<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- RoboCup SPL 2014 field -->
    <include>
      <uri>model://robocup14_spl_field</uri>
    </include>
    <!-- RoboCup SPL 2014 left goal -->
    <include>
      <pose>-4.5 0 0 0 0 3.1416</pose>
      <uri>model://robocup14_spl_goal</uri>
    </include>
    <!-- RoboCup SPL 2014 right goal -->
    <include>
      <pose>4.5 0 0 0 0 0</pose>
      <uri>model://robocup14_spl_goal</uri>
    </include>
    <!-- RoboCup SPL ball -->
    <include>
      <pose>0 0 0 0 0 0</pose>
      <uri>model://robocup_spl_ball</uri>
    </include>
  </world>
</sdf>
