<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <physics type="ode">
      <dart>
        <collision_detector>bullet</collision_detector>
      </dart>
    </physics>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <model name="box1">
      <pose>-63.0 -63. 10 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>
          <material>
            <ambient>1 0 0 1</ambient>
            <diffuse>1 0 0 1</diffuse>
          </material>
        </visual>
      </link>
    </model>
    <model name="box2">
      <pose>-63.0 63.0 10 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>
          <material>
            <ambient>0 1 0 1</ambient>
            <diffuse>0 1 0 1</diffuse>
          </material>
        </visual>
      </link>
    </model>
    <model name="box3">
      <pose>63 63.0 10 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>
          <material>
            <ambient>0 0 1 1</ambient>
            <diffuse>0 0 1 1</diffuse>
          </material>
        </visual>
      </link>
    </model>
    <model name="box4">
      <pose>63 -63.0 10 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>
      </link>
    </model>
    <model name="heightmap">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <heightmap>
              <uri>file://media/materials/textures/heightmap_bowl.png</uri>
              <size>129 129 10</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </collision>
        <visual name="visual_abcedf">
          <geometry>
            <heightmap>
              <use_terrain_paging>false</use_terrain_paging>
              <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/materials/textures/heightmap_bowl.png</uri>
              <size>129 129 10</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </visual>
      </link>
    </model>
  </world>
</sdf>
