<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">

    <light name='sun' type='directional'>
      <cast_shadows>1</cast_shadows>
      <pose>0 0 0 0 0 0</pose>
      <diffuse>1.0 1.0 1.0 1</diffuse>
      <specular>1.0 1.0 1.0 1</specular>
      <direction>1 0 -0.2</direction>
    </light>

    <include>
      <uri>model://ground_plane</uri>
    </include>

    <scene>
      <ignition:shadow_caster_render_back_faces>true</ignition:shadow_caster_render_back_faces>
      <background>0.0 0.0 0.0 1</background>
    </scene>

    <model name='camera_normal'>
      <static>1</static>
      <pose>5 0.0 0.25 0 1.5 0</pose>
      <link name='link'>
        <visual name='visual'>
          <geometry>
            <box>
              <size>0.1 0.1 0.1</size>
            </box>
          </geometry>
        </visual>
        <sensor name='camera_normal' type='camera'>
          <camera>
            <horizontal_fov>1.047</horizontal_fov>
            <image>
              <width>320</width>
              <height>240</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.1</near>
              <far>100</far>
            </clip>
          </camera>
          <always_on>1</always_on>
          <update_rate>10</update_rate>
        </sensor>
      </link>
    </model>

    <model name="box">
      <static>true</static>
      <pose>0 0 1.0 0 2.0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <size>1 1 1</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <size>1 1 1</size>
            </plane>
          </geometry>
        </visual>
      </link>
    </model>

  </world>
</sdf>
