<?xml version="1.0" ?>
<sdf version="1.3">
  <world name="default">
    <include><uri>model://ground_plane</uri></include>
    <include><uri>model://sun</uri></include>

    <model name="rotated_box">
      <pose>-3 0 0.5 -1.5708 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="cam1" type="camera">
          <pose>0 0 0  1.5708 0 0</pose>
          <update_rate>15</update_rate>
          <camera name="left">
            <pose>0 0 0  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>
        <sensor name="cam2" type="camera">
          <pose>0 0 0  0.7854 0 0</pose>
          <update_rate>15</update_rate>
          <camera name="left">
            <pose>0 0 0  0.7854 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>
        <sensor name="cam3" type="camera">
          <pose>0 0 0  0 0 0</pose>
          <update_rate>15</update_rate>
          <camera name="left">
            <pose>0 0 0  1.5708 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>
        <sensor name="mcam1" type="multicamera">
          <update_rate>15</update_rate>
          <pose>0 0 0  1.5708 0 0</pose>
          <camera name="left">
            <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="right">
            <pose>0 -1.0 0  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="box1">
      <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>
      </link>
    </model>
    <model name="box2">
      <pose>0 1 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>
    <model name="box3">
      <pose>0 -1 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>
    <model name="box4">
      <pose>0 0 1.5 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>

  </world>
</sdf>
