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IMU noise cancelation in DRCsim 2.5

I looked at the noise added to the IMU of Atlas and I saw that the acceleration has a bias of +-0.1 m/s/s in all direction, and the noise distribution in Gauusian. However, the orientation received from the IMU is filtered, with no bias and hardly any noise.

Is there a filter implemented in the calculation of the orientation?

Thanks, Oded