From aec8bfbf5c8e19d554db4977a75257684b9f3afc Mon Sep 17 00:00:00 2001
From: Devanshu Sharma <devanshu@blackcoffeerobotics.com>
Date: Sat, 14 Oct 2023 15:09:40 +0530
Subject: [PATCH] added empty world

---
 worlds/empty.sdf | 44 ++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 44 insertions(+)
 create mode 100644 worlds/empty.sdf

diff --git a/worlds/empty.sdf b/worlds/empty.sdf
new file mode 100644
index 0000000..8554aa6
--- /dev/null
+++ b/worlds/empty.sdf
@@ -0,0 +1,44 @@
+<?xml version="1.0" ?>
+<sdf version="1.7">
+    <world name="empty_world">
+        <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>
+        
+        <model name="ground_plane">
+            <static>true</static>
+           <link name="link">
+                <collision name="collision">
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                        </plane>
+                    </geometry>
+                </collision>
+                <visual name="visual">
+                    <geometry>
+                        <plane>
+                            <normal>0 0 1</normal>
+                            <size>100 100</size>
+                        </plane>
+                    </geometry>
+                    <material>
+                        <ambient>0.8 0.8 0.8 1</ambient>
+                        <diffuse>0.8 0.8 0.8 1</diffuse>
+                        <specular>0.8 0.8 0.8 1</specular>
+                    </material>
+                </visual>
+            </link>
+        </model>
+    </world>
+</sdf> 
\ No newline at end of file