<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://simple_gripper</uri>
    </include>
    <model name="box">
      <pose>0.3 0 0.1 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>.2 .2 .2</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>.2 .2 .2</size>
            </box>
          </geometry>
          <material>
            <script>Gazebo/WoodPallet</script>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>
