<sdf version='1.5'>
  <world name='default'>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>

    <model name='RegionEventBox'>
      <static>1</static>
      <pose>0 0 0.5 0 -0 0</pose>
      <link name='link'>
        <visual name='visual'>
          <transparency>0.75</transparency>
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Yellow</name>
            </script>
          </material>
        </visual>
      </link>
      <plugin name='region_event_box' filename='libRegionEventBoxPlugin.so'>
        <event>
          <name>model_in_region_event_box</name>
          <type>inclusion</type>
          <active>true</active>
        </event>
      </plugin>
    </model>

    <model name='box'>
      <pose>-5 0 0.05 0 -0 0</pose>
      <link name='link'>
        <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>
      </link>
    </model>
  </world>
</sdf>
