URDF tags for creating objects involving curved surfaces and body parts

edit

Hi,

I am trying to create objects for indoor environment. (Though I am hoping that these objects must be already created by someone, I asked that at: http://answers.ros.org/question/42435/pointers-to-office-and-home-environment-in-gazebo/)

I created a chair in urdf. The chair looks like:-

The back-support of the chair has three cylinders and all are straight. However I need them to be a bit circular. How to achieve that?

I couldn't find any useful tags at : http://www.ros.org/wiki/urdf/XML

Where can I find all the tags interpreted by urdf.

I also saw the urdf of door from http://ros.org/wiki/pr2_simulator/Tutorials/PR2OpenDoor,

It contains a door.urdf, which has tags like:-

  <gazebo reference="door_link">
    <latchJoint>handle_joint</latchJoint>
    <latchAngle>-1.57</latchAngle>
    <doorClosedAngle>0.0</doorClosedAngle>
    <latchKp>200.0</latchKp>
    <latchKd>0.0</latchKd>
    <latchFMax>1000.0</latchFMax>
  </gazebo>

I guess these tags (latchAngle, doorClosedAngle) are defining the two states of the door (open/close). Are these tags custom made (I didn't went through the entire code as door opening is not supported after diamondback) or are standard?

Any pointers/suggestions/links/comment is greatly appreciated.

Also is there any tool which I can use to create object quickly?

Edit 1 @Adolfo Rodriguez T:-
I am not able to launch the .dae file :-(, (it seems it need further processing, as .dae files in gazebo_world are getting launched). What am I doing wrong? If I am able to spawn and use these models it will save a lot of time for me.
I downloaded chair from link provided by you (.zip version). It contained :-

1. Nelson_Swag_Leg_Chair/models/Nelson_Swag_Leg_Chair.dae
2. Nelson_Swag_Leg_Chair/doc.kml
3. Nelson_Swag_Leg_Chair/textures.txt (its 0 bytes)

(I have replaced spaces with _ in file and folder names, hope thats not an issue).

My .model file (which does not work at all):-

<model name="Nelson_Swag_Leg_Chair" static="true">
    <link name="Nelson_Swag_Leg_Chair">
        <origin pose="0 0 0 0 0 0"/>
        <collision>
            <geometry>
                <mesh filename="/home/nirala/ros_workspace/myWorld/world/object/Nelson_Swag_Leg_Chair/models/Nelson_Swag_Leg_Chair.dae" scale="1 1 1"/>
            </geometry>
        </collision>
        <visual>
            <geometry>
                <mesh filename="package://myWorld/world/object/Nelson_Swag_Leg_Chair/models/Nelson_Swag_Leg_Chair.dae" scale="1 1 1"/>
            </geometry>
        </visual>
    </link>
</model>

and launch file as:-

<launch>
  <param name="Nelson_Swag_Leg_Chair_p" textfile="$(find myWorld)/world/object/Nelson_Swag_Leg_Chair/Nelson_Swag_Leg_Chair.model" />
  <node name="Nelson_Swag_Leg_Chair" pkg="gazebo" type="spawn_model" args="-gazebo -param Nelson_Swag_Leg_Chair_p -z 0.1 -y 2 x -x 2 -model Nelson_Swag_Leg_Chair" respawn="false" output="screen"/>
</launch>

But this gave me error as:-

[ERROR] [1346749562.693001448, 982.362000000]: GazeboROSNode SpawnModel Failure: input model_xml not Gazebo XML, or cannot be converted to Gazebo XML

Then I tried to make an urdf file as:-

<?xml version="1.0"?>
<robot name="Nelson_Swag_Leg_Chair_U">
  <link name="Nelson_Swag_Leg_Chair_n">
    <visual>
      <origin rpy="0 0 0" xyz="0.09137 0.00495 1"/>
      <geometry>
        <mesh filename="package://myWorld/world/object/Nelson_Swag_Leg_Chair/models/Nelson_Swag_Leg_Chair.dae" scale = ".1 .1 .1"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://myWorld/world/object/Nelson_Swag_Leg_Chair/models/Nelson_Swag_Leg_Chair.dae" scale = ".1 .1 .1"/>
      </geometry>
      <origin rpy="0 ...