, 10 Dec 2021 11:13:04 +0100
Subject: [PATCH] style: improve model structure and code style

Co-authored-by: Marco Boneberger <marco.boneberger@franka.de>
---
 franka_gazebo/models/pick_tray/model.config           | 2 +-
 franka_gazebo/models/pick_tray/model.sdf              | 2 +-
 franka_gazebo/models/place_tray/model.config          | 2 +-
 franka_gazebo/models/place_tray/model.sdf             | 2 +-
 franka_gazebo/models/stone/model.config               | 2 +-
 franka_gazebo/models/stone/model.sdf                  | 4 ++--
 franka_gazebo/models/table/model.config               | 2 +-
 franka_gazebo/models/table/model.sdf                  | 2 +-
 franka_gazebo/package.xml                             | 2 +-
 franka_gazebo/{worlds/stone.world => world/stone.sdf} | 2 +-
 10 files changed, 11 insertions(+), 11 deletions(-)
 rename franka_gazebo/{worlds/stone.world => world/stone.sdf} (97%)

diff --git a/franka_gazebo/models/pick_tray/model.config b/franka_gazebo/models/pick_tray/model.config
index 009e06bc6..3ab7eb58c 100644
--- a/franka_gazebo/models/pick_tray/model.config
+++ b/franka_gazebo/models/pick_tray/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>pick_tray</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>support@franka.de</email>
diff --git a/franka_gazebo/models/pick_tray/model.sdf b/franka_gazebo/models/pick_tray/model.sdf
index 15a85487b..3ad696a03 100644
--- a/franka_gazebo/models/pick_tray/model.sdf
+++ b/franka_gazebo/models/pick_tray/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='pick_tray'>
     <link name='link'>
       <pose>0.0 0.0 0.011674 0 -0 0</pose>
diff --git a/franka_gazebo/models/place_tray/model.config b/franka_gazebo/models/place_tray/model.config
index 1b1689563..3e44ee5e7 100644
--- a/franka_gazebo/models/place_tray/model.config
+++ b/franka_gazebo/models/place_tray/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>place_tray</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>support@franka.de</email>
diff --git a/franka_gazebo/models/place_tray/model.sdf b/franka_gazebo/models/place_tray/model.sdf
index 41f91644c..b6e85bfb2 100644
--- a/franka_gazebo/models/place_tray/model.sdf
+++ b/franka_gazebo/models/place_tray/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='place_tray'>
     <link name='link'>
       <pose>0.0 0.0 0.011674 0 -0 0</pose>
diff --git a/franka_gazebo/models/stone/model.config b/franka_gazebo/models/stone/model.config
index 4d3cefa04..ab10209f0 100644
--- a/franka_gazebo/models/stone/model.config
+++ b/franka_gazebo/models/stone/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>stone</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>support@franka.de</email>
diff --git a/franka_gazebo/models/stone/model.sdf b/franka_gazebo/models/stone/model.sdf
index f1c058f85..2d5d42aa4 100644
--- a/franka_gazebo/models/stone/model.sdf
+++ b/franka_gazebo/models/stone/model.sdf
@@ -1,8 +1,8 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='stone'>
     <link name='link'>
-      <pose>0.0 0.0 0.032 0 -0 0</pose>
+      <pose>0.0 0.0 0.0 0 -0 0</pose>
       <inertial>
         <!--NOTE: Uses limestone density (i.e 2000 kg/m^3) to calculate the mass
         see https://en.wikipedia.org/wiki/Limestone
diff --git a/franka_gazebo/models/table/model.config b/franka_gazebo/models/table/model.config
index aac78c9b8..5bee74f5e 100644
--- a/franka_gazebo/models/table/model.config
+++ b/franka_gazebo/models/table/model.config
@@ -2,7 +2,7 @@
 <model>
     <name>table</name>
     <version>1.0</version>
-    <sdf version="1.7">model.sdf</sdf>
+    <sdf version="1.6">model.sdf</sdf>
     <author>
         <name>Franka Emika</name>
         <email>support@franka.de</email>
diff --git a/franka_gazebo/models/table/model.sdf b/franka_gazebo/models/table/model.sdf
index ad3fa134a..3c0f19c51 100644
--- a/franka_gazebo/models/table/model.sdf
+++ b/franka_gazebo/models/table/model.sdf
@@ -1,5 +1,5 @@
 <?xml version='1.0'?>
-<sdf version='1.7'>
+<sdf version='1.6'>
   <model name='table'>
     <link name='link'>
       <pose>0 0 0.2099115 0 -0 0</pose>
diff --git a/franka_gazebo/package.xml b/franka_gazebo/package.xml
index 11c41dbbd..512782024 100644
--- a/franka_gazebo/package.xml
+++ b/franka_gazebo/package.xml
@@ -46,6 +46,6 @@
 
     <!--Export gazebo models and worlds-->
     <gazebo_ros gazebo_model_path="${prefix}/models"/>
-    <gazebo_ros gazebo_resource_path="${prefix}/worlds"/>
+    <gazebo_ros gazebo_resource_path="${prefix}/world"/>
   </export>
 </package>
diff --git a/franka_gazebo/worlds/stone.world b/franka_gazebo/world/stone.sdf
similarity index 97%
rename from franka_gazebo/worlds/stone.world
rename to franka_gazebo/world/stone.sdf
index 9f2315654..38f9c25c3 100644
--- a/franka_gazebo/worlds/stone.world
+++ b/franka_gazebo/world/stone.sdf
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<sdf version="1.5">
+<sdf version="1.6">
   <world name="panda_pick_and_place">
     <!--A global light source-->
     <include>