generated.world

<?xml version="1.0"?>
<!-- Seed: 5291 -->
<sdf version="1.9">
  <world name="virtual_maize_field">

    <!-- Change max step size to increase the simulation speed but decrease the accuracy. -->
    <physics name="10ms" type="ignored">
      <max_step_size>0.01</max_step_size>
      <real_time_factor>1.0</real_time_factor>
    </physics>
  
    <plugin
      filename="libignition-gazebo-physics-system.so"
      name="ignition::gazebo::systems::Physics">
    </plugin>
    <plugin
      filename="libignition-gazebo-user-commands-system.so"
      name="ignition::gazebo::systems::UserCommands">
    </plugin>
    <plugin
      filename="libignition-gazebo-scene-broadcaster-system.so"
      name="ignition::gazebo::systems::SceneBroadcaster">
    </plugin>
    <plugin
      filename="libignition-gazebo-sensors-system.so"
      name="ignition::gazebo::systems::Sensors">
    </plugin>


    <gui fullscreen="0">
        <!-- 3D scene -->
      <plugin filename="GzScene3D" name="3D View">
      <ignition-gui>
          <title>3D View</title>
          <property type="bool" key="showTitleBar">false</property>
          <property type="string" key="state">docked</property>
      </ignition-gui>

    <engine>ogre2</engine>
      <scene>scene</scene>
      <ambient_light>1.0 1.0 1.0</ambient_light>
      <background_color>0.8 0.8 0.8</background_color>
      <camera_pose>-6 0 6 0 0.5 0</camera_pose>
    </plugin>

    <!-- World control -->
    <plugin filename="WorldControl" name="World control">
      <ignition-gui>
        <title>World control</title>
        <property type="bool" key="showTitleBar">false</property>
        <property type="bool" key="resizable">false</property>
        <property type="double" key="height">72</property>
        <property type="double" key="width">121</property>
        <property type="double" key="z">1</property>

        <property type="string" key="state">floating</property>
        <anchors target="3D View">
          <line own="left" target="left"/>
          <line own="bottom" target="bottom"/>
        </anchors>
      </ignition-gui>

      <play_pause>true</play_pause>
      <step>true</step>
      <service>/world/virtual_maize_field/control</service>
      <stats_topic>/world/virtual_maize_field/stats</stats_topic>

    </plugin>

    <!-- World statistics -->
    <plugin filename="WorldStats" name="World stats">
        <ignition-gui>
            <title>World stats</title>
            <property type="bool" key="showTitleBar">false</property>
            <property type="bool" key="resizable">false</property>
            <property type="double" key="height">110</property>
            <property type="double" key="width">290</property>
            <property type="double" key="z">1</property>

            <property type="string" key="state">floating</property>
            <anchors target="3D View">
            <line own="right" target="right"/>
            <line own="bottom" target="bottom"/>
            </anchors>
        </ignition-gui>

        <sim_time>true</sim_time>
        <real_time>true</real_time>
        <real_time_factor>true</real_time_factor>
        <iterations>true</iterations>
        <topic>/world/virtual_maize_field/stats</topic>

    </plugin>

    <!-- Entity tree -->
    <plugin filename="EntityTree" name="Entity tree">
    </plugin>
  </gui>

    <light type="directional" name="sun">
      <!-- Disable shadows to avoid flickering on non-gpu pc, see: 
           https://github.com/gazebosim/gz-sim/issues/2267 -->
      <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>

    <scene>
      <sky>
        <clouds>
          <speed>12</speed>
        </clouds>
      </sky>
      <grid>false</grid>
    </scene>

    <model name="heightmap">
      <static>true</static>
      <link name="link">
        <visual name="ground_plane">
          <geometry>
            <heightmap>
              <use_terrain_paging>false</use_terrain_paging>
              <texture>
                <diffuse>model://materials/textures/grass_color.jpg</diffuse>
                <normal>model://materials/textures/grass_normal.jpg</normal>
                <size>4</size>
              </texture>
              <texture>
                <diffuse>model://materials/textures/dirt_diffusespecular.png</diffuse>
                <normal>model://materials/textures/flat_normal.png</normal>
                <size>1</size>
              </texture>
              <!-- <texture>
                <diffuse>model://materials/textures/grass_color.jpg</diffuse>
                <normal>model://materials/textures/grass_normal.jpg</normal>
                <size>4</size>
              </texture> -->
              <!-- Without this unused 3. texture the blend between the first 2 doesn"t work -->
              <texture>
                <diffuse>model://materials/textures/fungus_diffusespecular.png</diffuse>
                <normal>model://materials/textures/flat_normal.png</normal>
                <size>1</size>
              </texture>
              <blend>
                <min_height>0.2</min_height>
                <fade_dist>0.05</fade_dist>
              </blend>
              <!-- <blend>
                <min_height>0.30000000000000004</min_height>
                <fade_dist>0.05</fade_dist>
              </blend> -->
              <!-- Without this unused 3. texture the blend between the first 2 doesn"t work -->
              <blend>
                <min_height>4</min_height>
                <fade_dist>5</fade_dist>
              </blend>
              <uri>/home/lucas/.ros/virtual_maize_field/virtual_maize_field_heightmap.png</uri>
              <size>24.72 24.72 0.4</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </visual>
        <collision name="collision">
          <geometry>
            <heightmap>
              <uri>/home/lucas/.ros/virtual_maize_field/virtual_maize_field_heightmap.png</uri>
              <size>24.72 24.72 0.4</size>
              <pos>0 0 0</pos>
            </heightmap>
          </geometry>
        </collision>
      </link>
    </model>
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.262842338110423 -9.853720109328998 0.3278395886129877 0.0 0.0 0.032310737435210006</pose>
      <name>maize_01_0000</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.273123083574628 -9.221835262741836 0.3194165644737555 0.0 0.0 0.6626034517708913</pose>
      <name>maize_02_0001</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.262748751230356 -9.077797355983575 0.33098558158080266 0.0 0.0 4.182832467624203</pose>
      <name>maize_01_0002</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.287846865728766 -8.954218319530156 0.3264911281577882 0.0 0.0 5.5871877570552275</pose>
      <name>maize_02_0003</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.27690304774942 -8.7983305317855 0.3253780953884618 0.0 0.0 0.2727142647419413</pose>
      <name>maize_02_0004</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.281234587082904 -8.668260659105888 0.33335418129490774 0.0 0.0 2.4263084060451434</pose>
      <name>maize_02_0005</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.269622479938561 -8.489166793393924 0.34139438868051325 0.0 0.0 3.5756822937264428</pose>
      <name>maize_02_0006</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.2970452419614436 -8.322735225004097 0.3422000977143818 0.0 0.0 2.930264368554792</pose>
      <name>maize_02_0007</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.269986691337968 -8.153268018215686 0.3240606608859944 0.0 0.0 0.3554794923207988</pose>
      <name>maize_01_0008</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.294038319744188 -8.016730742726093 0.33156485063678326 0.0 0.0 1.1985950385068351</pose>
      <name>maize_02_0009</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.286377106636266 -7.900499888154406 0.3241406012076217 0.0 0.0 1.9776031909872154</pose>
      <name>maize_02_0010</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.261010566653201 -7.696295886356251 0.3251745817307088 0.0 0.0 5.158482603830074</pose>
      <name>maize_01_0011</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.286590270337588 -7.5519211775886275 0.32176151551723103 0.0 0.0 4.191108161012749</pose>
      <name>maize_01_0012</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.285679674822905 -7.386471383522778 0.3331759690197319 0.0 0.0 5.186602247559476</pose>
      <name>maize_01_0013</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.26396416653623 -7.218738710685028 0.32193130401456393 0.0 0.0 5.650482580420088</pose>
      <name>maize_02_0014</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.252344022845092 -7.080055573024944 0.3295028780472176 0.0 0.0 2.1418439716693634</pose>
      <name>maize_02_0015</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.229372038803786 -6.909861208316891 0.3457742506195345 0.0 0.0 5.584262999733121</pose>
      <name>maize_01_0016</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.205716947157459 -6.7348007839217185 0.3426791827575575 0.0 0.0 0.32080472650773306</pose>
      <name>maize_02_0017</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.1827985000888095 -6.590998863716156 0.3458425651089537 0.0 0.0 3.7320443135490664</pose>
      <name>maize_01_0018</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.1641178158151115 -6.429123099666651 0.34373656519557577 0.0 0.0 2.7089401926776384</pose>
      <name>maize_01_0019</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.139449655829499 -6.272185129039632 0.3389257174125801 0.0 0.0 3.7912403826134287</pose>
      <name>maize_01_0020</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.082613577118356 -6.091806258020523 0.3343266742379713 0.0 0.0 5.891748615980618</pose>
      <name>maize_01_0021</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-5.061455239395602 -5.898445662176285 0.32933163900475226 0.0 0.0 4.710344352333705</pose>
      <name>maize_02_0022</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-5.02303513329102 -5.748054844412426 0.3219827907190553 0.0 0.0 4.0469713185987946</pose>
      <name>maize_01_0023</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.940158462679106 -5.5703669146949455 0.31156533967320527 0.0 0.0 5.388993168497221</pose>
      <name>maize_01_0024</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.914319280506458 -5.440157486175797 0.3150686374405293 0.0 0.0 5.535287516268118</pose>
      <name>maize_01_0025</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.839079170474536 -5.235291606656088 0.31937373708955996 0.0 0.0 0.8238253101326353</pose>
      <name>maize_01_0026</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.8018728343058665 -5.106143404102698 0.3183223250052472 0.0 0.0 0.9954958486564854</pose>
      <name>maize_01_0027</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.7419304710495345 -4.936959800925422 0.3174073858415784 0.0 0.0 2.2614141023881764</pose>
      <name>maize_01_0028</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.6844894010889435 -4.769077275403518 0.3134678217330133 0.0 0.0 3.56196907233153</pose>
      <name>maize_01_0029</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.608569144881341 -4.592473605559336 0.32255865140266077 0.0 0.0 3.437807596047464</pose>
      <name>maize_01_0030</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-4.548063696448632 -4.436233047387134 0.32770249257679857 0.0 0.0 0.8299868911672857</pose>
      <name>maize_02_0031</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-4.4664118701622835 -4.331223097956759 0.33696104031263335 0.0 0.0 1.3625995967705191</pose>
      <name>maize_02_0032</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-4.412528467492432 -4.199711917401669 0.3370344789213963 0.0 0.0 4.994389330095328</pose>
      <name>maize_02_0033</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.353599603438645 -4.087790875445807 0.33656358580828005 0.0 0.0 5.438361817902612</pose>
      <name>maize_01_0034</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-4.28770581369947 -3.9018887549681036 0.3331289855004858 0.0 0.0 3.6393899522290227</pose>
      <name>maize_01_0035</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-3.9454970038438932 -3.3291648998741037 0.3163983049972416 0.0 0.0 3.086503356625165</pose>
      <name>maize_01_0036</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-3.8595058513667673 -3.2050696461124506 0.31109504885975686 0.0 0.0 4.332582747677508</pose>
      <name>maize_02_0037</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-3.798158894598644 -3.082046263903705 0.3188972415139792 0.0 0.0 3.6652213818066737</pose>
      <name>maize_02_0038</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-3.6967704785770596 -2.9084670963598995 0.31575123727168597 0.0 0.0 2.8337547323435297</pose>
      <name>maize_02_0039</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-3.6139818283482943 -2.808513145784339 0.3139242209826966 0.0 0.0 2.233708607238561</pose>
      <name>maize_01_0040</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-3.5367376004553046 -2.663026778523224 0.31683981352530316 0.0 0.0 5.566982823824361</pose>
      <name>maize_02_0041</name>
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    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
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      <name>maize_02_0042</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
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      <name>maize_01_0043</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
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      <name>maize_02_0044</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
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      <name>maize_02_0045</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-3.0553769155329107 -2.0285252761342987 0.30172818825235787 0.0 0.0 4.3054808700617135</pose>
      <name>maize_02_0046</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-2.9449823791939513 -1.9215280795600653 0.297891118343806 0.0 0.0 1.8656496703526217</pose>
      <name>maize_02_0047</name>
      <static>false</static>
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    <include>
      <uri>model://maize_02</uri>
      <pose>-2.8397755085695255 -1.7770347605727153 0.30489458191518415 0.0 0.0 1.3765658449248779</pose>
      <name>maize_02_0048</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-2.7275538542008957 -1.6673028102434369 0.3029373726288153 0.0 0.0 3.260372297536582</pose>
      <name>maize_02_0049</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-2.616627264459193 -1.5523719854792641 0.30069853435692473 0.0 0.0 6.2647693695310736</pose>
      <name>maize_01_0050</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-2.5036693730727544 -1.4295800496540518 0.3055368107600539 0.0 0.0 3.0896355970176805</pose>
      <name>maize_01_0051</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_02</uri>
      <pose>-2.4024697382980236 -1.3335227293813616 0.3090449007460881 0.0 0.0 1.6580312780012876</pose>
      <name>maize_02_0052</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-2.274560269248222 -1.2234126842063702 0.3198476722958838 0.0 0.0 4.149413841519056</pose>
      <name>maize_01_0053</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-2.131635593035923 -1.0881901587576184 0.31453221437272516 0.0 0.0 4.836380993400267</pose>
      <name>maize_01_0054</name>
      <static>false</static>
    </include> 
     
     
    <include>
      <uri>model://maize_01</uri>
      <pose>-2.0415318376823817 -0.9975611128471733 0.316512928184672 0.0 0.0 1.5782631671009415</pose>
      <name>maize_01_0055</name>
      <static>false</static>
    </include> 
     
     
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