Applies to v0.1.0.

IMU

The inertial unit: which way the car is tilted, how fast it is turning, and how hard it is accelerating. Almost every state-estimation pipeline starts here.

Add it

Sensor Setup → Sensor Type IMU → IMU Sensor → place it.

IMU Properties

• Sample Rate — read-only. The panel says why: “Set by the physics clock — not editable.”The IMU is read every physics step, so its rate is the simulation's, not a setting.
• Obs Axes— draws the sensor's axes in the 3D view, so you can see which way it is mounted.

Noise: the real sensor's imperfections

• Enabled — master switch.
• Model — which noise formula to apply.
• Gyro σ / Accel σ — random noise on the turn-rate and acceleration readings.
• Gyro BI / Accel BI — bias instability: a slow drift in the reading's zero point, the error that makes real IMUs wander over time.

Leave noise off to learn; turn it on to make training honest.

A quick sanity check

At rest the accelerometer should read about +9.81 m/s² straight up. That is gravity, and a real IMU reads it too. If you see it, the sensor and its mounting are right.