332 lines
12 KiB
Plaintext
332 lines
12 KiB
Plaintext
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<convert name="sdf">
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<!-- Move <gravity> and <magnetic_field> -->
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<convert name="world">
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<move>
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<from element="physics::gravity"/>
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<to element="gravity"/>
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</move>
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<move>
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<from element="physics::magnetic_field"/>
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<to element="magnetic_field"/>
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</move>
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</convert>
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<convert name="world">
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<convert name="model">
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<convert name="link">
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<convert name="sensor">
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<convert name="imu">
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<!-- Add <angular_velocity> and <linear_acceleration> -->
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<add element="angular_velocity"/>
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<add element="linear_acceleration"/>
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<!-- Move the noise type into <angular_velocity> and
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<linear_acceleration> -->
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<copy>
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<from element="noise::type"/>
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<to element="angular_velocity::x::noise" attribute="type"/>
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</copy>
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<copy>
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<from element="noise::type"/>
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<to element="angular_velocity::y::noise" attribute="type"/>
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</copy>
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<copy>
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<from element="noise::type"/>
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<to element="angular_velocity::z::noise" attribute="type"/>
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</copy>
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<!-- Copy <noise><type> to <linear_acceleration> -->
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<copy>
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<from element="noise::type"/>
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<to element="linear_acceleration::x::noise" attribute="type"/>
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</copy>
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<copy>
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<from element="noise::type"/>
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<to element="linear_acceleration::y::noise" attribute="type"/>
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</copy>
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<move>
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<from element="noise::type"/>
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<to element="linear_acceleration::z::noise" attribute="type"/>
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</move>
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<!-- Copy <rate><mean> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::mean"/>
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<to element="angular_velocity::x::noise::mean"/>
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</copy>
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<copy>
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<from element="noise::rate::mean"/>
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<to element="angular_velocity::y::noise::mean"/>
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</copy>
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<move>
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<from element="noise::rate::mean"/>
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<to element="angular_velocity::z::noise::mean"/>
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</move>
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<!-- Copy <rate><stddev> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::stddev"/>
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<to element="angular_velocity::x::noise::stddev"/>
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</copy>
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<copy>
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<from element="noise::rate::stddev"/>
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<to element="angular_velocity::y::noise::stddev"/>
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</copy>
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<move>
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<from element="noise::rate::stddev"/>
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<to element="angular_velocity::z::noise::stddev"/>
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</move>
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<!-- Copy <rate><bias_mean> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::bias_mean"/>
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<to element="angular_velocity::x::noise::bias_mean"/>
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</copy>
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<copy>
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<from element="noise::rate::bias_mean"/>
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<to element="angular_velocity::y::noise::bias_mean"/>
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</copy>
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<move>
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<from element="noise::rate::bias_mean"/>
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<to element="angular_velocity::z::noise::bias_mean"/>
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</move>
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<!-- Copy <rate><bias_stddev> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::bias_stddev"/>
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<to element="angular_velocity::x::noise::bias_stddev"/>
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</copy>
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<copy>
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<from element="noise::rate::bias_stddev"/>
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<to element="angular_velocity::y::noise::bias_stddev"/>
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</copy>
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<move>
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<from element="noise::rate::bias_stddev"/>
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<to element="angular_velocity::z::noise::bias_stddev"/>
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</move>
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<!-- Copy <accel><mean> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::mean"/>
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<to element="linear_acceleration::x::noise::mean"/>
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</copy>
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<copy>
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<from element="noise::accel::mean"/>
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<to element="linear_acceleration::y::noise::mean"/>
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</copy>
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<move>
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<from element="noise::accel::mean"/>
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<to element="linear_acceleration::z::noise::mean"/>
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</move>
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<!-- Copy <accel><stddev> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::stddev"/>
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<to element="linear_acceleration::x::noise::stddev"/>
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</copy>
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<copy>
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<from element="noise::accel::stddev"/>
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<to element="linear_acceleration::y::noise::stddev"/>
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</copy>
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<move>
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<from element="noise::accel::stddev"/>
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<to element="linear_acceleration::z::noise::stddev"/>
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</move>
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<!-- Copy <accel><bias_mean> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::bias_mean"/>
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<to element="linear_acceleration::x::noise::bias_mean"/>
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</copy>
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<copy>
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<from element="noise::accel::bias_mean"/>
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<to element="linear_acceleration::y::noise::bias_mean"/>
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</copy>
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<move>
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<from element="noise::accel::bias_mean"/>
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<to element="linear_acceleration::z::noise::bias_mean"/>
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</move>
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<!-- Copy <accel><bias_stddev> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::bias_stddev"/>
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<to element="linear_acceleration::x::noise::bias_stddev"/>
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</copy>
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<copy>
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<from element="noise::accel::bias_stddev"/>
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<to element="linear_acceleration::y::noise::bias_stddev"/>
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</copy>
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<move>
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<from element="noise::accel::bias_stddev"/>
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<to element="linear_acceleration::z::noise::bias_stddev"/>
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</move>
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<!-- Remove <accel> and <rate> -->
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<remove element="noise"/>
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</convert>
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</convert>
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</convert>
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</convert>
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</convert>
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<!-- for model sdfs -->
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<convert name="model">
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<convert name="link">
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<convert name="sensor">
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<convert name="imu">
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<!-- Add <angular_velocity> and <linear_acceleration -->
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<add element="angular_velocity"/>
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<add element="linear_acceleration"/>
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<!-- Move the noise type into <angular_velocity> and
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<linear_acceleration> -->
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<copy>
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<from element="noise::type"/>
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<to element="angular_velocity::x::noise" attribute="type"/>
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</copy>
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<copy>
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<from element="noise::type"/>
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<to element="angular_velocity::y::noise" attribute="type"/>
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</copy>
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<copy>
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<from element="noise::type"/>
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<to element="angular_velocity::z::noise" attribute="type"/>
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</copy>
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<!-- Copy <noise><type> to <linear_acceleration> -->
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<copy>
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<from element="noise::type"/>
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<to element="linear_acceleration::x::noise" attribute="type"/>
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</copy>
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<copy>
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<from element="noise::type"/>
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<to element="linear_acceleration::y::noise" attribute="type"/>
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</copy>
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<move>
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<from element="noise::type"/>
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<to element="linear_acceleration::z::noise" attribute="type"/>
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</move>
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<!-- Copy <rate><mean> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::mean"/>
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<to element="angular_velocity::x::noise::mean"/>
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</copy>
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<copy>
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<from element="noise::rate::mean"/>
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<to element="angular_velocity::y::noise::mean"/>
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</copy>
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<move>
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<from element="noise::rate::mean"/>
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<to element="angular_velocity::z::noise::mean"/>
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</move>
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<!-- Copy <rate><stddev> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::stddev"/>
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<to element="angular_velocity::x::noise::stddev"/>
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</copy>
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<copy>
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<from element="noise::rate::stddev"/>
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<to element="angular_velocity::y::noise::stddev"/>
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</copy>
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<move>
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<from element="noise::rate::stddev"/>
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<to element="angular_velocity::z::noise::stddev"/>
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</move>
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<!-- Copy <rate><bias_mean> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::bias_mean"/>
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<to element="angular_velocity::x::noise::bias_mean"/>
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</copy>
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<copy>
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<from element="noise::rate::bias_mean"/>
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<to element="angular_velocity::y::noise::bias_mean"/>
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</copy>
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<move>
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<from element="noise::rate::bias_mean"/>
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<to element="angular_velocity::z::noise::bias_mean"/>
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</move>
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<!-- Copy <rate><bias_stddev> into <angular_velocity> -->
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<copy>
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<from element="noise::rate::bias_stddev"/>
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<to element="angular_velocity::x::noise::bias_stddev"/>
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</copy>
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<copy>
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<from element="noise::rate::bias_stddev"/>
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<to element="angular_velocity::y::noise::bias_stddev"/>
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</copy>
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<move>
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<from element="noise::rate::bias_stddev"/>
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<to element="angular_velocity::z::noise::bias_stddev"/>
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</move>
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<!-- Copy <accel><mean> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::mean"/>
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<to element="linear_acceleration::x::noise::mean"/>
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</copy>
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<copy>
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<from element="noise::accel::mean"/>
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<to element="linear_acceleration::y::noise::mean"/>
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</copy>
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<move>
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<from element="noise::accel::mean"/>
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<to element="linear_acceleration::z::noise::mean"/>
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</move>
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<!-- Copy <accel><stddev> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::stddev"/>
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<to element="linear_acceleration::x::noise::stddev"/>
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</copy>
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<copy>
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<from element="noise::accel::stddev"/>
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<to element="linear_acceleration::y::noise::stddev"/>
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</copy>
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<move>
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<from element="noise::accel::stddev"/>
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<to element="linear_acceleration::z::noise::stddev"/>
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</move>
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<!-- Copy <accel><bias_mean> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::bias_mean"/>
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<to element="linear_acceleration::x::noise::bias_mean"/>
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</copy>
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<copy>
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<from element="noise::accel::bias_mean"/>
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<to element="linear_acceleration::y::noise::bias_mean"/>
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</copy>
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<move>
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<from element="noise::accel::bias_mean"/>
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<to element="linear_acceleration::z::noise::bias_mean"/>
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</move>
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<!-- Copy <accel><bias_stddev> into <linear_acceleration> -->
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<copy>
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<from element="noise::accel::bias_stddev"/>
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<to element="linear_acceleration::x::noise::bias_stddev"/>
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</copy>
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<copy>
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<from element="noise::accel::bias_stddev"/>
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<to element="linear_acceleration::y::noise::bias_stddev"/>
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</copy>
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<move>
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<from element="noise::accel::bias_stddev"/>
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<to element="linear_acceleration::z::noise::bias_stddev"/>
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</move>
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<!-- Remove <accel> and <rate> -->
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<remove element="noise"/>
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</convert>
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</convert>
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</convert>
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</convert>
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</convert> <!-- End SDF -->
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