<?xml version="1.0" ?>
<sdf version='1.6'>
  <world name='default'>
    <model name='heightmap'>
      <static>1</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <heightmap>
              <uri>file://media/materials/textures/heightmap_valley.png</uri>
              <size>17 17 10</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact/>
            <friction>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <heightmap>
              <texture>
                <diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>50</size>
              </texture>
              <texture>
                <diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>20</size>
              </texture>
              <texture>
                <diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>80</size>
              </texture>
              <blend>
                <min_height>2</min_height>
                <fade_dist>5</fade_dist>
              </blend>
              <blend>
                <min_height>4</min_height>
                <fade_dist>5</fade_dist>
              </blend>
              <uri>file://media/materials/textures/heightmap_valley.png</uri>
              <size>17 17 10</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <gravity>1</gravity>
      </link>
    </model>
    <model name='test_sphere'>
      <pose frame=''>0 0 12 0 0 0</pose>
      <link name='link'>
        <inertial>
          <mass>1</mass>
          <inertia>
            <ixx>0.1</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.1</iyy>
            <iyz>0</iyz>
            <izz>0.1</izz>
          </inertia>
          <pose frame=''>0 0 0 0 -0 0</pose>
        </inertial>
        <collision name='collision'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <max_contacts>10</max_contacts>
          <surface>
            <contact>
              <ode/>
            </contact>
            <bounce/>
            <friction>
              <torsional>
                <ode/>
              </torsional>
              <ode/>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <script>
              <name>Gazebo/Grey</name>
              <uri>file://media/materials/scripts/gazebo.material</uri>
            </script>
          </material>
        </visual>
        <self_collide>0</self_collide>
        <enable_wind>0</enable_wind>
        <kinematic>0</kinematic>
      </link>
    </model>
  </world>
</sdf>
