<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- Ground -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- Pioneer2dx model -->
    <model name="pioneer2dx">
      <include>
        <uri>model://pioneer2dx</uri>
      </include>

      <include>
        <uri>model://hokuyo</uri>
        <pose>0.2 0 .38 0 0 0</pose>
      </include>

      <include>
        <uri>model://camera</uri>
        <pose>0.2 0 .3 0 0 0</pose>
      </include>

      <joint name="camera_joint" type="revolute">
        <parent>pioneer2dx::pioneer2dx::chassis</parent>
        <child>pioneer2dx::camera::link</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
        </axis>
      </joint>

      <joint name="laser_joint" type="revolute">
        <parent>pioneer2dx::pioneer2dx::chassis</parent>
        <child>pioneer2dx::hokuyo::link</child>
        <axis>
          <xyz>0 0 1</xyz>
          <limit>
            <lower>0</lower>
            <upper>0</upper>
          </limit>
        </axis>
      </joint>

    </model>

  </world>
</sdf>
