From 537a85453951fce0186feb3525496bb0e314fc5a Mon Sep 17 00:00:00 2001
From: Michael Carroll <mjcarroll@intrinsic.ai>
Date: Mon, 29 Jan 2024 17:35:52 +0000
Subject: [PATCH] Consolidate duplicated worlds

Signed-off-by: Michael Carroll <mjcarroll@intrinsic.ai>
---
 dartsim/src/SDFFeatures_TEST.cc            |  15 +-
 dartsim/src/WorldFeatures_TEST.cc          |   6 +-
 dartsim/src/Worlds.hh                      |   7 -
 dartsim/worlds/empty.sdf                   |   5 -
 dartsim/worlds/falling.world               |  75 ----
 dartsim/worlds/shapes.sdf                  | 191 ----------
 dartsim/worlds/shapes_bitmask.sdf          | 154 ---------
 dartsim/worlds/test.world                  | 383 ---------------------
 dartsim/worlds/world_with_nested_model.sdf |  75 ----
 tpe/plugin/src/SDFFeatures_TEST.cc         |  43 ++-
 tpe/plugin/src/SimulationFeatures_TEST.cc  |  26 +-
 tpe/plugin/src/Worlds.hh                   |  40 ---
 tpe/plugin/worlds/nested_model.world       |  37 --
 tpe/plugin/worlds/shapes.world             | 169 ---------
 tpe/plugin/worlds/shapes_bitmask.sdf       | 154 ---------
 tpe/plugin/worlds/test.world               | 328 ------------------
 16 files changed, 48 insertions(+), 1660 deletions(-)
 delete mode 100644 dartsim/worlds/empty.sdf
 delete mode 100644 dartsim/worlds/falling.world
 delete mode 100644 dartsim/worlds/shapes.sdf
 delete mode 100644 dartsim/worlds/shapes_bitmask.sdf
 delete mode 100644 dartsim/worlds/test.world
 delete mode 100644 dartsim/worlds/world_with_nested_model.sdf
 delete mode 100644 tpe/plugin/src/Worlds.hh
 delete mode 100644 tpe/plugin/worlds/nested_model.world
 delete mode 100644 tpe/plugin/worlds/shapes.world
 delete mode 100644 tpe/plugin/worlds/shapes_bitmask.sdf
 delete mode 100644 tpe/plugin/worlds/test.world

diff --git a/dartsim/src/SDFFeatures_TEST.cc b/dartsim/src/SDFFeatures_TEST.cc
index 83e6095cf..eda7a5520 100644
--- a/dartsim/src/SDFFeatures_TEST.cc
+++ b/dartsim/src/SDFFeatures_TEST.cc
@@ -53,7 +53,8 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
-#include "dartsim/src/Worlds.hh"
+#include <test/common_test/Worlds.hh>
+#include "Worlds.hh"
 
 using namespace gz;
 
@@ -314,7 +315,7 @@ INSTANTIATE_TEST_SUITE_P(LoadWorld, SDFFeatures_TEST,
 // Test that the dartsim plugin loaded all the relevant information correctly.
 TEST_P(SDFFeatures_TEST, CheckDartsimData)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -422,7 +423,7 @@ TEST_P(SDFFeatures_TEST, CheckDartsimData)
 // Test that joint limits are working by running the simulation
 TEST_P(SDFFeatures_TEST, CheckJointLimitEnforcement)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -581,7 +582,7 @@ TEST_P(SDFFeatures_TEST, WorldIsParentOrChild)
 //
 TEST_P(SDFFeatures_TEST, WorldWithNestedModel)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kWorldWithNestedModelSdf);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kWorldWithNestedModelSdf);
   ASSERT_NE(nullptr, world);
   EXPECT_EQ(2u, world->GetModelCount());
 
@@ -690,7 +691,7 @@ TEST_P(SDFFeatures_TEST, WorldWithNestedModelJointToWorld)
 // Test that joint type falls back to fixed if the type is not supported
 TEST_P(SDFFeatures_TEST, FallbackToFixedJoint)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kTestWorld);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kTestWorld);
   ASSERT_NE(nullptr, world);
 
   dart::simulation::WorldPtr dartWorld = world->GetDartsimWorld();
@@ -964,7 +965,7 @@ TEST_P(SDFFeatures_FrameSemantics, ExplicitWorldFrames)
 /////////////////////////////////////////////////
 TEST_P(SDFFeatures_TEST, Shapes)
 {
-  WorldPtr world = this->LoadWorld(dartsim::worlds::kShapesSdf);
+  WorldPtr world = this->LoadWorld(common_test::worlds::kShapesWorld);
   ASSERT_NE(nullptr, world);
 
   auto dartWorld = world->GetDartsimWorld();
@@ -973,7 +974,7 @@ TEST_P(SDFFeatures_TEST, Shapes)
   ASSERT_EQ(5u, dartWorld->getNumSkeletons());
 
   int count{0};
-  for (auto name : {"box", "cylinder", "sphere", "capsule", "ellipsoid"})
+  for (auto name : {"sphere", "box", "cylinder", "capsule", "ellipsoid"})
   {
     const auto skeleton = dartWorld->getSkeleton(count++);
     ASSERT_NE(nullptr, skeleton);
diff --git a/dartsim/src/WorldFeatures_TEST.cc b/dartsim/src/WorldFeatures_TEST.cc
index 9f6fa75ba..fe0eef69a 100644
--- a/dartsim/src/WorldFeatures_TEST.cc
+++ b/dartsim/src/WorldFeatures_TEST.cc
@@ -32,7 +32,7 @@
 #include <sdf/World.hh>
 
 #include "test/Utils.hh"
-#include "Worlds.hh"
+#include "test/common_test/Worlds.hh"
 
 struct TestFeatureList : gz::physics::FeatureList<
     gz::physics::CollisionDetector,
@@ -83,7 +83,7 @@ TestWorldPtr LoadWorld(
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, CollisionDetector)
 {
-  const auto world = LoadWorld(this->engine, dartsim::worlds::kEmptySdf);
+  const auto world = LoadWorld(this->engine, common_test::worlds::kEmptySdf);
   EXPECT_EQ("ode", world->GetCollisionDetector());
 
   world->SetCollisionDetector("banana");
@@ -105,7 +105,7 @@ TEST_F(WorldFeaturesFixture, CollisionDetector)
 //////////////////////////////////////////////////
 TEST_F(WorldFeaturesFixture, Solver)
 {
-  const auto world = LoadWorld(this->engine, dartsim::worlds::kEmptySdf);
+  const auto world = LoadWorld(this->engine, common_test::worlds::kEmptySdf);
 
   EXPECT_EQ("DantzigBoxedLcpSolver", world->GetSolver());
 
diff --git a/dartsim/src/Worlds.hh b/dartsim/src/Worlds.hh
index 0cc2331da..4ffa870da 100644
--- a/dartsim/src/Worlds.hh
+++ b/dartsim/src/Worlds.hh
@@ -33,17 +33,10 @@ inline std::string DartsimTestWorld(const std::string &_world)
 namespace dartsim::worlds
 {
 const auto kAddedMassSdf = DartsimTestWorld("added_mass.sdf");
-const auto kEmptySdf = DartsimTestWorld("empty.sdf");
-const auto kFallingWorld = DartsimTestWorld("falling.world");
 const auto kJointAcrossNestedModelsSdf =
   DartsimTestWorld("joint_across_nested_models.sdf");
 const auto kModelFramesSdf = DartsimTestWorld("model_frames.sdf");
-const auto kShapesSdf = DartsimTestWorld("shapes.sdf");
-const auto kShapesBitmaskWorld = DartsimTestWorld("shapes_bitmask.sdf");
-const auto kTestWorld = DartsimTestWorld("test.world");
 const auto kWorldFramesSdf = DartsimTestWorld("world_frames.sdf");
-const auto kWorldWithNestedModelSdf =
-  DartsimTestWorld("world_with_nested_model.sdf");
 const auto kWorldWithNestedModelJointToWorldSdf =
   DartsimTestWorld("world_with_nested_model_joint_to_world.sdf");
 }  // namespace dartsim::worlds
diff --git a/dartsim/worlds/empty.sdf b/dartsim/worlds/empty.sdf
deleted file mode 100644
index 62150c14a..000000000
--- a/dartsim/worlds/empty.sdf
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.6">
-  <world name="empty">
-  </world>
-</sdf>
diff --git a/dartsim/worlds/falling.world b/dartsim/worlds/falling.world
deleted file mode 100644
index 1d2ea2f43..000000000
--- a/dartsim/worlds/falling.world
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="default">
-    <plugin
-      filename="gz-sim-physics-system"
-      name="gz::sim::systems::v0::Physics">
-    </plugin>
-    <model name="sphere">
-      <pose>0 0 2 0 0.78539816339 0</pose>
-      <link name="sphere_link">
-        <pose>0.0 0.0 0.0 0 0 0</pose>
-        <inertial>
-          <inertia>
-            <ixx>0.4</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.4</iyy>
-            <iyz>0</iyz>
-            <izz>0.4</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <visual name="sphere_visual">
-          <pose>0.0 0.0 0.0 0 0 0</pose>
-          <geometry>
-            <sphere>
-              <radius>1</radius>
-            </sphere>
-          </geometry>
-        </visual>
-        <collision name="sphere_collision">
-          <pose>0.0 0.0 0.0 0 0 0</pose>
-          <geometry>
-            <sphere>
-              <radius>1</radius>
-            </sphere>
-          </geometry>
-        </collision>
-      </link>
-    </model>
-    <model name="box">
-      <static>true</static>
-      <pose>0 0 -0.5 0 0 0.78539816339</pose>
-      <link name="box_link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <pose>0.0 0.0 0.0 0 0 0</pose>
-        <collision name="box_collision">
-          <geometry>
-            <box>
-              <size>100 100 1</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="box_visual">
-          <geometry>
-            <box>
-              <size>100 100 1</size>
-            </box>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>
diff --git a/dartsim/worlds/shapes.sdf b/dartsim/worlds/shapes.sdf
deleted file mode 100644
index 733c82ac2..000000000
--- a/dartsim/worlds/shapes.sdf
+++ /dev/null
@@ -1,191 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="shapes">
-    <model name="box">
-      <pose>0 0 0.5 0 0 0</pose>
-      <link name="box_link">
-        <inertial>
-          <inertia>
-            <ixx>0.16666</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.16666</iyy>
-            <iyz>0</iyz>
-            <izz>0.16666</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="box_collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-        </collision>
-
-        <visual name="box_visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 0 0 1</ambient>
-            <diffuse>1 0 0 1</diffuse>
-            <specular>1 0 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="cylinder">
-      <pose>0 -1.5 0.5 0 0 0</pose>
-      <link name="cylinder_link">
-        <inertial>
-          <inertia>
-            <ixx>0.1458</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.1458</iyy>
-            <iyz>0</iyz>
-            <izz>0.125</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="cylinder_collision">
-          <geometry>
-            <cylinder>
-              <radius>0.5</radius>
-              <length>1.0</length>
-            </cylinder>
-          </geometry>
-        </collision>
-
-        <visual name="cylinder_visual">
-          <geometry>
-            <cylinder>
-              <radius>0.5</radius>
-              <length>1.0</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>0 1 0 1</ambient>
-            <diffuse>0 1 0 1</diffuse>
-            <specular>0 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="sphere">
-      <pose>0 1.5 0.5 0 0 0</pose>
-      <link name="sphere_link">
-        <inertial>
-          <inertia>
-            <ixx>0.1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.1</iyy>
-            <iyz>0</iyz>
-            <izz>0.1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="sphere_collision">
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-        </collision>
-
-        <visual name="sphere_visual">
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-          <material>
-            <ambient>0 0 1 1</ambient>
-            <diffuse>0 0 1 1</diffuse>
-            <specular>0 0 1 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="capsule">
-      <pose>0 -3.0 0.5 0 0 0</pose>
-      <link name="capsule_link">
-        <inertial>
-          <inertia>
-            <ixx>0.074154</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.074154</iyy>
-            <iyz>0</iyz>
-            <izz>0.018769</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="capsule_collision">
-          <geometry>
-            <capsule>
-              <radius>0.2</radius>
-              <length>0.6</length>
-            </capsule>
-          </geometry>
-        </collision>
-        <visual name="capsule_visual">
-          <geometry>
-            <capsule>
-              <radius>0.2</radius>
-              <length>0.6</length>
-            </capsule>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-            <diffuse>1 1 0 1</diffuse>
-            <specular>1 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="ellipsoid">
-      <pose>0 3.0 0.5 0 0 0</pose>
-      <link name="ellipsoid_link">
-        <inertial>
-          <inertia>
-            <ixx>0.068</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.058</iyy>
-            <iyz>0</iyz>
-            <izz>0.026</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="ellipsoid_collision">
-          <geometry>
-            <ellipsoid>
-              <radii>0.2 0.3 0.5</radii>
-            </ellipsoid>
-          </geometry>
-        </collision>
-        <visual name="ellipsoid_visual">
-          <geometry>
-            <ellipsoid>
-              <radii>0.2 0.3 0.5</radii>
-            </ellipsoid>
-          </geometry>
-          <material>
-            <ambient>1 0 1 1</ambient>
-            <diffuse>1 0 1 1</diffuse>
-            <specular>1 0 1 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>
diff --git a/dartsim/worlds/shapes_bitmask.sdf b/dartsim/worlds/shapes_bitmask.sdf
deleted file mode 100644
index 8aa289fce..000000000
--- a/dartsim/worlds/shapes_bitmask.sdf
+++ /dev/null
@@ -1,154 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="shapes_bitmask">
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-            </plane>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.8 0.8 0.8 1</ambient>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box_base">
-      <pose>0 0 10.0 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>0x01</collide_bitmask>
-            </contact>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 0 0 1</ambient>
-            <diffuse>1 0 0 1</diffuse>
-            <specular>1 0 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box_filtered">
-      <pose>0 0.75 10.0 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>0x02</collide_bitmask>
-            </contact>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>0 1 0 1</ambient>
-            <diffuse>0 1 0 1</diffuse>
-            <specular>0 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box_colliding">
-      <pose>0 -0.75 10.0 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>0x03</collide_bitmask>
-            </contact>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-            <diffuse>1 1 0 1</diffuse>
-            <specular>1 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-  </world>
-</sdf>
diff --git a/dartsim/worlds/test.world b/dartsim/worlds/test.world
deleted file mode 100644
index b75496857..000000000
--- a/dartsim/worlds/test.world
+++ /dev/null
@@ -1,383 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="test_world">
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <cast_shadows>false</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.9 0.9 0.9 1</ambient>
-          </material>
-        </visual>
-      </link>
-    </model>
-    <model name="double_pendulum_with_base">
-      <pose>1 0 0 0 0 0</pose>
-      <link name="base">
-        <inertial>
-          <mass>100</mass>
-        </inertial>
-        <visual name="vis_plate_on_ground">
-          <pose>0 0 0.01 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.8</radius>
-              <length>0.02</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_pole">
-          <pose>-0.275 0 1.1 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.2 0.2 2.2</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <collision name="col_plate_on_ground">
-          <pose>0 0 0.01 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.8</radius>
-              <length>0.02</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <collision name="col_pole">
-          <pose>-0.275 0 1.1 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.2 0.2 2.2</size>
-            </box>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1.1</mu>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-      </link>
-      <!-- upper link, length 1, IC -90 degrees -->
-      <link name="upper_link">
-        <pose>0 0 2.1 -1.5708 0 0</pose>
-        <self_collide>0</self_collide>
-        <inertial>
-          <pose>0 0 0.5 0 0 0</pose>
-        </inertial>
-        <visual name="vis_upper_joint">
-          <pose>-0.05 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_lower_joint">
-          <pose>0 0 1.0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <collision name="col_upper_joint">
-          <pose>-0.05 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>0.1</mu>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-        <collision name="col_lower_joint">
-          <pose>0 0 1.0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <collision name="col_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-        </collision>
-      </link>
-      <!-- lower link, length 1, IC ~-120 degrees more -->
-      <link name="lower_link">
-        <pose>0.25 1.0 2.1 -2 0 0</pose>
-        <self_collide>0</self_collide>
-        <inertial>
-          <pose>0 0 0.5 0 0 0</pose>
-        </inertial>
-        <visual name="vis_lower_joint">
-          <pose>0 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.08</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <collision name="col_lower_joint">
-          <pose>0 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.08</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <collision name="col_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-        </collision>
-      </link>
-      <!-- pin joint for upper link, at origin of upper link -->
-      <joint name="upper_joint" type="revolute">
-        <parent>base</parent>
-        <child>upper_link</child>
-        <axis>
-          <xyz>1.0 0 0</xyz>
-          <dynamics>
-            <damping>3.0</damping>
-          </dynamics>
-        </axis>
-      </joint>
-      <!-- pin joint for lower link, at origin of child link -->
-      <joint name="lower_joint" type="revolute">
-        <parent>upper_link</parent>
-        <child>lower_link</child>
-        <axis>
-          <xyz>1.0 0 0</xyz>
-          <dynamics>
-            <damping>3.0</damping>
-          </dynamics>
-        </axis>
-      </joint>
-    </model>
-
-    <model name="free_body">
-      <pose>0.0  10.0  10.0  0.0  0.0  0.0</pose>
-      <link name="link">
-        <pose>0.0  0.0  0.0  0.0  0.0  0.0</pose>
-        <collision name="collision1">
-          <geometry>
-            <sphere>
-              <radius>1.0</radius>
-            </sphere>
-          </geometry>
-          <surface>
-            <bounce>
-              <restitution_coefficient>0.8</restitution_coefficient>
-            </bounce>
-          </surface>
-        </collision>
-      </link>
-    </model>
-
-    <model name="joint_limit_test">
-      <pose>10 0 2 0  0 0</pose>
-      <link name="base">
-        <inertial>
-          <mass>100</mass>
-        </inertial>
-        <visual name="visual">
-          <pose>0 0 0 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-        </visual>
-      </link>
-      <link name="bar">
-        <pose>1 0 0 0 0 0</pose>
-        <inertial>
-          <mass>1</mass>
-        </inertial>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>0.1 0.1 0.1</size>
-            </box>
-        </geometry>
-        </visual>
-      </link>
-      <joint name="j0" type="fixed">
-        <parent>world</parent>
-        <child>base</child>
-      </joint>
-      <joint name="j1" type="revolute">
-        <pose>-1 0 0 0 0 0</pose>
-        <parent>base</parent>
-        <child>bar</child>
-        <axis>
-          <xyz>0 1 0</xyz>
-          <limit>
-            <lower>-0.5</lower>
-            <upper>0.5</upper>
-            <effort>100</effort>
-          </limit>
-        </axis>
-      </joint>
-    </model>
-
-    <model name="simple_joint_test">
-      <pose>10 10 2 0  0 0</pose>
-      <link name="base">
-        <inertial>
-          <mass>100</mass>
-        </inertial>
-        <visual name="visual">
-          <pose>0 0 0 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-        </visual>
-      </link>
-      <link name="bar">
-        <pose>0 0 -1 0 0 0</pose>
-        <inertial>
-          <mass>1</mass>
-        </inertial>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>0.1 0.1 0.1</size>
-            </box>
-        </geometry>
-        </visual>
-      </link>
-      <joint name="j0" type="fixed">
-        <parent>world</parent>
-        <child>base</child>
-      </joint>
-      <joint name="j1" type="revolute">
-        <pose>0 0 1 0 0 0</pose>
-        <parent>base</parent>
-        <child>bar</child>
-        <axis>
-          <xyz>0 1 0</xyz>
-        </axis>
-      </joint>
-    </model>
-    <model name="screw_joint_test">
-      <link name="link0"/>
-      <link name="link1"/>
-      <joint name="j0" type="screw">
-        <parent>link0</parent>
-        <child>link1</child>
-        <thread_pitch>2</thread_pitch>
-      </joint>
-    </model>
-    <!-- Remove joint types as they get supported -->
-    <model name="unsupported_joint_test">
-      <link name="link0"/>
-      <link name="link1"/>
-      <joint name="j0" type="revolute2">
-        <parent>link0</parent>
-        <child>link1</child>
-      </joint>
-      <link name="link2"/>
-      <link name="link3"/>
-      <joint name="j1" type="gearbox">
-        <parent>link2</parent>
-        <child>link3</child>
-      </joint>
-      <link name="link4"/>
-      <link name="link5"/>
-      <joint name="j2" type="continuous">
-        <parent>link4</parent>
-        <child>link5</child>
-      </joint>
-    </model>
-  </world>
-</sdf>
diff --git a/dartsim/worlds/world_with_nested_model.sdf b/dartsim/worlds/world_with_nested_model.sdf
deleted file mode 100644
index 0b71ad0d7..000000000
--- a/dartsim/worlds/world_with_nested_model.sdf
+++ /dev/null
@@ -1,75 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.8">
-  <world name="nested_model_world">
-    <model name="parent_model">
-      <model name="nested_model">
-        <pose>1 2 2  0 0 0</pose>
-        <link name="nested_link1">
-          <pose>3 1 1  0 0 1.5707</pose>
-          <collision name="nested_collision1">
-            <geometry>
-              <sphere>
-                <radius>2</radius>
-              </sphere>
-            </geometry>
-          </collision>
-        </link>
-        <link name="nested_link2">
-          <pose relative_to="nested_link1">0 1 0  1.5707 0 0</pose>
-          <collision name="nested_collision2">
-            <geometry>
-              <sphere>
-                <radius>2</radius>
-              </sphere>
-            </geometry>
-          </collision>
-        </link>
-        <joint name="nested_joint" type="revolute">
-          <parent>nested_link1</parent>
-          <child>nested_link2</child>
-          <axis>
-            <xyz expressed_in="nested_link1">1 0 0</xyz>
-          </axis>
-        </joint>
-      </model>
-      <link name="link1">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 2 3</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 2 3</size>
-            </box>
-          </geometry>
-        </visual>
-      </link>
-
-      <joint name="joint1" type="fixed">
-         <parent>link1</parent>
-         <child>nested_model::nested_link1</child>
-      </joint>
-
-      <!-- Use duplicate link names for testing that these don't collide
-      with the links in the models above -->
-      <model name="nested_model2">
-        <link name="nested_link1"/>
-      </model>
-      <model name="nested_model3">
-        <link name="link1"/>
-      </model>
-    </model>
-
-    <model name="parent_model2">
-      <model name="child_model">
-        <model name="grand_child_model">
-          <link name="link1"/>
-        </model>
-      </model>
-    </model>
-  </world>
-</sdf>
diff --git a/tpe/plugin/src/SDFFeatures_TEST.cc b/tpe/plugin/src/SDFFeatures_TEST.cc
index eb619c82d..ec92eb380 100644
--- a/tpe/plugin/src/SDFFeatures_TEST.cc
+++ b/tpe/plugin/src/SDFFeatures_TEST.cc
@@ -23,7 +23,7 @@
 #include <sdf/World.hh>
 
 #include <test/Utils.hh>
-#include "Worlds.hh"
+#include <test/common_test/Worlds.hh>
 
 #include <gz/plugin/Loader.hh>
 
@@ -91,11 +91,11 @@ World LoadWorld(const std::string &_world)
 // Test that the tpe plugin loaded all the relevant information correctly.
 TEST(SDFFeatures_TEST, CheckTpeData)
 {
-  auto world = LoadWorld(tpe::worlds::kTestWorld);
+  auto world = LoadWorld(common_test::worlds::kTestWorld);
   auto tpeWorld = world.GetTpeLibWorld();
   ASSERT_NE(nullptr, tpeWorld);
 
-  ASSERT_EQ(6u, tpeWorld->GetChildCount());
+  ASSERT_EQ(7u, tpeWorld->GetChildCount());
 
   // check model 01
   {
@@ -254,7 +254,13 @@ TEST(SDFFeatures_TEST, CheckTpeData)
         link.GetId());
     EXPECT_EQ("link", link.GetName());
     EXPECT_EQ(math::Pose3d::Zero, link.GetPose());
-    EXPECT_EQ(0u, link.GetChildCount());
+    EXPECT_EQ(1u, link.GetChildCount());
+
+    auto &collision = link.GetChildByName("collision1");
+    ASSERT_NE(physics::tpelib::Entity::kNullEntity.GetId(),
+        collision.GetId());
+    EXPECT_EQ("collision1", collision.GetName());
+    EXPECT_EQ(0u, collision.GetChildCount());
   }
 
   // check model 04
@@ -364,26 +370,26 @@ TEST(SDFFeatures_TEST, CheckTpeData)
 // Test that the tpe plugin loaded nested models correctly.
 TEST(SDFFeatures_TEST, NestedModel)
 {
-  auto world = LoadWorld(tpe::worlds::kNestedModelWorld);
+  auto world = LoadWorld(common_test::worlds::kWorldWithNestedModelSdf);
   auto tpeWorld = world.GetTpeLibWorld();
   ASSERT_NE(nullptr, tpeWorld);
 
-  ASSERT_EQ(1u, tpeWorld->GetChildCount());
-  EXPECT_EQ(1u, world.GetModelCount());
+  ASSERT_EQ(2u, tpeWorld->GetChildCount());
+  EXPECT_EQ(2u, world.GetModelCount());
 
   // check top level model
   physics::tpelib::Entity &model =
-      tpeWorld->GetChildByName("model");
+      tpeWorld->GetChildByName("parent_model");
   ASSERT_NE(physics::tpelib::Entity::kNullEntity.GetId(),
       model.GetId());
-  EXPECT_EQ("model", model.GetName());
+  EXPECT_EQ("parent_model", model.GetName());
   EXPECT_EQ(math::Pose3d::Zero, model.GetPose());
-  EXPECT_EQ(2u, model.GetChildCount());
+  EXPECT_EQ(4u, model.GetChildCount());
 
-  physics::tpelib::Entity &link = model.GetChildByName("link");
+  physics::tpelib::Entity &link = model.GetChildByName("link1");
   ASSERT_NE(physics::tpelib::Entity::kNullEntity.GetId(),
       link.GetId());
-  EXPECT_EQ("link", link.GetName());
+  EXPECT_EQ("link1", link.GetName());
   EXPECT_EQ(math::Pose3d::Zero, link.GetPose());
   EXPECT_EQ(1u, link.GetChildCount());
 
@@ -401,27 +407,26 @@ TEST(SDFFeatures_TEST, NestedModel)
       nestedModel.GetId());
   EXPECT_EQ("nested_model", nestedModel.GetName());
   EXPECT_EQ(math::Pose3d(1, 2, 2, 0, 0, 0), nestedModel.GetPose());
-  EXPECT_EQ(1u, nestedModel.GetChildCount());
+  EXPECT_EQ(2u, nestedModel.GetChildCount());
 
   physics::tpelib::Entity &nestedLink =
-      nestedModel.GetChildByName("nested_link");
+      nestedModel.GetChildByName("nested_link1");
   ASSERT_NE(physics::tpelib::Entity::kNullEntity.GetId(),
       nestedLink.GetId());
-  EXPECT_EQ("nested_link", nestedLink.GetName());
+  EXPECT_EQ("nested_link1", nestedLink.GetName());
   EXPECT_EQ(math::Pose3d(3, 1, 1, 0, 0, 1.5707),
       nestedLink.GetPose());
   EXPECT_EQ(1u, nestedLink.GetChildCount());
 
   physics::tpelib::Entity &nestedCollision =
-      nestedLink.GetChildByName("nested_collision");
+      nestedLink.GetChildByName("nested_collision1");
   ASSERT_NE(physics::tpelib::Entity::kNullEntity.GetId(),
       nestedCollision.GetId());
-  EXPECT_EQ("nested_collision", nestedCollision.GetName());
+  EXPECT_EQ("nested_collision1", nestedCollision.GetName());
   EXPECT_EQ(math::Pose3d::Zero, nestedCollision.GetPose());
 
   // canonical link
-  physics::tpelib::Model *m =
-      static_cast<physics::tpelib::Model *>(&model);
+  auto *m = dynamic_cast<physics::tpelib::Model *>(&model);
   physics::tpelib::Entity canLink = m->GetCanonicalLink();
   EXPECT_EQ(link.GetId(), canLink.GetId());
 }
diff --git a/tpe/plugin/src/SimulationFeatures_TEST.cc b/tpe/plugin/src/SimulationFeatures_TEST.cc
index 81660996c..ddecee5de 100644
--- a/tpe/plugin/src/SimulationFeatures_TEST.cc
+++ b/tpe/plugin/src/SimulationFeatures_TEST.cc
@@ -41,9 +41,9 @@
 #include <sdf/Model.hh>
 #include <sdf/Link.hh>
 
+#include <test/common_test/Worlds.hh>
 #include <test/PhysicsPluginsList.hh>
 #include <test/Utils.hh>
-#include "Worlds.hh"
 
 #include "EntityManagementFeatures.hh"
 #include "FreeGroupFeatures.hh"
@@ -52,6 +52,7 @@
 #include "World.hh"
 
 
+
 using namespace gz;
 
 struct TestFeatureList : physics::FeatureList<
@@ -276,7 +277,7 @@ TEST_P(SimulationFeatures_TEST, StepWorld)
     return;
 
   gzdbg << "Testing library " << library << std::endl;
-  const auto worlds = LoadWorlds(library, tpe::worlds::kShapesWorld);
+  const auto worlds = LoadWorlds(library, common_test::worlds::kShapesWorld);
 
   for (const auto &world : worlds)
   {
@@ -299,7 +300,7 @@ TEST_P(SimulationFeatures_TEST, ShapeFeatures)
   if (library.empty())
     return;
 
-  const auto worlds = LoadWorlds(library, tpe::worlds::kShapesWorld);
+  const auto worlds = LoadWorlds(library, common_test::worlds::kShapesWorld);
 
   for (const auto &world : worlds)
   {
@@ -438,7 +439,7 @@ TEST_P(SimulationFeatures_TEST, FreeGroup)
   if (library.empty())
     return;
 
-  const auto worlds = LoadWorlds(library, tpe::worlds::kShapesWorld);
+  const auto worlds = LoadWorlds(library, common_test::worlds::kShapesWorld);
 
   for (const auto &world : worlds)
   {
@@ -486,7 +487,8 @@ TEST_P(SimulationFeatures_TEST, NestedFreeGroup)
   if (library.empty())
     return;
 
-  const auto worlds = LoadWorlds(library, tpe::worlds::kNestedModelWorld);
+  const auto worlds =
+    LoadWorlds(library, common_test::worlds::kWorldWithNestedModelSdf);
 
   for (const auto &world : worlds)
   {
@@ -494,7 +496,7 @@ TEST_P(SimulationFeatures_TEST, NestedFreeGroup)
     ASSERT_NE(nullptr, tpeWorld);
 
     // model free group test
-    auto model = world->GetModel("model");
+    auto model = world->GetModel("parent_model");
     ASSERT_NE(nullptr, model);
     auto freeGroup = model->FindFreeGroup();
     ASSERT_NE(nullptr, freeGroup);
@@ -504,7 +506,7 @@ TEST_P(SimulationFeatures_TEST, NestedFreeGroup)
     freeGroup->SetWorldPose(math::eigen3::convert(newPose));
 
     {
-      auto link = model->GetLink("link");
+      auto link = model->GetLink("link1");
       ASSERT_NE(nullptr, link);
       auto frameData = link->FrameDataRelativeToWorld();
       EXPECT_EQ(newPose,
@@ -513,7 +515,7 @@ TEST_P(SimulationFeatures_TEST, NestedFreeGroup)
     {
       auto nestedModel = model->GetNestedModel("nested_model");
       ASSERT_NE(nullptr, nestedModel);
-      auto nestedLink = nestedModel->GetLink("nested_link");
+      auto nestedLink = nestedModel->GetLink("nested_link1");
       ASSERT_NE(nullptr, nestedLink);
 
       // Poses from SDF
@@ -536,10 +538,8 @@ TEST_P(SimulationFeatures_TEST, CollideBitmasks)
   if (library.empty())
     return;
 
-  const auto worldPath =
-    gz::common::testing::SourceFile(
-      "tpe", "plugin", "worlds", "shapes_bitmask.sdf");
-  const auto worlds = LoadWorlds(library, tpe::worlds::kShapesBitmaskSdf);
+  const auto worlds =
+    LoadWorlds(library, common_test::worlds::kShapesBitmaskWorld);
 
   for (const auto &world : worlds)
   {
@@ -583,7 +583,7 @@ TEST_P(SimulationFeatures_TEST, RetrieveContacts)
   if (library.empty())
     return;
 
-  const auto worlds = LoadWorlds(library, tpe::worlds::kShapesWorld);
+  const auto worlds = LoadWorlds(library, common_test::worlds::kShapesWorld);
 
   for (const auto &world : worlds)
   {
diff --git a/tpe/plugin/src/Worlds.hh b/tpe/plugin/src/Worlds.hh
deleted file mode 100644
index d700ba878..000000000
--- a/tpe/plugin/src/Worlds.hh
+++ /dev/null
@@ -1,40 +0,0 @@
-/*
- * Copyright (C) 2024 Open Source Robotics Foundation
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- *     http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- *
- */
-
-#ifndef TPE_PLUGIN_WORLDS_HH_
-#define TPE_PLUGIN_WORLDS_HH_
-
-#include <gz/common/testing/TestPaths.hh>
-
-#include <string>
-
-// \brief retrieve a filename from the tpe/plugin/worlds directory
-// \param[in] _world filename to retrieve
-// \return full path to the request world
-inline std::string TpeTestWorld(const std::string &_world)
-{
-  return gz::common::testing::SourceFile("tpe", "plugin", "worlds", _world);
-}
-
-namespace tpe::worlds
-{
-const auto kNestedModelWorld = TpeTestWorld("nested_model.world");
-const auto kShapesWorld = TpeTestWorld("shapes.world");
-const auto kShapesBitmaskSdf = TpeTestWorld("shapes_bitmask.sdf");
-const auto kTestWorld = TpeTestWorld("test.world");
-}  // namespace tpe::worlds
-#endif  // TPE_PLUGIN_WORLDS_HH_
diff --git a/tpe/plugin/worlds/nested_model.world b/tpe/plugin/worlds/nested_model.world
deleted file mode 100644
index a2182472a..000000000
--- a/tpe/plugin/worlds/nested_model.world
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="nested_model_world">
-    <model name="model">
-      <static>true</static>
-      <model name="nested_model">
-        <pose>1 2 2 0 0 0</pose>
-        <link name="nested_link">
-          <pose>3 1 1 0 0 1.5707</pose>
-          <collision name="nested_collision">
-            <geometry>
-              <sphere>
-                <radius>2</radius>
-              </sphere>
-            </geometry>
-          </collision>
-        </link>
-      </model>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 2 3</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 2 3</size>
-            </box>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>
diff --git a/tpe/plugin/worlds/shapes.world b/tpe/plugin/worlds/shapes.world
deleted file mode 100644
index cb3bce5d9..000000000
--- a/tpe/plugin/worlds/shapes.world
+++ /dev/null
@@ -1,169 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="default">
-    <model name="sphere">
-      <pose>0 1.5 0.5 0 0 0</pose>
-      <link name="sphere_link">
-        <inertial>
-          <inertia>
-            <ixx>3</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>3</iyy>
-            <iyz>0</iyz>
-            <izz>3</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="sphere_collision">
-          <geometry>
-            <sphere>
-              <radius>1</radius>
-            </sphere>
-          </geometry>
-        </collision>
-        <visual name="sphere_visual">
-          <geometry>
-            <sphere>
-              <radius>1</radius>
-            </sphere>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box">
-      <static>true</static>
-      <pose>0 0 0.5 0 0 0</pose>
-      <link name="box_link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="box_collision">
-          <geometry>
-            <box>
-              <size>100 100 1</size>
-            </box>
-          </geometry>
-        </collision>
-        <visual name="box_visual">
-          <geometry>
-            <box>
-              <size>100 100 1</size>
-            </box>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-
-    <model name="cylinder">
-      <pose>0 -1.5 0.5 0 0 0</pose>
-      <link name="cylinder_link">
-        <inertial>
-          <inertia>
-            <ixx>2</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>2</iyy>
-            <iyz>0</iyz>
-            <izz>2</izz>
-          </inertia>
-          <mass>2.0</mass>
-        </inertial>
-        <collision name="cylinder_collision">
-          <geometry>
-            <cylinder>
-              <radius>0.5</radius>
-              <length>1.1</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <visual name="cylinder_visual">
-          <geometry>
-            <cylinder>
-              <radius>0.5</radius>
-              <length>1.1</length>
-            </cylinder>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-
-    <model name="capsule">
-      <pose>0 -3.0 0.5 0 0 0</pose>
-      <link name="capsule_link">
-        <inertial>
-          <inertia>
-            <ixx>0.074154</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.074154</iyy>
-            <iyz>0</iyz>
-            <izz>0.018769</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="capsule_collision">
-          <geometry>
-            <capsule>
-              <radius>0.2</radius>
-              <length>0.6</length>
-            </capsule>
-          </geometry>
-        </collision>
-        <visual name="capsule_visual">
-          <geometry>
-            <capsule>
-              <radius>0.2</radius>
-              <length>0.6</length>
-            </capsule>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-            <diffuse>1 1 0 1</diffuse>
-            <specular>1 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="ellipsoid">
-      <pose>0 -5 0.7 0 0 0</pose>
-      <link name="ellipsoid_link">
-        <inertial>
-          <inertia>
-            <ixx>0.068</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.058</iyy>
-            <iyz>0</iyz>
-            <izz>0.026</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="ellipsoid_collision">
-          <geometry>
-            <ellipsoid>
-              <radii>0.2 0.3 0.5</radii>
-            </ellipsoid>
-          </geometry>
-        </collision>
-        <visual name="ellipsoid_visual">
-          <geometry>
-            <ellipsoid>
-              <radii>0.2 0.3 0.5</radii>
-            </ellipsoid>
-          </geometry>
-        </visual>
-      </link>
-    </model>
-  </world>
-</sdf>
diff --git a/tpe/plugin/worlds/shapes_bitmask.sdf b/tpe/plugin/worlds/shapes_bitmask.sdf
deleted file mode 100644
index 8aa289fce..000000000
--- a/tpe/plugin/worlds/shapes_bitmask.sdf
+++ /dev/null
@@ -1,154 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="shapes_bitmask">
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-            </plane>
-          </geometry>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.8 0.8 0.8 1</ambient>
-            <diffuse>0.8 0.8 0.8 1</diffuse>
-            <specular>0.8 0.8 0.8 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box_base">
-      <pose>0 0 10.0 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>0x01</collide_bitmask>
-            </contact>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 0 0 1</ambient>
-            <diffuse>1 0 0 1</diffuse>
-            <specular>1 0 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box_filtered">
-      <pose>0 0.75 10.0 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>0x02</collide_bitmask>
-            </contact>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>0 1 0 1</ambient>
-            <diffuse>0 1 0 1</diffuse>
-            <specular>0 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-    <model name="box_colliding">
-      <pose>0 -0.75 10.0 0 0 0</pose>
-      <link name="link">
-        <inertial>
-          <inertia>
-            <ixx>1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>1</iyy>
-            <iyz>0</iyz>
-            <izz>1</izz>
-          </inertia>
-          <mass>1.0</mass>
-        </inertial>
-        <collision name="collision">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <surface>
-            <contact>
-              <collide_bitmask>0x03</collide_bitmask>
-            </contact>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-            <diffuse>1 1 0 1</diffuse>
-            <specular>1 1 0 1</specular>
-          </material>
-        </visual>
-      </link>
-    </model>
-
-  </world>
-</sdf>
diff --git a/tpe/plugin/worlds/test.world b/tpe/plugin/worlds/test.world
deleted file mode 100644
index edbbe74cf..000000000
--- a/tpe/plugin/worlds/test.world
+++ /dev/null
@@ -1,328 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.6">
-  <world name="test_world">
-    <model name="ground_plane">
-      <static>true</static>
-      <link name="link">
-        <collision name="collision">
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-        <visual name="visual">
-          <cast_shadows>false</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <ambient>0.9 0.9 0.9 1</ambient>
-          </material>
-        </visual>
-      </link>
-    </model>
-    <model name="double_pendulum_with_base">
-      <pose>1 0 0 0 0 0</pose>
-      <link name="base">
-        <inertial>
-          <mass>100</mass>
-        </inertial>
-        <visual name="vis_plate_on_ground">
-          <pose>0 0 0.01 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.8</radius>
-              <length>0.02</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_pole">
-          <pose>-0.275 0 1.1 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.2 0.2 2.2</size>
-            </box>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <collision name="col_plate_on_ground">
-          <pose>0 0 0.01 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.8</radius>
-              <length>0.02</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <collision name="col_pole">
-          <pose>-0.275 0 1.1 0 0 0</pose>
-          <geometry>
-            <box>
-              <size>0.2 0.2 2.2</size>
-            </box>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>1.1</mu>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-      </link>
-      <!-- upper link, length 1, IC -90 degrees -->
-      <link name="upper_link">
-        <pose>0 0 2.1 -1.5708 0 0</pose>
-        <self_collide>0</self_collide>
-        <inertial>
-          <pose>0 0 0.5 0 0 0</pose>
-        </inertial>
-        <visual name="vis_upper_joint">
-          <pose>-0.05 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_lower_joint">
-          <pose>0 0 1.0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <collision name="col_upper_joint">
-          <pose>-0.05 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>0.1</mu>
-              </ode>
-            </friction>
-          </surface>
-        </collision>
-        <collision name="col_lower_joint">
-          <pose>0 0 1.0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <collision name="col_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-        </collision>
-      </link>
-      <!-- lower link, length 1, IC ~-120 degrees more -->
-      <link name="lower_link">
-        <pose>0.25 1.0 2.1 -2 0 0</pose>
-        <self_collide>0</self_collide>
-        <inertial>
-          <pose>0 0 0.5 0 0 0</pose>
-        </inertial>
-        <visual name="vis_lower_joint">
-          <pose>0 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.08</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <visual name="vis_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-          <material>
-            <ambient>1 1 0 1</ambient>
-          </material>
-        </visual>
-        <collision name="col_lower_joint">
-          <pose>0 0 0 0 1.5708 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.08</radius>
-              <length>0.3</length>
-            </cylinder>
-          </geometry>
-        </collision>
-        <collision name="col_cylinder">
-          <pose>0 0 0.5 0 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.9</length>
-            </cylinder>
-          </geometry>
-        </collision>
-      </link>
-      <!-- pin joint for upper link, at origin of upper link -->
-      <joint name="upper_joint" type="revolute">
-        <parent>base</parent>
-        <child>upper_link</child>
-        <axis>
-          <xyz>1.0 0 0</xyz>
-          <dynamics>
-            <damping>3.0</damping>
-          </dynamics>
-        </axis>
-      </joint>
-      <!-- pin joint for lower link, at origin of child link -->
-      <joint name="lower_joint" type="revolute">
-        <parent>upper_link</parent>
-        <child>lower_link</child>
-        <axis>
-          <xyz>1.0 0 0</xyz>
-          <dynamics>
-            <damping>3.0</damping>
-          </dynamics>
-        </axis>
-      </joint>
-    </model>
-
-    <model name="free_body">
-      <pose>0.0  10.0  10.0  0.0  0.0  0.0</pose>
-      <link name="link">
-        <pose>0.0  0.0  0.0  0.0  0.0  0.0</pose>
-      </link>
-    </model>
-
-    <model name="joint_limit_test">
-      <pose>10 0 2 0  0 0</pose>
-      <link name="base">
-        <inertial>
-          <mass>100</mass>
-        </inertial>
-        <visual name="visual">
-          <pose>0 0 0 -1.57 0 0</pose>
-          <geometry>
-            <cylinder>
-              <radius>0.1</radius>
-              <length>0.2</length>
-            </cylinder>
-          </geometry>
-        </visual>
-      </link>
-      <link name="bar">
-        <pose>1 0 0 0 0 0</pose>
-        <inertial>
-          <mass>1</mass>
-        </inertial>
-        <visual name="visual">
-          <geometry>
-            <box>
-              <size>0.1 0.1 0.1</size>
-            </box>
-        </geometry>
-        </visual>
-      </link>
-      <joint name="j0" type="fixed">
-        <parent>world</parent>
-        <child>base</child>
-      </joint>
-      <joint name="j1" type="revolute">
-        <pose>-1 0 0 0 0 0</pose>
-        <parent>base</parent>
-        <child>bar</child>
-        <axis>
-          <xyz>0 1 0</xyz>
-          <limit>
-            <lower>-0.5</lower>
-            <upper>0.5</upper>
-            <effort>100</effort>
-          </limit>
-        </axis>
-      </joint>
-    </model>
-    <model name="screw_joint_test">
-      <link name="link0"/>
-      <link name="link1"/>
-      <joint name="j0" type="screw">
-        <parent>link0</parent>
-        <child>link1</child>
-        <thread_pitch>2</thread_pitch>
-      </joint>
-    </model>
-    <!-- Remove joint types as they get supported -->
-    <model name="unsupported_joint_test">
-      <link name="link0"/>
-      <link name="link1"/>
-      <joint name="j0" type="revolute2">
-        <parent>link0</parent>
-        <child>link1</child>
-      </joint>
-      <link name="link2"/>
-      <link name="link3"/>
-      <joint name="j1" type="gearbox">
-        <parent>link2</parent>
-        <child>link3</child>
-      </joint>
-      <link name="link4"/>
-      <link name="link5"/>
-      <joint name="j2" type="continuous">
-        <parent>link4</parent>
-        <child>link5</child>
-      </joint>
-    </model>
-  </world>
-</sdf>