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

    <model name="pointcloud_camera">
      <static>true</static>
      <pose>0.0 0.0 0.5 0 0 0</pose>
      <link name="link">
        <pose>0.0 0.0 0.0 0 0 0</pose>
        <inertial>
          <mass>0.1</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name="pointcloud_camera_sensor" type="depth">
          <camera>
            <horizontal_fov>0.7854</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
            <depth_camera>
              <output>points</output>
            </depth_camera>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
          <visualize>false</visualize>
        </sensor>
      </link>
    </model>

    <model name="tr_box">
      <static>true</static>
      <pose>1.0 -0.5 1.0 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>
      </link>
    </model>

    <model name="tl_box">
      <static>true</static>
      <pose>1.2 0.5 1.0 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>
      </link>
    </model>

    <model name="br_box">
      <static>true</static>
      <pose>1.4 -0.5 0.0 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>
      </link>
    </model>

    <model name="bl_box">
      <static>true</static>
      <pose>1.8 0.5 0.0 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>
      </link>
    </model>

  </world>
</sdf>
