<gazebo version='1.2'>
  <!-- Light Source -->
  <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>0.1 0.1 0.1 1</specular>

    <attenuation>
      <range>1000</range>
      <constant>0.9</constant>
      <linear>0.1</linear>
      <quadratic>0.01</quadratic>
    </attenuation>

    <direction>0.5 0.0 -1.0</direction>
  </light>
</gazebo>
