<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>

    <model name="multicamera_model">
      <static>true</static>
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="multicamera_sensor" type="multicamera">
          <!-- We choose a high fps on purpose. The goal is to check the effect
            of lockstep. -->
          <update_rate>500</update_rate>

          <camera name="top_left">
            <pose>0 -0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="top_right">
            <pose>0 0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_left">
            <pose>0 -0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
        </sensor>
      </link>
    </model>

    <model name="box">
      <pose>13 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>5 5 5</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
      </link>
    </model>

    <!-- Double pendulum -->
    <include>
      <name>active_pendulum</name>
      <uri>model://double_pendulum_with_base</uri>
      <pose>2 0 0 0 0 0</pose>
      <scale>0.5 0.5 0.5</scale>
    </include>

  </world>
</sdf>
