Gazebo world

Worlds can range from vacuous space to a crowded office scene with multiple robot models, furniture, etc.. The name world refers the the ` ` SDF tag, and should be thought of as a collection of models, plugins, lights and descriptions of physics and scene properties of the simulation. Generating a world file can be difficult depending on the complexity of the desired environment being simulated. This page will offer some tips on how to build a very basic world.


 * 1) Components of a World ##

> **gui:** Specifies properties of the Gazebo GUI camera view.

> **physics:** Specifies various parameters controlling dynamics of the world.

> **scene:** Specifies the look of the environment.

> **light:** Adds a lighting source in the world.

> **models:** See tutorial on building a model.

> **actor:** Introduces GPU animated characters in the world.

> **plugin:** See plugin tutorials  on working with World plugins.

> **joint:** Joints between different links from different models can be specified in the world file.


 * 1) Building a World ##

Using the model described in model as an example, you can create a world file around the model as follows:

    true 1 2 1 0 0 0          1.0              1.0               0.0               0.0               1.0               0.0               1.0                 1 1 1                 1 1 1

Save the above file as `my_world.world`.


 * 1) Starting Gazebo with your world ##

To see what the world looks like, you can simple run

gazebo my_world.world

and see an empty world with a static box:

.