<?xml version="1.0"?>
<!-- This assumes that the 'test/models' directory has been added to GAZEBO_MODEL_PATH -->
<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- The included model is specified in URDF -->
    <include>
        <uri>model://model_urdf</uri>
        <!-- A z axis offset of 0.1 is added in the other models. Since we are-->
        <!-- including the URDF directly here, we also add the offset here-->
        <pose>0.0 0.0 0.1 0.0 0 0.0</pose>
    </include>
    <!-- The included model is an SDF 1.6 model that itself includes a URDF model-->
    <include>
        <uri>model://model_sdf_1_6</uri>
        <pose>5.0 0.0 0.0 0.0 0 0.0</pose>
    </include>

    <!-- The included model is an SDF 1.7 model that itself includes a URDF model-->
    <include>
        <uri>model://model_sdf_1_7</uri>
        <pose>10.0 0.0 0.0 0.0 0 0.0</pose>
    </include>
  </world>
</sdf>

