<?xml version="1.0" ?>
<sdf version="1.7">
  <world name="nested_model_world">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>0</real_time_factor>
    </physics>
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
      <engine><filename>libignition-physics-tpe-plugin.so</filename></engine>
    </plugin>
    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <scene>
      <ambient>1.0 1.0 1.0</ambient>
      <background>0.8 0.8 0.8</background>
    </scene>

    <model name="model_00">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link_00">
        <pose>0 0 0 0 0 0</pose>
        <collision name="collision_00">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </collision>
        <visual name="visual_00">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
        </visual>
      </link>

      <model name="model_01">
        <pose>1 0 0.0 0 0 0</pose>
        <link name="link_01">
          <pose>0.25 0 0.0 0 0 0</pose>
          <collision name="collision_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </collision>
          <visual name="visual_01">
            <geometry>
              <box>
                <size>1 1 1</size>
              </box>
            </geometry>
          </visual>
        </link>

        <plugin
           filename="ignition-gazebo-pose-publisher-system"
           name="ignition::gazebo::systems::PosePublisher">
          <publish_link_pose>true</publish_link_pose>
          <publish_sensor_pose>false</publish_sensor_pose>
          <publish_collision_pose>false</publish_collision_pose>
          <publish_visual_pose>false</publish_visual_pose>
          <publish_nested_model_pose>false</publish_nested_model_pose>
          <update_frequency>100</update_frequency>
        </plugin>
      </model>
    </model>

  </world>
</sdf>
