<?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>
    <include>
      <uri>model://jersey_barrier</uri>
      <pose>-10 10 5 0 0 0</pose>
    </include>
    <include>
      <uri>model://bookshelf</uri>
      <pose>-5 2 2 0 0 0</pose>
    </include>
    <include>
      <uri>model://table</uri>
      <pose>15 5 0 0 0 0</pose>
    </include>
    <include>
      <uri>model://dumpster</uri>
      <pose>0 -10 1 0 0 0</pose>
    </include>
  </world>
</sdf>
