<?xml version="1.0" ?>
<sdf version="1.6">
  <model name="camera_barrel">
    <static>true</static>
    <link name="barrel">
      <inertial>
        <mass>0.1</mass>
        <inertia>
          <ixx>0.000166667</ixx>
          <iyy>0.000166667</iyy>
          <izz>0.000166667</izz>
        </inertia>
      </inertial>
      <collision name="collision">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </collision>
      <visual name="visual">
        <geometry>
          <box>
            <size>0.1 0.1 0.1</size>
          </box>
        </geometry>
      </visual>
      <sensor type="camera" name="camera_barrel">
        <update_rate>30</update_rate>
        <camera name="head_barrel">
          <horizontal_fov>0.927295218</horizontal_fov>
          <image>
            <width>640</width>
            <height>480</height>
            <format>R8G8B8</format>
          </image>
          <clip>
            <near>0.1</near>
            <far>100</far>
          </clip>
          <distortion>
            <k1>-0.5</k1>
            <k2>0</k2>
            <p1>0</p1>
            <p2>0</p2>
            <k3>0</k3>
            <center>0.5 0.5</center>
          </distortion>
        </camera>
        <always_on>1</always_on>
      </sensor>
    </link>
  </model>
</sdf>
