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230 lines
8.3 KiB
230 lines
8.3 KiB
<?xml version="1.0" encoding="UTF-8"?>
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<sdf version="1.9">
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<world name="forest">
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<physics type="ode">
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<max_step_size>0.004</max_step_size>
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<real_time_factor>1.0</real_time_factor>
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<real_time_update_rate>250</real_time_update_rate>
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</physics>
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<gravity>0 0 -9.8</gravity>
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<magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
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<atmosphere type="adiabatic"/>
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<scene>
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<grid>false</grid>
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<ambient>0.4 0.4 0.4 1</ambient>
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<background>0.7 0.7 0.7 1</background>
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<shadows>true</shadows>
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</scene>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch</name>
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<pose>2.71574 -2.80395 0 0 -0 0.006057</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch_0</name>
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<pose>-12.2297 -2.64582 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch_1</name>
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<pose>2.62754 12.1062 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch_2</name>
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<pose>-12.0931 11.9289 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch_3</name>
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<pose>16.9776 12.1962 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch_4</name>
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<pose>2.28684 26.938 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/hexarotor/models/grasspatch</uri>
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<name>grasspatch_5</name>
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<pose>16.5899 26.9995 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_11</name>
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<pose>10.0031 4.69601 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree</uri>
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<name>Pine Tree_12</name>
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<pose>9.38057 2.24489 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_13</name>
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<pose>8.95187 -2.43736 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree</uri>
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<name>Pine Tree_14</name>
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<pose>9.54099 -5.29967 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_15</name>
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<pose>8.56424 -7.36834 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree</uri>
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<name>Pine Tree_16</name>
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<pose>7.04987 -9.30259 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_17</name>
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<pose>4.64341 -9.56548 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree</uri>
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<name>Pine Tree_18</name>
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<pose>2.39497 -9.53658 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19</name>
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<pose>-0.978211 -9.12685 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Pine Tree</uri>
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<name>Pine Tree_20</name>
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<pose>-6.60386 -9.4906 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_21</name>
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<pose>-11.7872 -9.60952 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_1</name>
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<pose>-17.6272 5.0484 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_2</name>
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<pose>-18.7952 -4.79736 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_3</name>
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<pose>-18.6571 13.5589 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_4</name>
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<pose>-13.7446 18.3234 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_5</name>
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<pose>20.1207 7.17708 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_6</name>
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<pose>-3.71164 21.6207 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_7</name>
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<pose>-7.45162 17.9798 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_8</name>
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<pose>-3.88653 25.1364 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_9</name>
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<pose>-4.09489 29.0163 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_10</name>
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<pose>21.3008 12.6766 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_11</name>
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<pose>20.1494 19.5156 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_12</name>
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<pose>13.1837 8.1871 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_13</name>
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<pose>20.0557 23.4209 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_14</name>
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<pose>20.8101 27.2073 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_15</name>
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<pose>18.508 32.5244 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_16</name>
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<pose>12.3362 33.1989 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_17</name>
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<pose>7.92068 33.4253 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_18</name>
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<pose>4.19562 33.3749 0 0 -0 0</pose>
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</include>
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<include>
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<uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Oak Tree</uri>
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<name>Pine Tree_19_19</name>
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<pose>-3.1997 32.8927 0 0 -0 0</pose>
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</include>
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<light name="sunUTC" type="directional">
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<pose>0 0 500 0 -0 0</pose>
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<cast_shadows>true</cast_shadows>
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<intensity>1</intensity>
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<direction>0.001 0.625 -0.78</direction>
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<diffuse>0.904 0.904 0.904 1</diffuse>
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<specular>0.271 0.271 0.271 1</specular>
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<attenuation>
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<range>2000</range>
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<linear>0</linear>
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<constant>1</constant>
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<quadratic>0</quadratic>
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</attenuation>
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<spot>
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<inner_angle>0</inner_angle>
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<outer_angle>0</outer_angle>
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<falloff>0</falloff>
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</spot>
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</light>
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<spherical_coordinates>
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<surface_model>EARTH_WGS84</surface_model>
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<world_frame_orientation>ENU</world_frame_orientation>
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<latitude_deg>47.397971057728974</latitude_deg>
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<longitude_deg> 8.546163739800146</longitude_deg>
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<elevation>0</elevation>
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</spherical_coordinates>
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</world>
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</sdf>
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