test.world

<?xml version="1.0" encoding="utf-8"?>
<sdf version="1.6">
  <world name="default">
    <!-- Ground Plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="cylinder_s_R_0.1">
      <pose>1 3 -0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <cylinder>
              <radius>0.1</radius>
              <length>1</length>
            </cylinder>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>