<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>

    <model name="box">
      <pose>0 0 -207 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/dem_neg.tif</uri>
            </heightmap>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <heightmap>
              <uri>file://media/materials/textures/dem_neg.tif</uri>
            </heightmap>
          </geometry>
        </visual>
      </link>
    </model>

  </world>
</sdf>
