<?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="camera_model">
      <static>true</static>
      <pose>-10.0 0.0 0.5 0 0 0</pose>
      <link name="link">
        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>
        <!-- High fps high-res camera to test strict rate -->
        <sensor name="camera_sensor" type="camera">
          <camera>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <width>1280</width>
              <height>720</height>
            </image>
          </camera>
          <always_on>1</always_on>
          <!-- We choose a high fps on purpose. The goal is to check the effect
            of lockstep. -->
          <update_rate>500</update_rate>
          <visualize>true</visualize>
        </sensor>
        <!-- Regular camera, to make sure strict rate is only applied to the sensor intended -->
        <sensor name="camera_sensor_regular" type="camera">
          <camera>
            <horizontal_fov>1.0472</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
            </image>
          </camera>
          <always_on>1</always_on>
          <update_rate>30</update_rate>
          <visualize>true</visualize>
        </sensor>
      </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>
