<?xml version="1.0" encoding="utf-8"?>
<world name="myworld1">
  <gravity x="0.0" y="-980.7" z="0.0"/>

<instanciate class="WheelRobot-nii-v1.xml" type="Robot">
    <set-attr-value name="name" value="robot_000"/>
    <set-attr-value name="language" value="c++"/>
    <set-attr-value name="implementation"
                    value="./libSig_app.so"/>
    <set-attr-value name="dynamics" value="false"/>
    <set-attr-value name="x" value="-100.0"/>
    <set-attr-value name="y" value="30.0"/>
    <set-attr-value name="z" value="-130.0"/>
    <set-attr-value name="collision" value="true"/>
    <!--stereo camera right-->
    <camera id="1"
            link="REYE_LINK"
            direction="0.0 -1.0 1.0"
            position="0.0 0.0 3.0"/>
    <!--stereo camera left-->
    <camera id="2"
            link="LEYE_LINK"
            direction="0.0 -1.0 1.0"
            position="0.0 0.0 3.0"/>
    <!--distance sensor-->
    <camera id="3"
            link="WAIST_LINK0"
            direction="0.0 1.0 0.0"
            position="0.0 -5.0 20.0"/>
    <!--monitoring camera-->
    <camera id="4"
            link="WAIST_LINK2"
            direction="0 0 1"
            quaternion="0.0 0.0 -0.966 0.259"
            position="0.0 40.0 120.0"/>
  </instanciate>




</world>