world_demo.sdf

<?xml version="1.0" ?>
<sdf version="1.8">
  <world name="world_demo">
    <physics name="1ms" type="ignored">
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
    <plugin
      filename="gz-sim-physics-system"
      name="gz::sim::systems::Physics">
    </plugin>
    <plugin
      filename="gz-sim-user-commands-system"
      name="gz::sim::systems::UserCommands">
    </plugin>
    <plugin
      filename="gz-sim-scene-broadcaster-system"
      name="gz::sim::systems::SceneBroadcaster">
    </plugin>

    <!--light-->
    <light type="directional" name="sun">
      <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>1000</range>
        <constant>0.9</constant>
        <linear>0.01</linear>
        <quadratic>0.001</quadratic>
      </attenuation>
      <direction>-0.5 0.1 -0.9</direction>
    </light>
    <include>
        <name>Coke0</name>
        <pose>0 0 0 0 0 0</pose>
        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke</uri>
    </include>
    <include>
        <name>Coke1</name>
        <pose>0 0.1 0 0 0 0</pose>
        <uri>https://fuel.gazebosim.org/1.0/OpenRobotics/models/Coke</uri>
    </include>
  </world>
</sdf>