def METHOD_NAME() -> gtd.DynamicsGraph:
    """construct GTDynamics graph builder by specifying noise models"""
    opt = gtd.OptimizerSetting()
    opt.bv_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.ba_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.p_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.v_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.a_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.linear_a_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.f_cost_model = noiseModel.Isotropic.Sigma(6, 0.01)
    opt.linear_f_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.fa_cost_model = noiseModel.Isotropic.Sigma(6, 0.01)
    opt.t_cost_model = noiseModel.Isotropic.Sigma(1, 0.01)
    opt.linear_t_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.cp_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.cfriction_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.cv_cost_model = noiseModel.Isotropic.Sigma(3, 0.001)
    opt.ca_cost_model = noiseModel.Isotropic.Sigma(3, 0.001)
    opt.cm_cost_model = noiseModel.Isotropic.Sigma(3, 0.001)
    opt.planar_cost_model = noiseModel.Isotropic.Sigma(3, 0.001)
    opt.linear_planar_cost_model = noiseModel.Isotropic.Sigma(3, 0.001)
    opt.prior_q_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.prior_qv_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.prior_qa_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.prior_t_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.q_col_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.v_col_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    opt.pose_col_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.twist_col_cost_model = noiseModel.Isotropic.Sigma(6, 0.001)
    opt.time_cost_model = noiseModel.Isotropic.Sigma(1, 0.0001)
    opt.jl_cost_model = noiseModel.Isotropic.Sigma(1, 0.001)
    gravity = np.array([0, 0, -9.8])
    planar_axis = np.array([1, 0, 0])
    return gtd.DynamicsGraph(opt, gravity, planar_axis)