Import .dae Gazebo-1.0.0-RC2

Hello, I know there are more threads like here: http://answers.ros.org/question/11013/importing-collada-meshes-into-a-gazebo-world or http://answers.ros.org/question/1862/gazebo-world-file-from-a-collada-file or http://answers.ros.org/question/2914/create-rough-terrain-for-used-in-gazebo but my problem is the next: I have a few models in collada with their images in the follow distribution (for example): chair3 -images -----DSCI0887noCulling.jpg -----Wood_Bamboo_LightnoCulling.jpg -----Wood_CherrynoCulling -model -----chair.dae -----chair.stl -doc.kml -textures.txt ok inside model/chair.dae I have: . . . . ../images/Wood_CherrynoCulling.jpg../images/Wood_Bamboo_LightnoCulling.jpg../images/DSCI0887noCulling.JPG . . . . but my problem is: How I imoport to gazebo ChairColladaWorld.world the chair.dae? I try with: 5.0 -5.0 0.10 0 0true1.0 1.0 1.0chair.dae1.0 1.0 1.0chair.dae But it seems like the sytaxis is old, I can't find more examples and I need a little help here. I try with: 1.0 1.0 1.0chair.dae1.0 1.0 1.0chair.dae But I think I am doing something wrong. Of course, I try with: export GAZEBO_RESOURCE_PATH=~/models/chair3/model With that export, I think is enough to Gazebo to find the path to the model .dae and their images. errors lunching: $ gzserver ChairColladaWorld.world Gazebo multi-robot simulator, version 1.0.0-RC2 Copyright (C) 2011 Nate Koenig, John Hsu, Andrew Howard, and contributors. Released under the Apache 2 License. http://gazebosim.org Error [parser.cc:520] XML Element[model:physical], child of element[world] not defined in SDF. Ignoring.[world] Error [parser.cc:511] Error reading element Error [parser.cc:313] Unable to parse sdf element[gazebo] Warning [parser.cc:235] parser for sdf version 1.0 failed, trying to parse as old deprecated format namespace error : Namespace prefix model on physical is not defined ^ namespace error : Namespace prefix body on trimesh is not defined ^ namespace error : Namespace prefix geom on trimesh is not defined ^ Entity: line 63: parser error : Opening and ending tag mismatch: world line 3 and gazebo ^ Entity: line 65: parser error : Premature end of data in tag gazebo line 2 ^ Error [parser_deprecated.cc:1210] Could not parse the xml Warning [parser.cc:241] parsing using deprecated world file failed trying old model format. namespace error : Namespace prefix model on physical is not defined ^ namespace error : Namespace prefix body on trimesh is not defined ^ namespace error : Namespace prefix geom on trimesh is not defined ^ Entity: line 63: parser error : Opening and ending tag mismatch: world line 3 and gazebo ^ Entity: line 65: parser error : Premature end of data in tag gazebo line 2 ^ Error [parser_deprecated.cc:1151] Could not parse the xml Error [parser.cc:247] parse as old deprecated model file failed. Error [Server.cc:75] Unable to read sdf file[ChairColladaWorld.world] Error [server_main.cc:116] Could not open file[ChairColladaWorld.world] Ok, after a lot of work in this issue, I finish find the solution: In the ___.world it is necessary: . . . But the next question is: how I load the textures and the materials? because the line: Load the gazebo script and not the image file found in the .dae How could I change or tell Gazebo where is load the file in format .jpg or .png?? I see in the .dae this lines: ../images/Wood_CherrynoCulling.jpg../images/Wood_Bamboo_LightnoCulling.jpg../images/DSCI0887noCulling.JPG But doesn't load :( Could anybody help me? Thanks!! Thanks!! Thanks!!