<sdf version="1.4">
  <world name="default">

    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <!-- Load the plugin for Razer Hydra -->
    <plugin name="hydra" filename="libHydraPlugin.so">
      <pivot>0.04 0 0</pivot>
      <grab>0.12 0 0</grab>
    </plugin>

</world>
</sdf>
