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<?xml version="1.0" ?>
<sdf version="1.5">
<world name="default">
<!-- Ground -->
<include>
<uri>model://ground_plane</uri>
</include>
<!-- Wireless transmitter sensor model -->
<model name="wirelessTransmitter">
<static>true</static>
<pose>0 0 0.025 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="base">
<geometry>
<box>
<size>.05 .05 .05</size>
</box>
</geometry>
</visual>
<visual name="antenna">
<pose>0 0 .04 0 0 0</pose>
<geometry>
<cylinder>
<radius>.005</radius>
<length>.07</length>
</cylinder>
</geometry>
</visual>
<sensor name="wirelessTransmitter" type="wireless_transmitter">
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>true</visualize>
<transceiver>
<essid>osrf</essid>
<frequency>2442.0</frequency>
<power>14.5</power>
<gain>2.6</gain>
</transceiver>
</sensor>
</link>
</model>
<!-- Wireless receiver sensor model -->
<model name="wirelessReceiver">
<static>true</static>
<pose>0 -3 0.025 0 0 0</pose>
<link name="link">
<inertial>
<mass>0.1</mass>
</inertial>
<visual name="base">
<geometry>
<box>
<size>.05 .05 .05</size>
</box>
</geometry>
</visual>
<visual name="antenna">
<pose>0 0 .04 0 0 0</pose>
<geometry>
<cylinder>
<radius>.005</radius>
<length>.07</length>
</cylinder>
</geometry>
</visual>
<sensor name="wirelessReceiver" type="wireless_receiver">
<always_on>1</always_on>
<update_rate>1</update_rate>
<visualize>true</visualize>
<transceiver>
<min_frequency>2412.0</min_frequency>
<max_frequency>2484.0</max_frequency>
<power>14.5</power>
<gain>2.5</gain>
<sensitivity>-90.0</sensitivity>
</transceiver>
</sensor>
</link>
</model>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
</world>
</sdf>
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