diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
index cd1ab98f..8e51d55d 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1/model.urdf
@@ -3304,7 +3304,7 @@
       <update_rate>100</update_rate>
       <pose>0.0354497 0.00639688 0.060600 -1.5707322 1.5707963 0</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-    <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
+    <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
 </plugin>
     </sensor>
   </gazebo>
diff --git a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
index 48a43c9f..1629dc13 100644
--- a/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
+++ b/urdf/ergoCub/robots/ergoCubGazeboV1_minContacts/model.urdf
@@ -3304,7 +3304,7 @@
       <update_rate>100</update_rate>
       <pose>0.0354497 0.00639688 0.060600 -1.5707322 1.5707963 0</pose>
       <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
-    <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_inertial.ini</yarpConfigurationFile>
+    <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
 </plugin>
     </sensor>
   </gazebo>