<?xml version="1.0" ?>
<sdf version="1.3">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- Hammer -->
    <include>
      <name>active_hammer</name>
      <uri>model://hammer</uri>
      <pose>0 -8 2  0 0 0</pose>
      <static>false</static>
    </include>

    <!-- Static hammer -->
    <include>
      <name>static_hammer</name>
      <uri>model://hammer</uri>
      <pose>4 -8 2  0 0 0</pose>
      <static>true</static>
    </include>

    <!-- Cordless drill -->
    <include>
      <name>active_drill</name>
      <uri>model://cordless_drill</uri>
      <pose>0 -4 2  0 0 0</pose>
      <static>false</static>
    </include>

    <!-- Static cordless drill -->
    <include>
      <name>static_drill</name>
      <uri>model://cordless_drill</uri>
      <pose>4 -4 2  0 0 0</pose>
      <static>true</static>
    </include>

    <!-- Double pendulum -->
    <include>
      <name>active_pendulum</name>
      <uri>model://double_pendulum_with_base</uri>
    </include>

    <!-- Static double pendulum -->
    <include>
      <name>static_pendulum</name>
      <uri>model://double_pendulum_with_base</uri>
      <pose>4 0 0  0 0 0</pose>
      <static>true</static>
    </include>

    <!-- PR2 -->
    <include>
      <name>active_pr2</name>
      <uri>model://pr2</uri>
      <pose>0 8 0  0 0 0</pose>
    </include>

    <!-- Static PR2 -->
    <include>
      <uri>model://pr2</uri>
      <pose>4 8 0  0 0 0</pose>
      <static>true</static>
    </include>
  </world>
</sdf>
