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<?xml version="1.0" ?>
<sdf version="1.7">
<world name="world_custom_model">
<model name="robot">
<include>
<uri>base</uri>
<experimental:params>
<visual element_id="chassis::lidar_visual" action="remove"/>
<sensor element_id="chassis::lidar" action="remove"/>
<visual element_id="chassis" name="camera_visual" action="add">
<pose>-1.06 0 0 0 0 3.14</pose>
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor element_id="top_model::top_camera::top_camera_link::camera" action="modify">
<pose>0 0 0 0 0 3.14</pose>
<update_rate>60</update_rate>
</sensor>
<visual element_id="top_model::top_camera::top_camera_link::camera_visual">
<geometry action="replace">
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
<material action="modify">
<!-- blue -->
<ambient>0 0 1 1</ambient>
<diffuse>0 0 1 1</diffuse>
</material>
</visual>
<collision element_id="top_model::top_camera::top_camera_link" name="camera_collision" action="add">
<pose>-0.2 0 0.3 0 0 3.14</pose>
<geometry>
<sphere>
<radius>0.05</radius>
</sphere>
</geometry>
</collision>
</experimental:params>
</include>
</model>
</world>
</sdf>
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