diff --git a/worlds/empty_world.world b/worlds/empty_world.world
new file mode 100644
index 0000000000000000000000000000000000000000..004105b8054524d69807daa6e4cbebdbf3290c17
--- /dev/null
+++ b/worlds/empty_world.world
@@ -0,0 +1,33 @@
+<?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>
+    <!--a pick tray-->
+    <include>
+	    <uri>model://pick_tray</uri>
+	    <pose>0.688 0.21999 0 -0 -0</pose>
+	    <static>1</static>
+    </include>
+    <!--a place tray-->
+    <include>
+            <uri>model://place_tray</uri>
+            <pose>0.688 -0.22999 0 -0 -0</pose>
+            <static>1</static>
+    </include>
+
+    <include>
+	    <uri>model://stone</uri>
+	    <pose>0.6 0.2 0.0088 0 -0 -0</pose>
+    </include>
+
+ </world>
+</sdf>
+
+