The task is about implementation of the designed World Model using C++ code. The program written ,described as a node is used to display the values of position and orientation of robot joints in addition to World Model program implementation which include other classes and objects. The program is connected with Rviz motion planner and to Gazebo simulator by launching a launch file which launches the Rviz \footnote{http://wiki.ros.org/rviz/UserGuide} and Gazebo \footnote{http://gazebosim.org/} and the node file \footnote{https://git-st.inf.tu-dresden.de/nikaviator/zero/-/blob/master/src/\lstinline|robot_models_node.cpp|}. The Robot can be manipulated using a motion plan in Rviz and then plan can be used to run the simulation in Gazebo Simulator.\\
The task is about implementation of the designed World Model using C++ code. The program written ,described as a node is used to display the values of position and orientation of robot joints in addition to World Model program implementation which include other classes and objects. The program is connected with Rviz motion planner and to Gazebo simulator by launching a launch file which launches the Rviz \footnote{http://wiki.ros.org/rviz/UserGuide} and Gazebo \footnote{http://gazebosim.org/} and the node file \footnote{https://git-st.inf.tu-dresden.de/nikaviator/zero/-/blob/master/src/\lstinline|robot_models_node.cpp|}. The Robot can be manipulated using a motion plan in Rviz and then plan can be used to run the simulation in Gazebo Simulator.\\
The program code is designed to take values from the robot in Gazebo Simulator and display them in output.The program also builds the object structure by initializing values and assigning them values.Every class designed is connected to the node program using the header files and contain variables that are used to build object structure in the main node program.So after launching the Rviz and Gazebo using launch file ,the program is built and run and thus displays the position and orientation values of robot joints.\\
The program code is designed to take values from the robot in Gazebo Simulator and display them in output.The program also builds the object structure by initializing values and assigning them values.Every class designed is connected to the node program using the header files and contain variables that are used to build object structure in the main node program.So after launching the Rviz and Gazebo using launch file ,the program is built and run and thus displays the position and orientation values of robot joints.\\
