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<?xml version="1.0" ?>
<sdf version="1.8">
<world name="default">
<light name="point_light" type="point">
<cast_shadows>false</cast_shadows>
<pose>10 2 100 0 0 0</pose>
<diffuse>0.0 0.1 0.8 1.0</diffuse>
<specular>0.03 0.02 0.0 0.5</specular>
<attenuation>
<range>1234</range>
<linear>2</linear>
<constant>0.01</constant>
<quadratic>11.2</quadratic>
</attenuation>
</light>
<light name="spot_light" type="spot">
<cast_shadows>true</cast_shadows>
<diffuse>0.0 0.05 0.06 1.0</diffuse>
<specular>0.05 0.04 0.1 1.0</specular>
<direction>1 5.1 2.1</direction>
<attenuation>
<range>12.34</range>
<linear>0.01</linear>
<constant>0.02</constant>
<quadratic>0.0001</quadratic>
</attenuation>
<spot>
<inner_angle>0.1</inner_angle>
<outer_angle>0.5</outer_angle>
<falloff>2.2</falloff>
</spot>
</light>
<light name="directional_light" type="directional">
<cast_shadows>true</cast_shadows>
<pose>1 1 2 0 0 0</pose>
<intensity>2.2</intensity>
<direction>5 5.2 6</direction>
<diffuse>0.0 0.0 0.3 1.0</diffuse>
<specular>0.0 0.9 0.11 1.0</specular>
</light>
<model name="model_lights">
<link name="link">
<light name="link_point_light" type="point">
<cast_shadows>false</cast_shadows>
<pose>10 20 100 0 0 0</pose>
<diffuse>1.0 0.0 0.6 1.0</diffuse>
<specular>0.3 0.2 0.0 1.0</specular>
<attenuation>
<range>1235</range>
<linear>1</linear>
<constant>-1.0</constant>
<quadratic>10.2</quadratic>
</attenuation>
</light>
<light name="link_spot_light" type="spot">
<cast_shadows>true</cast_shadows>
<diffuse>0.0 0.05 0.06 1.0</diffuse>
<specular>0.03 0.02 0.0 1.0</specular>
<direction>1 5 2</direction>
<attenuation>
<range>12.35</range>
<linear>0.1</linear>
<constant>0.2</constant>
<quadratic>0.001</quadratic>
</attenuation>
<spot>
<inner_angle>0.1</inner_angle>
<outer_angle>0.5</outer_angle>
<falloff>2.2</falloff>
</spot>
</light>
<light name="link_directional_light" type="directional">
<pose>0 1 2 0 0 0</pose>
<intensity>1.2</intensity>
<direction>4 5 6</direction>
<diffuse>0.0 1.0 0.2 1.0</diffuse>
<specular>0.0 0.2 0.1 1.0</specular>
<cast_shadows>true</cast_shadows>
</light>
</link>
</model>
</world>
</sdf>
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