diff --git a/worlds/iCubGazeboV2_5.world b/worlds/iCubGazeboV2_5.world
new file mode 100644
index 0000000..2cfe676
--- /dev/null
+++ b/worlds/iCubGazeboV2_5.world
@@ -0,0 +1,103 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+    <world name="default">
+        <physics default="true" type="dart">
+            <max_step_size>0.001</max_step_size>
+            <real_time_factor>1.0</real_time_factor>
+        </physics>
+        <plugin
+                filename="libignition-gazebo-physics-system.so"
+                name="ignition::gazebo::systems::Physics">
+        </plugin>
+        <plugin
+                filename="libignition-gazebo-scene-broadcaster-system.so"
+                name="ignition::gazebo::systems::SceneBroadcaster">
+        </plugin>
+
+        <gui fullscreen="0">
+            <!-- 3D scene -->
+            <plugin filename="GzScene3D" name="3D View">
+                <ignition-gui>
+                    <title>3D View</title>
+                    <property type="bool" key="showTitleBar">false</property>
+                    <property type="string" key="state">docked</property>
+                </ignition-gui>
+                <engine>ogre</engine>
+                <scene>scene</scene>
+                <ambient_light>0.4 0.4 0.4</ambient_light>
+                <background_color>0.8 0.8 0.8</background_color>
+                <camera_pose>2 0 2 0 0.5 3.14</camera_pose>
+                <service>/world/default/scene/info</service>
+                <pose_topic>/world/default/pose/info</pose_topic>
+            </plugin>
+
+            <!-- World control -->
+            <plugin filename="WorldControl" name="World control">
+                <ignition-gui>
+                    <title>World control</title>
+                    <property type="bool" key="showTitleBar">false</property>
+                    <property type="bool" key="resizable">false</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>
+                </ignition-gui>
+                <play_pause>true</play_pause>
+                <step>true</step>
+                <start_paused>true</start_paused>
+                <service>/world/default/control</service>
+                <stats_topic>/world/default/stats</stats_topic>
+            </plugin>
+
+            <!-- World statistics -->
+            <plugin filename="WorldStats" name="World stats">
+                <ignition-gui>
+                    <title>World stats</title>
+                    <property type="bool" key="showTitleBar">false</property>
+                    <property type="bool" key="resizable">false</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>
+                </ignition-gui>
+                <sim_time>true</sim_time>
+                <real_time>true</real_time>
+                <real_time_factor>true</real_time_factor>
+                <iterations>true</iterations>
+                <topic>/world/default/stats</topic>
+            </plugin>
+        </gui>
+
+        <light type="directional" name="sun">
+            <cast_shadows>true</cast_shadows>
+            <pose>0 0 10 0 0 0</pose>
+            <diffuse>1 1 1 1</diffuse>
+            <specular>0.5 0.5 0.5 1</specular>
+            <attenuation>
+                <range>1000</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>ground_plane</uri>
+        </include>
+
+        <include>
+            <pose>0 0 1.0 0 0 3.14</pose>
+            <uri>iCubGazeboV2_5</uri>
+        </include>
+
+    </world>
+</sdf>