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

    <model name="logical_camera_model">
      <pose>0 0 1 0 0 0</pose>
      <link name="link">
        <sensor name="logical_camera_sensor" type="logical_camera">
          <pose>0 0 1 0 0 0</pose>
          <logical_camera>
            <near>0.55</near>
            <far>5</far>
            <horizontal_fov>1.05</horizontal_fov>
            <aspect_ratio>1.8</aspect_ratio>
          </logical_camera>

          <visualize>true</visualize>
          <always_on>true</always_on>

          <!-- We choose a high fps on purpose. The goal is to check the effect
            of lockstep. -->
          <update_rate>500</update_rate>
        </sensor>
      </link>
    </model>
  </world>
</sdf>
