world.sdf

<sdf version='1.4'>
	<world name="Grid">
		<scene>
			<ambient>0.4 0.4 0.4 1</ambient>
			<background>0.5 0.5 1 1</background>
			<shadows>false</shadows>
		</scene>
		<plugin name="acceleration" filename="libacceleration_plugin.so">
			<rosNamespace>/</rosNamespace>
		</plugin>
		<plugin name="joint" filename="libjoint_plugin.so">
			<rosNamespace>/</rosNamespace>
		</plugin>
		<plugin name="collision" filename="libcollision_plugin.so">
			<rosNamespace>/</rosNamespace>
		</plugin>
		<include>
			<uri>model://ground_plane/</uri>
		</include>
		<light name="sun" type="directional">
			<pose>0 0 10 0 0 0</pose>
			<diffuse>0.8 0.8 0.8 1</diffuse>
			<specular>0.2 0.2 0.2 1</specular>
		</light>
		<light name="lightFor0x0" type="point">
			<pose>0 -0.1 0.1 0 0 0</pose>
			<diffuse>0.5 0.5 0.5 1</diffuse>
			<specular>0.1 0.1 0.1 1</specular>
			<attenuation>
				<range>20.0</range>
				<constant>0.50</constant>
				<linear>0.01</linear>
				<quadratic>0.00</quadratic>
			</attenuation>
		</light>
	</world>
</sdf>