Noisy IMU sensor on Carter V1

Hello all,
I am new to Isaac sim and was playing around with Carter V1. I have created an IMU Sensor on the Carter V1 platform. The IMU sensor is child of IMU cube object.

I am accessing the imu readings via python interface. The rendering is running @ 50 Hz while Physics is running at 400 Hz.

On each physics update I am reading the latest IMU reading and publishing to a ROS topic.

I am running the simulation with differential controller set to both zero angular velocity and zero linear velocity. I have plotted the graph of IMU reading attached below -

I believed that for a stationary robot the X and Y axis accelerations would be zero, but they aren’t, especially the Y-acceleration is bit too noisy. How can I reduce this noise?