Sleeping Venus with Cupid and two satyrs Daniel Vertangen (1601-1683)

The picture has something of this: nude, people, two, Renaissance, woman, man, tree, god, girl, sculpture, cupid, son, allegory, baroque, nymph.
Perhaps it’s a painting of a naked woman laying on the ground next to a group of naked men in a wooded area with trees and a sky in the background.