<?xml version="1.0" ?>
<sdf version="1.6">
  <world name="lights">
    <physics name="1ms" type="ode">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>0</real_time_factor>
    </physics>
    <plugin
      filename="ignition-gazebo-physics-system"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="ignition-gazebo-scene-broadcaster-system"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>

    <light type="directional" name="directional">
      <cast_shadows>true</cast_shadows>
      <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>
      <attenuation>
        <range>100</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0.5 0.2 -0.9</direction>
    </light>

    <light type="point" name="point">
      <pose>0 -1.5 3 0 0 0</pose>
      <diffuse>1 0 0 1</diffuse>
      <specular>.1 .1 .1 1</specular>
      <attenuation>
        <range>4</range>
        <constant>0.2</constant>
        <linear>0.5</linear>
        <quadratic>0.01</quadratic>
      </attenuation>
      <cast_shadows>false</cast_shadows>
    </light>

    <light type="spot" name="spot">
      <pose>0 1.5 3 0 0 0</pose>
      <diffuse>0 1 0 1</diffuse>
      <specular>.2 .2 .2 1</specular>
      <attenuation>
        <range>5</range>
        <constant>0.3</constant>
        <linear>0.4</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>0 0 -1</direction>
      <spot>
        <inner_angle>0.1</inner_angle>
        <outer_angle>0.5</outer_angle>
        <falloff>0.8</falloff>
      </spot>
      <cast_shadows>false</cast_shadows>
    </light>

    <model name="sphere">
      <pose>0 0.0 0.0 0 0 0</pose>
      <link name="sphere_link">
          <visual name="sphere_visual">
          <geometry>
            <sphere>
              <radius>0.5</radius>
            </sphere>
          </geometry>
          <material>
            <ambient>0.3 0.3 0.3 1</ambient>
            <diffuse>0.3 0.3 0.3 1</diffuse>
            <specular>0.3 0.3 0.3 1</specular>
          </material>
        </visual>

        <light type="point" name="link_light_point">
          <pose>0 0 1.0 0 0 0</pose>
          <diffuse>0 0 1 1</diffuse>
          <specular>.1 .1 .1 1</specular>
          <attenuation>
            <range>2</range>
            <constant>0.05</constant>
            <linear>0.02</linear>
            <quadratic>0.01</quadratic>
          </attenuation>
          <cast_shadows>false</cast_shadows>
        </light>

      </link>
    </model>

  </world>
</sdf>
