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About point 3 : Spawning is done manually with :

rosrun gazebo spawn_model -urdf (or -gazebo) -file coffee_cup.urdf (or .urdf) -model table -x xcoord -y ycoord -z zcoord

According to {this page}(http://www.ros.org/wiki/pr2_simulator/Tutorials/BasicPR2Controls#Adding_an_STL_Mesh_Object_in_Simulation)

In launch file, I use :

<node pkg="gazebo" type="spawn_model" name="addingdetails9" args="-gazebo -file $(find gazebo_worlds)/objects/object102.model -model objet102 -x 1.0 -y -1.0 -z 0.6" />

with args being rosrun args, that is working on electric. I didn't have a look to changes with Fuerte but I don't think it would change a lot.

About pt 2 : You can spawn directly cup on the table if setting right the coordinates. Nodes starting order is not predictable, so you can spawn your cup 2-3 meters high to be sure that table has spawned on a flat floor before the cup comes on the table (if an object is already there when you spawn another one, it makes usually both fly - without any actuators ;) !). It's probably not the best solution but it fixes more or less the problem.

About point 3 : Spawning is done manually with :

rosrun gazebo spawn_model -urdf (or -gazebo) -file coffee_cup.urdf (or .urdf) -model table -x xcoord -y ycoord -z zcoord

According to {this page}(http://www.ros.org/wiki/pr2_simulator/Tutorials/BasicPR2Controls#Adding_an_STL_Mesh_Object_in_Simulation)this page

In launch file, I use :

<node pkg="gazebo" type="spawn_model" name="addingdetails9" args="-gazebo -file $(find gazebo_worlds)/objects/object102.model -model objet102 -x 1.0 -y -1.0 -z 0.6" />

with args being rosrun args, that is working on electric. I didn't have a look to changes with Fuerte but I don't think it would change a lot.

About pt 2 : You can spawn directly cup on the table if setting right the coordinates. Nodes starting order is not predictable, so you can spawn your cup 2-3 meters high to be sure that table has spawned on a flat floor before the cup comes on the table (if an object is already there when you spawn another one, it makes usually both fly - without any actuators ;) !). It's probably not the best solution but it fixes more or less the problem.