diff --git a/mvsim_tutorial/demo_road_circuit1.world.xml b/mvsim_tutorial/demo_road_circuit1.world.xml
new file mode 100644
index 00000000..aff9b078
--- /dev/null
+++ b/mvsim_tutorial/demo_road_circuit1.world.xml
@@ -0,0 +1,297 @@
+<mvsim_world version="1.0">
+	<!-- General simulation options -->
+	<simul_timestep>0</simul_timestep> <!-- Simulation fixed-time interval for numerical integration [seconds] or 0 to autodetermine -->
+	
+	<!-- GUI options -->
+	<gui>
+		<ortho>false</ortho>
+		<show_forces>false</show_forces>  <force_scale>0.01</force_scale>
+		<cam_distance>50</cam_distance>
+		<cam_azimuth>150</cam_azimuth>
+		<cam_elevation>75</cam_elevation>
+		<fov_deg>80</fov_deg>
+		<!-- <follow_vehicle>r1</follow_vehicle> -->
+	</gui>
+
+	<!-- Light parameters -->
+	<lights>
+		<enable_shadows>true</enable_shadows>
+		<light_azimuth_deg>-25.0</light_azimuth_deg>
+		<light_elevation_deg>40.0</light_elevation_deg>
+	</lights>
+
+	
+	<!-- ========================
+		   Scenario definition
+	     ======================== -->
+		 <!-- ForestFloor01_1K_BaseColor
+			  ForestGround01_1K_BaseColor
+			  Grass01_1K_BaseColor
+			  Pebbles02_512_BaseColor
+
+			  https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png
+			  https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_Turn90_BaseColor.png
+		 -->
+
+	<element class='elevation_map'>
+		<resolution>4.0</resolution>
+		<elevation_data_matrix>[3e-2 -3e-2; 2e-2 1e-2;-1e-2 2e-2;-4e-2 2e-2;3e-2 1e-2;5e-2 -2e-2;-3e-2 1e-2;3e-2 1e-2;-1e-2 5e-2;-1e-2 2e-2;-1e-2 2e-2;-1e-2 2e-2;0e-2 0e-2]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png</texture_image>
+		<texture_image_rotate>-90</texture_image_rotate>
+		<texture_extension_x>8.0</texture_extension_x>
+		<texture_extension_y>4.0</texture_extension_y>
+		<corner_min_x>-24</corner_min_x>
+		<corner_min_y>-2</corner_min_y>
+		<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
+	</element>
+	<element class='elevation_map'>
+		<resolution>4.0</resolution>
+		<elevation_data_matrix>[0e-2 0e-2; 0e-2 0e-2]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_Turn90_BaseColor.png</texture_image>
+		<texture_image_rotate>-90</texture_image_rotate>
+		<texture_extension_x>4.0</texture_extension_x>
+		<texture_extension_y>4.0</texture_extension_y>
+		<corner_min_x>24</corner_min_x>
+		<corner_min_y>-2</corner_min_y>
+	</element>
+	<element class='elevation_map'>
+		<resolution>4.0</resolution>
+		<elevation_data_matrix>[0e-2 0e-2 2e-2 1e-2 1e-2 1e-2 4e-2 4e-2 0e-2; 0e-2 3e-2 2e-2 1e-2 4e-2 1e-2 1e-2 -1e-2 0e-2]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png</texture_image>
+		<texture_image_rotate>0</texture_image_rotate>
+		<texture_extension_x>4.0</texture_extension_x>
+		<texture_extension_y>8.0</texture_extension_y>
+		<corner_min_x>24</corner_min_x>
+		<corner_min_y>2</corner_min_y>
+		<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
+	</element>
+	<element class='elevation_map'>
+		<resolution>4.0</resolution>
+		<elevation_data_matrix>[0e-2 0e-2; 0e-2 0e-2]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_Turn90_BaseColor.png</texture_image>
+		<texture_image_rotate>0</texture_image_rotate>
+		<texture_extension_x>4.0</texture_extension_x>
+		<texture_extension_y>4.0</texture_extension_y>
+		<corner_min_x>24</corner_min_x>
+		<corner_min_y>34</corner_min_y>
+	</element>
+	<element class='elevation_map'>
+		<resolution>4.0</resolution>
+		<elevation_data_matrix>[3e-2 -3e-2; 2e-2 1e-2;-1e-2 2e-2;-4e-2 2e-2;3e-2 1e-2;5e-2 -2e-2;-3e-2 1e-2;3e-2 1e-2;-1e-2 5e-2;-1e-2 2e-2;-1e-2 2e-2;-1e-2 2e-2;0e-2 0e-2]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/TwoLaneRoadCracks01_1K_BaseColor.png</texture_image>
+		<texture_image_rotate>-90</texture_image_rotate>
+		<texture_extension_x>8.0</texture_extension_x>
+		<texture_extension_y>4.0</texture_extension_y>
+		<corner_min_x>-24</corner_min_x>
+		<corner_min_y>34</corner_min_y>
+		<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
+	</element>
+
+	<element class="horizontal_plane">
+		<x_min>2</x_min> <y_min>26</y_min>
+		<x_max>6</x_max> <y_max>46</y_max>
+		<z>4.02</z>
+		<texture>https://mrpt.github.io/mvsim-models/textures-cgbookcase/PavingStone11_1K_BaseColor.png</texture>
+		<texture_size_x>1.0</texture_size_x>
+		<texture_size_y>1.0</texture_size_y>
+	</element>
+
+	<block>
+		<static>true</static> <!-- Does not move -->
+		<color>#e0e0e0</color>
+		<zmin>0.10</zmin> <zmax>1.0</zmax>
+		<shape_from_visual/> <!-- automatic collision shape from 3D model -->
+		<geometry type="box" lx="0.07" ly="20.0" lz="0.75"/>
+		<init_pose3d>2.0 26.0 3.9 0 0 0</init_pose3d>
+		<skip_elevation_adjust>true</skip_elevation_adjust>
+	</block>
+	<block>
+		<static>true</static> <!-- Does not move -->
+		<color>#e0e0e0</color>
+		<zmin>0.10</zmin> <zmax>1.0</zmax>
+		<shape_from_visual/> <!-- automatic collision shape from 3D model -->
+		<geometry type="box" lx="0.07" ly="20.0" lz="0.75"/>
+		<init_pose3d>6.0 26.0 3.9 0 0 0</init_pose3d>
+		<skip_elevation_adjust>true</skip_elevation_adjust>
+	</block>
+
+
+	<element class='elevation_map'>
+		<resolution>8.0</resolution>
+		<elevation_data_matrix>
+			[0  1   4    1   0;
+			 0  3   3    2   0;
+			 0  0.7 2.5  3   0;
+			 0  1   3    4   0;
+			 0  0.7 2.9  4   0;
+			 0  1.5 0    2   0;
+			 0  0   0    0   0
+			]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/Dirt02_1K_BaseColor.png</texture_image>
+		<texture_image_rotate>0</texture_image_rotate>
+		<texture_extension_x>3.0</texture_extension_x>
+		<texture_extension_y>3.0</texture_extension_y>
+		<corner_min_x>-24</corner_min_x>
+		<corner_min_y>2</corner_min_y>
+		<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
+	</element>
+
+	<element class='elevation_map'>
+		<resolution>8.0</resolution>
+		<elevation_data_matrix>
+			[0  1   4     30;
+			 0  3   3     25;
+			 0  3   3     25;
+			 0  3   3     25;
+			 0  3   3     25;
+			 0  4   2.5   28;
+			 0  4   3     30;
+			 0  4   2.9   29;
+			 0  1   0     27;
+			 0  1   0     27;
+			 0  1   0     27;
+			 0  1   0     27;
+			 0  0   0     25
+			]</elevation_data_matrix>
+		<texture_image>https://mrpt.github.io/mvsim-models/textures-cgbookcase/Dirt02_1K_BaseColor.png</texture_image>
+		<texture_image_rotate>0</texture_image_rotate>
+		<texture_extension_x>3.0</texture_extension_x>
+		<texture_extension_y>3.0</texture_extension_y>
+		<corner_min_x>-44</corner_min_x>
+		<corner_min_y>38</corner_min_y>
+		<model_split_size>3.0</model_split_size> <!-- See docs. Required for correct z-order rendering if there are transparent objects in the world (e.g. trees with leaves) -->
+	</element>
+	
+
+	<!-- A SkyBox decoration -->
+	<element class='skybox'>
+		<!-- Provide the URI printf-like "pattern" to the six texture files, 
+		     such that replacing "%s" with the following strings gives the path
+		     to the files: "Up", "Right", "Left", "Front", "Down", "Back".
+		 -->
+		<textures>https://mrpt.github.io/mvsim-models/skyboxes/TropicalSunnyDay.zip/TropicalSunnyDay/TropicalSunnyDay%s.jpg</textures>
+	</element>
+
+	<!-- =============================
+		   Vehicle classes definition
+	     ============================= -->
+	<include file="../definitions/jackal.vehicle.xml"
+		default_sensors="false"
+	/>
+
+	<!-- ========================
+		   Vehicle(s) definition
+	     ======================== -->
+	<vehicle name="r1" class="jackal">
+		<init_pose>0 0 0</init_pose>  <!-- In global coords: x,y, yaw(deg) -->
+
+		<visual>
+			<model_uri>https://mrpt.github.io/mvsim-models/robot-agricobiot2/mast.dae</model_uri>
+			<model_offset_x>0</model_offset_z>
+			<model_offset_y>0</model_offset_y>
+			<model_offset_z>0</model_offset_z>
+			<model_yaw>180.0</model_yaw>
+			<model_pitch>0.0</model_pitch>
+			<model_roll>90.0</model_roll>
+		</visual>
+
+		<!-- Sensors -->
+
+		<include file="../definitions/velodyne-vlp16.sensor.xml"
+		  sensor_x="-0.08" sensor_y="0" sensor_z="0.87" sensor_yaw="0"
+		  sensor_std_noise="0.005"
+		  sensor_publish="false"
+		  sensor_name="lidar1"
+		  sensor_rpm="600"
+		  horz_resolution_factor="2.0"
+		  vert_resolution_factor="2.0"
+		/>
+		
+		<include file="../definitions/camera.sensor.xml"
+		  sensor_x="0.03" sensor_z="0.73"
+		  ncols="800" nrows="600"
+		  cx="400" cy="300"
+		  sensor_period_sec="0.10"
+		/>
+
+	</vehicle>
+	
+	
+
+	<!-- ======================================
+	      Obstacle blocks classes definition
+	     ====================================== -->
+	<block:class name="rock_01">
+		<static>true</static> <!-- Does not move -->
+		<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
+		<zmin>0.0</zmin> <zmax>2.5</zmax>  <!-- Only count collisions in this height range -->
+		<visual>
+			<model_uri>https://mrpt.github.io/mvsim-models/rock01.zip/rock01/FallingRock01.dae</model_uri>
+		</visual>
+	</block:class>
+
+	<block:class name="rock_02">
+		<static>true</static> <!-- Does not move -->
+		<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
+		<zmin>0.0</zmin> <zmax>2.5</zmax>  <!-- Only count collisions in this height range -->
+		<visual>
+			<model_uri>https://mrpt.github.io/mvsim-models/rock02.zip/rock02/FallingRock02.dae</model_uri>
+		</visual>
+	</block:class>
+
+	<block:class name="palm_tree_01">
+		<static>true</static> <!-- Does not move -->
+		<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
+		<zmin>0.0</zmin> <zmax>0.5</zmax>  <!-- Only count collisions in this height range -->
+		<visual>
+			<model_uri>https://mrpt.github.io/mvsim-models/TropicPalmTree.zip/TropicPalmTree/free_palm.dae</model_uri>
+			<model_roll>90</model_roll>
+			<model_split_size>1.50</model_split_size> <!-- See docs. Required for transparent leaves -->
+		</visual>
+	</block:class>
+	
+	<block:class name="construction_cone">
+		<static>false</static>
+		<shape_from_visual/> <!-- automatic shape,zmin,zmax from 3D mesh-->
+		<zmin>0.0</zmin> <zmax>0.5</zmax>  <!-- Only count collisions in this height range -->
+		<visual>
+			<model_uri>https://mrpt.github.io/mvsim-models/ConstructionCone.zip/ConstructionCone/construction_cone.dae</model_uri>
+			<model_roll>90</model_roll>
+			<model_scale>5</model_scale>
+		</visual>
+	</block:class>
+
+
+	<!-- ========================
+		Obstacle blocks
+	     ======================== -->
+
+	<block class="construction_cone">
+		<!-- In global coords: x,y,z, yaw(deg),pitch(deg),roll(deg) -->
+		<init_pose3d>2 1 0 0 0 0</init_pose3d>
+	</block>
+
+
+	<variable name="ROCKS_SPREAD_X" value="35.0"></variable>
+	<variable name="ROCKS_SPREAD_Y" value="35.0"></variable>
+	<variable name="ROCKS_SPREAD_Z" value="1.0"></variable>
+
+	<variable name="TREES_SPREAD_X" value="20.0"></variable>
+	<variable name="TREES_SPREAD_Y" value="20.0"></variable>
+	<variable name="TREES_SPREAD_Z" value="0"></variable>
+	     
+	<for var="i" from="1" to="12">
+		<block class="rock_01">
+			<!-- In global coords: x,y,z, yaw(deg),pitch(deg),roll(deg) -->
+			<init_pose3d>$f{(-0.5+rand())*ROCKS_SPREAD_X} $f{(-0.5+rand())*ROCKS_SPREAD_Y} $f{(-0.5+rand())*ROCKS_SPREAD_Z} $f{-180+rand()*360} 0 0</init_pose3d>
+		</block>
+	</for>
+
+	<for var="i" from="1" to="5">
+		<block class="palm_tree_01">
+			<!-- In global coords: x,y,z, yaw(deg),pitch(deg),roll(deg) -->
+			<init_pose3d>$f{(-0.5+rand())*TREES_SPREAD_X} $f{(-0.5+rand())*TREES_SPREAD_Y} $f{(-0.5+rand())*TREES_SPREAD_Z} $f{-180+rand()*360} 0 0</init_pose3d>
+		</block>
+	</for>
+
+</mvsim_world>