<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <model name="box1">
      <pose>-64 64 0.1 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry> <box> <size>1 1 1</size> </box> </geometry>
        </collision>
        <visual name="visual">
          <geometry> <box> <size>1 1 1</size> </box> </geometry>
        </visual>
        <sensor name="gps" type="gps">
          <pose>0 0 0  0 0 0</pose>
          <update_rate>10.0</update_rate>
          <always_on>true</always_on>
          <gps>
            <position_sensing>
              <horizontal>
                <noise type="gaussian_quantized">
                  <mean>0</mean>
                  <stddev>0</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                  <precision>0.5</precision>
                </noise>
              </horizontal>
              <vertical>
                <noise type="gaussian_quantized">
                  <mean>0</mean>
                  <stddev>0</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                  <precision>1.0</precision>
                </noise>
              </vertical>
            </position_sensing>
            <velocity_sensing>
              <horizontal>
                <noise type="gaussian_quantized">
                  <mean>0</mean>
                  <stddev>0</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                  <precision>0.1</precision>
                </noise>
              </horizontal>
              <vertical>
                <noise type="gaussian_quantized">
                  <mean>0</mean>
                  <stddev>0</stddev>
                  <bias_mean>0</bias_mean>
                  <bias_stddev>0</bias_stddev>
                  <precision>0.2</precision>
                </noise>
              </vertical>
            </velocity_sensing>
          </gps>
        </sensor>
      </link>
    </model>

    <model name="heightmap">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <heightmap>
              <uri>file://media/dem/volcano.tif</uri>
              <size>129 129 0.1</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </collision>

        <visual name="visual_abcedf">
          <geometry>
            <heightmap>
              <texture>
                <diffuse>file://media/materials/textures/dirt_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>1</size>
              </texture>
              <texture>
                <diffuse>file://media/materials/textures/grass_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>1</size>
              </texture>
              <texture>
                <diffuse>file://media/materials/textures/fungus_diffusespecular.png</diffuse>
                <normal>file://media/materials/textures/flat_normal.png</normal>
                <size>1</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/dem/volcano.tif</uri>
              <size>129 129 0.1</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </visual>

      </link>
    </model>

  </world>
</sdf>
