From 74c23baaaadad7a4c1db743443bc39d761f7eccf Mon Sep 17 00:00:00 2001
From: Junior <ngokojunior34-2@yahoo.com>
Date: Fri, 25 Aug 2023 14:13:51 +0000
Subject: [PATCH] modification du fichier world pour inclure les objets ycb

---
 worlds/empty_world.world | 33 +++++++++++++++++++++++++++++++++
 1 file changed, 33 insertions(+)
 create mode 100644 worlds/empty_world.world

diff --git a/worlds/empty_world.world b/worlds/empty_world.world
new file mode 100644
index 0000000..004105b
--- /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>
+
+	
-- 
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