<?xml version="1.0"?>
<sdf version="1.6">
  <world name="default">
    <gravity>0 0 0</gravity>
    <include>
      <uri>model://sun</uri>
    </include>

    <model name="post">
      <pose>0 0 1 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>0.2 0.2 2</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>.2 .2 2</size>
            </box>
          </geometry>
        </visual>

        <sensor name="logical_camera" type="logical_camera">
          <pose>0 0 1 0 0 0</pose>
          <logical_camera>
            <near>0.55</near>
            <far>2.5</far>
            <horizontal_fov>1.05</horizontal_fov>
            <aspect_ratio>1.8</aspect_ratio>
          </logical_camera>

          <visualize>true</visualize>
          <always_on>true</always_on>
          <update_rate>1000</update_rate>
        </sensor>
      </link>
    </model>

    <!-- this model has a nested model which is inside of the target -->
    <model name="base_target">
      <pose>1 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>
      </link>
      <model name="nested_target">
        <pose>0 0 1 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>
          <material>
            <script>
              <uri>file://media/materials/scripts/gazebo.material</uri>
              <name>Gazebo/Purple</name>
            </script>
          </material>
          </visual>
        </link>
      </model>
    </model>
  </world>
</sdf>
