<?xml version="1.0" ?>
<sdf version="1.7">
  <model name="model">
    <link name="link1"/>
    <link name="link2"/>
    <joint name="joint" type="fixed">
      <parent>link1</parent>
      <child>link2</child>
      <sensor name="force_torque_sensor" type="force_torque">
        <pose>10 11 12 0 0 0</pose>
        <force_torque>
          <frame>parent</frame>
          <measure_direction>parent_to_child</measure_direction>
          <force>
            <x>
              <noise type="gaussian">
                <mean>0</mean>
                <stddev>0.1</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>1</mean>
                <stddev>1.1</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>2</mean>
                <stddev>2.1</stddev>
              </noise>
            </z>
          </force>
          <torque>
            <x>
              <noise type="gaussian">
                <mean>3</mean>
                <stddev>3.1</stddev>
              </noise>
            </x>
            <y>
              <noise type="gaussian">
                <mean>4</mean>
                <stddev>4.1</stddev>
              </noise>
            </y>
            <z>
              <noise type="gaussian">
                <mean>5</mean>
                <stddev>5.1</stddev>
              </noise>
            </z>
          </torque>
        </force_torque>
      </sensor>
    </joint>
  </model>
</sdf>
