<?xml version='1.0'?>
<sdf version="1.6">
	<world name="empty">
		<physics type="ode">
			<max_step_size>0.001</max_step_size>
			<real_time_update_rate>0</real_time_update_rate><!-- Handled by Paparazzi! -->
		</physics>
		<scene>
			<ambient>1 1 1 1</ambient>
			<background>0.7 0.7 0.7 1</background>
			<shadows>0</shadows>
		</scene>
		<light name='sun' type='directional'>
			<cast_shadows>1</cast_shadows>
			<pose frame=''>0 0 10 0 -0 0</pose>
			<diffuse>0.8 0.8 0.8 1</diffuse>
			<specular>0.1 0.1 0.1 1</specular>
			<attenuation>
				<range>1000</range>
				<constant>0.9</constant>
				<linear>0.01</linear>
				<quadratic>0.001</quadratic>
			</attenuation>
			<direction>-0.5 0.5 -1</direction>
		</light>
		<spherical_coordinates>
			<surface_model>EARTH_WGS84</surface_model>
			<latitude_deg>51.9906340</latitude_deg>
			<longitude_deg>4.3767889</longitude_deg>
			<elevation>45.110</elevation>
			<heading_deg>180</heading_deg><!-- Temporary fix for issue https://bitbucket.org/osrf/gazebo/issues/2022/default-sphericalcoordinates-frame-should -->
		</spherical_coordinates>

		<include>
			<uri>model://ground_plane</uri>
		</include>
	</world>
</sdf>
