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