<?xml version="1.0" ?>
<sdf version="1.4">
  <world name="default">
    <include><uri>model://ground_plane</uri></include>
    <include><uri>model://sun</uri></include>

    <model name="multicamera_1">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="cam1" type="multicamera">
          <update_rate>15</update_rate>
          <camera name="left">
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
        </sensor>
      </link>
    </model>

    <model name="multicamera_2">
      <pose>0 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="cam2" type="multicamera">
          <update_rate>15</update_rate>
          <camera name="left">
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
          <camera name="right">
            <pose>0 -0.1 0 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
        </sensor>
      </link>
    </model>

    <model name="multicamera_3">
      <pose>2 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="cam3" type="multicamera">
          <update_rate>15</update_rate>
          <camera name="top_left">
            <pose>0 -0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
          <camera name="top_right">
            <pose>0 0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_left">
            <pose>0 -0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
        </sensor>
      </link>
    </model>


    <model name="multicamera_4">
      <pose>2 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="cam4" type="multicamera">
          <update_rate>15</update_rate>
          <camera name="top_left">
            <pose>0 -0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
          <camera name="top_right">
            <pose>0 0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_left">
            <pose>0 -0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_right">
            <pose>0 0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
        </sensor>
      </link>
    </model>


    <model name="multicamera_5">
      <pose>2 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="cam5" type="multicamera">
          <update_rate>15</update_rate>
          <camera name="top_left">
            <pose>0 -0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
          <camera name="top_right">
            <pose>0 0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_left">
            <pose>0 -0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_right">
            <pose>0 0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

          <camera name="bottom_right_2">
            <pose>0 0.3 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>

        </sensor>
      </link>
    </model>

    <model name="multicamera_6">
      <pose>2 0 0.5 0 0 0</pose>
      <link name="link">
        <collision name="collision">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </collision>

        <visual name="visual">
          <geometry>
            <box>
              <size>1 1 1</size>
            </box>
          </geometry>
        </visual>

        <sensor name="cam6" type="multicamera">
          <update_rate>15</update_rate>
          <camera name="top_left">
            <pose>0 -0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
          </camera>
          <camera name="top_right">
            <pose>0 0.1 0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.01</stddev>
            </noise>
          </camera>

          <camera name="bottom_left">
            <pose>0 -0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.01</stddev>
            </noise>
          </camera>

          <camera name="bottom_right">
            <pose>0 0.1 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>0.1</stddev>
            </noise>
          </camera>

          <camera name="bottom_right_2">
            <pose>0 0.3 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>1</stddev>
            </noise>
          </camera>

          <camera name="bottom_right_3">
            <pose>0 0.3 -0.1 0 0 0</pose>
            <horizontal_fov>1.3962634</horizontal_fov>
            <image>
              <width>1024</width>
              <height>544</height>
              <format>R8G8B8</format>
            </image>
            <clip>
              <near>0.02</near>
              <far>100</far>
            </clip>
            <noise>
              <type>gaussian</type>
              <mean>0.0</mean>
              <stddev>10</stddev>
            </noise>
          </camera>


        </sensor>
      </link>
    </model>
  </world>
</sdf>
