# Worlds

This topic provides imagery/information about the [Gazebo Classic](https://px4.gitbook.io/px4-user-guide/development/simulation/sim_gazebo_classic) worlds supported by PX4.

The [empty.world](#empty_world) is spawned by default, though this may be overridden by a [model specific world](#model_specific_worlds). Developers can also manually specify the world to load: [Gazebo Classic > Loading a Specific World](https://px4.gitbook.io/px4-user-guide/development/simulation/sim_gazebo_classic/..#set_world).

The source code for supported worlds can be found on GitHub here: [PX4/PX4-SITL\_gazebo/tree/main/worlds](https://github.com/PX4/PX4-SITL_gazebo/tree/main/worlds).

## Empty (Default)

[PX4/PX4-SITL\_gazebo/tree/main/worlds/empty.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/empty.world)

![empty](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-ed58b40fd68ae58338906815a28fef5cb665f1b5%2Fempty.png?alt=media)

## Baylands

[PX4/PX4-SITL\_gazebo/tree/main/worlds/baylands.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/baylands.world)

![Baylands World](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-bc43ecd10f3e5b4b2bb983980891520d11821bc5%2Fbaylands.jpg?alt=media)

## KSQL Airport

[PX4/PX4-SITL\_gazebo/tree/main/worlds/ksql\_airport.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/ksql_airport.world)

![KSQL Airport World](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-c02a76a32ef948279eb02a069e9a3643e8242efc%2Fksql_airport.jpg?alt=media)

## McMillan Airfield

[PX4/PX4-SITL\_gazebo/tree/main/worlds/mcmillan\_airfield.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/mcmillan_airfield.world)

![McMillan Airfield World](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-5c15fa1d7641dc34991f5fe289021663ee124f7e%2Fmcmillan_airfield.jpg?alt=media)

## Safe Landing

[PX4/PX4-SITL\_gazebo/tree/main/worlds/safe\_landing.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/safe_landing.world)

![Safe Landing World](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-aa0055c11c657266cde8d669070092ff3f14707b%2Fsafe_landing.png?alt=media)

## Sonoma Raceway

[PX4/PX4-SITL\_gazebo/tree/main/worlds/sonoma\_raceway.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/sonoma_raceway.world) ![Sonoma\_Raceway](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-114f9972b6496947b6f0fe86be9fda16c9bc2707%2Fsonoma_raceway.png?alt=media)

## Warehouse

[PX4/PX4-SITL\_gazebo/tree/main/worlds/warehouse.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/warehouse.world)

![Warehouse](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-0068c051526af23fb43640fd867ab1235c471578%2Fwarehouse.png?alt=media)

## Yosemite

[PX4/PX4-SITL\_gazebo/tree/main/worlds/yosemite.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/yosemite.world)

![Yosemite](https://4155462212-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-LArEa7z2SPawfl3HpCD%2Fuploads%2Fgit-blob-acb8a86e07b3ef7d8ccb057adb7d5c202684481d%2Fyosemite.jpg?alt=media)

## Model Specific Worlds

Some [vehicle models](https://px4.gitbook.io/px4-user-guide/development/simulation/sim_gazebo_classic/gazebo_vehicles) rely on the physics / plugins of a specific world. The PX4 toolchain will automatically spawn a world that has the same name as the vehicle model if one exists (instead of the default **empty.world**):

The model specific worlds are:

* [boat.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/boat.world): Includes a surface to simulate buoyancy of the [boat](https://px4.gitbook.io/px4-user-guide/development/simulation/gazebo_vehicles#usv).
* [uuv\_hippocampus.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/uuv_hippocampus.world): An empty world used to simulate an underwater environment for the [HippoCampus UUV](https://px4.gitbook.io/px4-user-guide/development/simulation/gazebo_vehicles#uuv).
* [typhoon\_h480.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/typhoon_h480.world): Used by [Typhoon H480 (Hexrotor)](https://px4.gitbook.io/px4-user-guide/development/simulation/gazebo_vehicles#typhoon_h480) vehicle model and includes a video widget to enable / disable video streaming. The world includes a gazebo plugin for a simulated camera.
* [iris\_irlock.world](https://github.com/PX4/PX4-SITL_gazebo/blob/main/worlds/iris_irlock.world): Includes a IR beacon for testing [precision landing](https://px4.gitbook.io/px4-user-guide/drone_parts/peripherals/precland).


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