<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- A spotlight -->
    <light name='spotlight' type='spot'>
      <pose>0 0 1 0 0 0</pose>
      <diffuse>0.5 0.5 0.5 1</diffuse>
      <specular>0.1 0.1 0.1 1</specular>
      <direction>0 0 -1</direction>
      <attenuation>
        <range>20</range>
        <constant>0.5</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <cast_shadows>0</cast_shadows>
      <spot>
        <inner_angle>0.6</inner_angle>
        <outer_angle>1</outer_angle>
        <falloff>1</falloff>
      </spot>
    </light>
  </world>
</sdf>
