Fix the position of the imu in the waist

It fixes #260
icub-tech-iit · Oct 7, 2024 · c4a1fb1 · c4a1fb1
1 parent 5e40101
commit c4a1fb1
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Showing 2 changed files with 6 additions and 6 deletions.
diff --git a/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml b/urdf/creo2urdf/data/ergocub1_0/base_1_0.yaml
@@ -1194,7 +1194,7 @@ XMLBlobs:
             <link name="waist_imu_0"/>
     - |
             <joint name="waist_imu_0_fixed_joint" type="fixed">
-              <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+              <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
               <parent link="torso_1"/>
               <child link="waist_imu_0"/>
               <dynamics damping="0.1"/>
@@ -1216,7 +1216,7 @@ XMLBlobs:
             <sensor name="waist_imu_0" type="imu">
             <always_on>1</always_on>
             <update_rate>100</update_rate>
-            <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+            <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
             <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
             </plugin>
@@ -1225,7 +1225,7 @@ XMLBlobs:
     - |
             <sensor name="waist_imu_0" type="accelerometer">
             <parent link="torso_1"/>
-            <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+            <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
             </sensor>
     # upperbody
     - |

diff --git a/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml b/urdf/creo2urdf/data/ergocub1_1/base_1_1.yaml
@@ -1143,7 +1143,7 @@ XMLBlobs:
             <link name="waist_imu_0"/>
     - |
             <joint name="waist_imu_0_fixed_joint" type="fixed">
-              <origin xyz="0.0354497 0.00639688 0.060600" rpy="1.5708 0 -1.5708"/>
+              <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
               <parent link="torso_1"/>
               <child link="waist_imu_0"/>
               <dynamics damping="0.1"/>
@@ -1159,7 +1159,7 @@ XMLBlobs:
             <sensor name="waist_imu_0" type="imu">
             <always_on>1</always_on>
             <update_rate>100</update_rate>
-            <pose>0.0354497 0.00639688 0.060600 1.5708 0 -1.5708</pose>
+            <pose>0.0606 -0.00639428 0.01745 1.5708 -0.000105208 -1.5708</pose>
             <plugin name="ergocub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
             <yarpConfigurationFile>model://ergoCub/conf/gazebo_ergocub_waist_inertial.ini</yarpConfigurationFile>
             </plugin>
@@ -1174,7 +1174,7 @@ XMLBlobs:
     - |
             <sensor name="waist_imu_0" type="accelerometer">
             <parent link="torso_1"/>
-            <origin rpy="1.5708 0 -1.5708" xyz="0.0354497 0.00639688 0.060600"/>
+            <origin xyz="0.0606 -0.00639428 0.01745" rpy="1.5708 -0.000105208 -1.5708"/>
             </sensor>
     # upperbody
     - |