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You can't yet include a model inside another one, but you can copy its links and joints directly under the <actor> tag.

Take the box example world in the tutorial for example and add a camera sensor to the box link:

    <link name="box_link">
      ...
      <sensor name="camera" type="camera">
        <camera>
        </camera>
        <visualize>true</visualize>
      </sensor>
    </link>

And you get a camera that moves with the box, see a video here.