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Hi, I'm also trying to add objects to this database and insert_model.cpp seems to work for me, except that the code doesn't add the object into a model set, so I had to adjust the database myself. However, when I try to launch tabeltop_complete.launch I get the following error:

terminate called after throwing an instance of 'std::bad_alloc'  
what(): std::bad_alloc

I suspect that the model I made is faulty, is there a good way to create models? I used Solidworks to create the model in STL format, then used Blender to convert it to .ply. I also tried 3DSom as described in the link below, but 3DSom is licensed and doesn't work properly for me. Are there any other ways to create 3D models?

http://www.ros.org/wiki/household%20objects