add a more detailed forest

Author: stibipet

miscellaneous/generate_forest.py

@@ -0,0 +1,47 @@
+#!/usr/bin/python3
+
+import sys
+import tempfile
+import numpy as np
+
+N = 500
+XLIM = 42
+YLIM = 42
+
+TREE_MODEL_URI = 'https://fuel.gazebosim.org/1.0/OpenRobotics/models/Pine Tree'
+
+filename = tempfile.mkstemp()[-1]
+
+if len(sys.argv) > 1:
+    filename = sys.argv[1]
+
+print(f'Output will be written to {filename}')
+
+
+xcoords = np.random.uniform(-XLIM, XLIM, N)
+ycoords = np.random.uniform(-YLIM, YLIM, N)
+yaws = np.random.uniform(-np.pi, np.pi, N)
+
+trees = '''
+    <!-- trees {-->'''
+
+for i in range(N):
+    x = xcoords[i]
+    y = ycoords[i]
+    yaw = yaws[i]
+    raw_text = f'''
+    <include>
+        <uri>{TREE_MODEL_URI}</uri>
+        <name>tree_pine{i}</name>
+        <pose>{x} {y} 0 0 0 {yaw}</pose>
+    </include>
+    '''
+
+    trees += raw_text
+
+trees += '<!--}-->'
+
+with open(filename, 'w', encoding='utf-8') as f:
+    f.write(trees)
+
+print(f'Trees generated to {filename}, copy the content into your world file')