diff --git a/worlds/baylands.sdf b/worlds/baylands.sdf
new file mode 100644
index 0000000..63db833
--- /dev/null
+++ b/worlds/baylands.sdf
@@ -0,0 +1,109 @@
+<sdf version='1.9'>
+  <world name='baylands'>
+    <physics type="ode">
+      <max_step_size>0.004</max_step_size>
+      <real_time_factor>1.0</real_time_factor>
+      <real_time_update_rate>250</real_time_update_rate>
+    </physics>
+    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
+    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
+    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
+    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
+    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
+    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
+    <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
+    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
+      <render_engine>ogre2</render_engine>
+    </plugin>
+    <gui fullscreen='false'>
+      <plugin name='3D View' filename='GzScene3D'>
+        <gz-gui>
+          <title>3D View</title>
+          <property type='bool' key='showTitleBar'>0</property>
+          <property type='string' key='state'>docked</property>
+        </gz-gui>
+        <engine>ogre2</engine>
+        <scene>scene</scene>
+        <ambient_light>0.5984631152222222 0.5984631152222222 0.5984631152222222</ambient_light>
+        <background_color>0.8984631152222222 0.8984631152222222 0.8984631152222222</background_color>
+        <camera_pose>-6 0 6 0 0.5 0</camera_pose>
+      </plugin>
+      <plugin name='World control' filename='WorldControl'>
+        <gz-gui>
+          <title>World control</title>
+          <property type='bool' key='showTitleBar'>0</property>
+          <property type='bool' key='resizable'>0</property>
+          <property type='double' key='height'>72</property>
+          <property type='double' key='width'>121</property>
+          <property type='double' key='z'>1</property>
+          <property type='string' key='state'>floating</property>
+          <anchors target='3D View'>
+            <line own='left' target='left'/>
+            <line own='bottom' target='bottom'/>
+          </anchors>
+        </gz-gui>
+        <play_pause>1</play_pause>
+        <step>1</step>
+        <start_paused>1</start_paused>
+      </plugin>
+      <plugin name='World stats' filename='WorldStats'>
+        <gz-gui>
+          <title>World stats</title>
+          <property type='bool' key='showTitleBar'>0</property>
+          <property type='bool' key='resizable'>0</property>
+          <property type='double' key='height'>110</property>
+          <property type='double' key='width'>290</property>
+          <property type='double' key='z'>1</property>
+          <property type='string' key='state'>floating</property>
+          <anchors target='3D View'>
+            <line own='right' target='right'/>
+            <line own='bottom' target='bottom'/>
+          </anchors>
+        </gz-gui>
+        <sim_time>1</sim_time>
+        <real_time>1</real_time>
+        <real_time_factor>1</real_time_factor>
+        <iterations>1</iterations>
+      </plugin>
+      <plugin name='Entity tree' filename='EntityTree'/>
+    </gui>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <scene>
+      <ambient>0.8 0.5 1</ambient>
+      <grid>false</grid>
+    </scene>
+    <light type="directional" name="sun">
+      <cast_shadows>true</cast_shadows>
+      <pose>0 0 100 0 0.75 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.0 0.0 0.0 1</specular>
+      <intensity>5</intensity>
+      <attenuation>
+        <range>100</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/baylands
+      </uri>
+      <name>park</name>
+      <pose>205 155 -1 0 0 0</pose>
+    </include>
+    <include>
+      <uri>
+        https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coast Water
+      </uri>
+      <pose>0 0 -2 0 0 0
+        <relative_to>park</relative_to>
+      </pose>
+
+    </include>
+  </world>
+</sdf>