2 files changed, 137 insertions, 0 deletions
diff --git a/models/simple_world/model.config b/models/simple_world/model.config
new file mode 100644
index 0000000..c5582f1
--- /dev/null
+++ b/models/simple_world/model.config
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+
+<model>
+  <name>Exercise World</name>
+  <version>1.0</version>
+  <sdf version="1.0">model.sdf</sdf>
+
+  <author>
+    <name>asp45</name>
+    <email>asp45@cl.cam.ac.uk</email>
+  </author>
+
+  <description>
+    Simple world for the exercises.
+  </description>
+</model>
diff --git a/models/simple_world/model.sdf b/models/simple_world/model.sdf
new file mode 100644
index 0000000..c28c246
--- /dev/null
+++ b/models/simple_world/model.sdf
@@ -0,0 +1,121 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='simple'>
+    <link name='fixed'></link>
+    <pose frame=''>0 0 0 0 -0 0</pose>
+    <link name='Wall_0'>
+      <collision name='Wall_0_Collision'>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_0_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 2.075 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_2'>
+      <collision name='Wall_2_Collision'>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_2_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>-2.075 0 0 0 0 -1.5708</pose>
+    </link>
+    <link name='Wall_3'>
+      <collision name='Wall_3_Collision'>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_3_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0 -2.075 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_4'>
+      <collision name='Wall_4_Collision'>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_4_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>4.3 0.15 0.5</size>
+          </box>
+        </geometry>
+        <material>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>2.075 0 0 0 -0 1.5708</pose>
+    </link>
+
+    <link name='Cylinder_1'>
+      <collision name='Cylinder_1_Collision'>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+      </collision>
+      <visual name='Cylinder_1_Visual'>
+        <pose frame=''>0 0 0.25 0 -0 0</pose>
+        <geometry>
+          <cylinder>
+            <radius>0.3</radius>
+            <length>0.5</length>
+          </cylinder>
+        </geometry>
+        <material>
+          <ambient>1 1 1 1</ambient>
+        </material>
+      </visual>
+      <pose frame=''>0.3 0.2 0 0 0 0</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>