imu

kscalelabs · Jan 2, 2025 · d3ca3d0 · d3ca3d0
1 parent 63ed694
commit d3ca3d0
Showing 1 changed file with 17 additions and 1 deletion.
diff --git a/sim/resources/gpr/robot_fixed.urdf b/sim/resources/gpr/robot_fixed.urdf
@@ -6,6 +6,22 @@
       <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001" />
     </inertial>
   </link>
+  <link name="imu_link">
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+      <material name="imu_material">
+        <color rgba="1 0 0 0.5"/>
+      </material>
+    </visual>
+  </link>
+  <joint name="imu_joint" type="fixed">
+    <origin xyz="-0.008 -0.32 0" rpy="0 0 0"/>
+    <parent link="body1-part"/>
+    <child link="imu_link"/>
+  </joint>
   <joint name="floating_base" type="fixed">
     <origin rpy="-1.57 3.14 0" xyz="0 0 0" />
     <parent link="base" />
@@ -613,4 +629,4 @@
       <origin xyz="0.021026404502789243 -0.018472020400304597 -0.01930430937248649" rpy="0 0 0" />
     </inertial>
   </link>
-</robot>
+</robot>