<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <model name="box_imu_noise">
      <pose>2 0 5 0 0 0</pose>
      <link name="link">
        <inertial>
          <inertia>
            <ixx>1.8</ixx>
            <ixy>0.0</ixy>
            <ixz>0.0</ixz>
            <iyy>10.8</iyy>
            <iyz>0.0</iyz>
            <izz>10.8</izz>
          </inertia>
          <mass>10.0</mass>
        </inertial>
        <collision name="collision">
          <geometry>
            <box>
              <size>3.6 0.2 0.2</size>
            </box>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <box>
              <size>3.6 0.2 0.2</size>
            </box>
          </geometry>
          <material>
            <ambient>0.2 0.2 0.2 1.0</ambient>
            <diffuse>.421 0.225 0.0 1.0</diffuse>
          </material>
        </visual>
        <sensor name='imu_sensor' type='imu'>
          <always_on>1</always_on>
          <update_rate>1000</update_rate>
          <imu>
            <angular_velocity>
              <x>
                <noise type="gaussian">
                 <mean>0</mean>
                 <stddev>0.0002</stddev>
                 <bias_mean>7.5e-06</bias_mean>
                 <bias_stddev>8e-07</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type="gaussian">
                 <mean>0</mean>
                 <stddev>0.0002</stddev>
                 <bias_mean>7.5e-06</bias_mean>
                 <bias_stddev>8e-07</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type="gaussian">
                 <mean>0</mean>
                 <stddev>0.0002</stddev>
                 <bias_mean>7.5e-06</bias_mean>
                 <bias_stddev>8e-07</bias_stddev>
                </noise>
              </z>
            </angular_velocity>

            <linear_acceleration>
              <x>
                <noise type="gaussian">
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </x>
              <y>
                <noise type="gaussian">
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </y>
              <z>
                <noise type="gaussian">
                  <mean>0</mean>
                  <stddev>0.017</stddev>
                  <bias_mean>0.1</bias_mean>
                  <bias_stddev>0.001</bias_stddev>
                </noise>
              </z>
            </linear_acceleration>
          </imu>
        </sensor>
      </link>
    </model>

  </world>
</sdf>
