LWA Gazebo world file

<?xml version="1.0" ?>
<sdf version="1.3">
  <world name="default">
    <physics type="ode">
      <gravity>0 0 -9.81</gravity>
      <ode>
        <solver>
          <type>quick</type>
          <dt>0.001</dt>
          <iters>40</iters>
          <sor>1.0</sor>
        </solver>
        <constraints>
          <cfm>0.0</cfm>
          <erp>0.2</erp>
          <contact_max_correcting_vel>100.0</contact_max_correcting_vel>
          <contact_surface_layer>0.0</contact_surface_layer>
        </constraints>
      </ode>
    </physics>
    <scene>
        <ambient>.0 .0 .0 1.0</ambient>
        <shadows>0</shadows>
    </scene>
    <light name="point_light_0" type="point">
      <pose>-10.0 -10.0 .0 .0 .0 .0</pose>
      <diffuse>.3 .3 .3 1.0</diffuse>
      <specular>.01 .01 .01 1.0</specular>
      <attenuation>
        <range>20.0</range>
        <linear>0.01</linear>
        <constant>0.5</constant>
      </attenuation>
    </light>
    <light name="point_light_1" type="point">
      <pose>10.0 10.0 .0 .0 .0 .0</pose>
      <diffuse>.3 .3 .3 1.0</diffuse>
      <specular>.01 .01 .01 1.0</specular>
      <attenuation>
        <range>20.0</range>
        <linear>0.01</linear>
        <constant>0.5</constant>
      </attenuation>
    </light>
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <!-- Schunk LWA -->
    <include>
        <uri>model://schunk_lwa</uri>
    </include>
  </world>
</sdf>