<sdf version='1.10'>
  <world name='corn_field_wide'>
    <physics name='1ms' type='ignored'>
      <max_step_size>0.001</max_step_size>
      <real_time_factor>1</real_time_factor>
      <real_time_update_rate>1000</real_time_update_rate>
    </physics>
    <plugin name='gz::sim::systems::Physics' filename='gz-sim-physics-system'/>
    <plugin name='gz::sim::systems::UserCommands' filename='gz-sim-user-commands-system'/>
    <plugin name='gz::sim::systems::SceneBroadcaster' filename='gz-sim-scene-broadcaster-system'/>
    
    <gravity>0 0 -9.8</gravity>
    
    <scene>
      <ambient>0.4 0.4 0.4 1</ambient>
      <background>0.7 0.7 0.7 1</background>
      <shadows>true</shadows>
      <sky>
        <clouds>
          <speed>0.6</speed>
        </clouds>
      </sky>
    </scene>

    <model name='ground_plane'>
      <static>true</static>
      <link name='link'>
        <collision name='collision'>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <surface>
            <friction>
              <ode>
                <mu>100</mu>
                <mu2>50</mu2>
              </ode>
            </friction>
          </surface>
        </collision>
        <visual name='visual'>
          <cast_shadows>false</cast_shadows>
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.2 0.15 0.1 1</ambient>
            <diffuse>0.25 0.18 0.12 1</diffuse>
            <specular>0 0 0 1</specular>
          </material>
        </visual>
      </link>
    </model>

    <include><name>C_0_0</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>0.02 -0.02 0 0 0 0.44</pose></include>
    <include><name>C_0_1</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>0.65 0.03 0 0 0 1.57</pose></include>
    <include><name>C_0_2</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>1.31 -0.01 0 0 0 3.12</pose></include>
    <include><name>C_0_3</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>1.98 0.04 0 0 0 4.89</pose></include>
    <include><name>C_0_4</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>2.62 -0.03 0 0 0 0.12</pose></include>
    <include><name>C_0_5</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>3.25 0.01 0 0 0 2.33</pose></include>
    <include><name>C_0_6</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>3.91 -0.02 0 0 0 5.67</pose></include>
    <include><name>C_0_7</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>4.55 0.04 0 0 0 1.11</pose></include>
    <include><name>C_0_8</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>5.21 -0.01 0 0 0 3.88</pose></include>
    <include><name>C_0_9</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>5.85 0.02 0 0 0 2.44</pose></include>
    <include><name>C_0_10</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>6.52 -0.03 0 0 0 1.05</pose></include>
    <include><name>C_0_11</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>7.17 0.01 0 0 0 4.22</pose></include>
    <include><name>C_0_12</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>7.83 -0.04 0 0 0 2.11</pose></include>
    <include><name>C_0_13</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>8.48 0.02 0 0 0 5.89</pose></include>
    <include><name>C_0_14</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>9.12 -0.01 0 0 0 0.34</pose></include>
    <include><name>C_0_15</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>9.77 0.04 0 0 0 3.16</pose></include>
    <include><name>C_0_16</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>10.41 -0.02 0 0 0 1.98</pose></include>
    <include><name>C_0_17</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>11.06 0.03 0 0 0 4.75</pose></include>
    <include><name>C_0_18</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>11.72 -0.05 0 0 0 0.88</pose></include>
    <include><name>C_0_19</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>12.35 0.01 0 0 0 3.61</pose></include>

    <include><name>C_1_0</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>-0.05 1.58 0 0 0 6.12</pose></include>
    <include><name>C_1_1</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>0.62 1.64 0 0 0 0.88</pose></include>
    <include><name>C_1_2</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>1.28 1.59 0 0 0 2.55</pose></include>
    <include><name>C_1_3</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>1.92 1.62 0 0 0 4.12</pose></include>
    <include><name>C_1_4</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>2.58 1.57 0 0 0 0.33</pose></include>
    <include><name>C_1_5</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>3.21 1.65 0 0 0 1.99</pose></include>
    <include><name>C_1_6</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>3.88 1.60 0 0 0 3.44</pose></include>
    <include><name>C_1_7</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>4.52 1.63 0 0 0 5.21</pose></include>
    <include><name>C_1_8</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>5.18 1.58 0 0 0 0.77</pose></include>
    <include><name>C_1_9</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>5.81 1.61 0 0 0 2.15</pose></include>
    <include><name>C_1_10</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>6.47 1.59 0 0 0 4.91</pose></include>
    <include><name>C_1_11</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>7.12 1.63 0 0 0 1.34</pose></include>
    <include><name>C_1_12</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>7.78 1.56 0 0 0 3.82</pose></include>
    <include><name>C_1_13</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>8.43 1.62 0 0 0 5.02</pose></include>
    <include><name>C_1_14</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>9.09 1.60 0 0 0 2.27</pose></include>
    <include><name>C_1_15</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>9.73 1.64 0 0 0 0.41</pose></include>
    <include><name>C_1_16</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>10.38 1.57 0 0 0 3.19</pose></include>
    <include><name>C_1_17</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>11.03 1.61 0 0 0 1.15</pose></include>
    <include><name>C_1_18</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>11.69 1.59 0 0 0 4.63</pose></include>
    <include><name>C_1_19</name><uri>/home/marcin/arm_ws/src/world_description/models</uri><pose>12.33 1.62 0 0 0 2.85</pose></include>

    <light name='sun' type='directional'>
      <pose>0 0 10 0 0 0</pose>
      <cast_shadows>true</cast_shadows>
      <intensity>1</intensity>
      <direction>-0.5 0.1 -0.9</direction>
      <diffuse>0.8 0.8 0.8 1</diffuse>
    </light>

    <include>
      <uri>file:///home/marcin/arm_ws/src/world_description/harvester.sdf</uri>
      <pose>-10 -2 3.3 0 0 0</pose>
    </include>

  </world>
</sdf>