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unitree_ros
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add imu_in_pelvis for g1

This commit is contained in:
matheecs 2024-10-22 15:14:43 +08:00
parent e6b9e8c669
commit ae724a1383
13 changed files with 112 additions and 45 deletions
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13
robots/g1_description/g1_23dof.urdf
View File

@ -579,11 +579,18 @@
</joint>
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->

9
robots/g1_description/g1_23dof.xml
View File

@ -40,6 +40,7 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -130,7 +131,7 @@
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@ -222,8 +223,10 @@
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>

15
robots/g1_description/g1_23dof_rev_1_0.urdf
View File

@ -1,4 +1,4 @@
<robot name="g1_23dof">
<robot name="g1_23dof_rev_1_0">
<mujoco>
<compiler meshdir="meshes" discardvisual="false"/>
</mujoco>
@ -530,11 +530,18 @@
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->

11
robots/g1_description/g1_23dof_rev_1_0.xml
View File

@ -1,4 +1,4 @@
<mujoco model="g1_23dof">
<mujoco model="g1_23dof_rev_1_0">
<compiler angle="radian" meshdir="meshes"/>
<asset>
@ -38,6 +38,7 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -125,7 +126,7 @@
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@ -217,8 +218,10 @@
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>

13
robots/g1_description/g1_29dof.urdf
View File

@ -604,11 +604,18 @@
</joint>
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->

9
robots/g1_description/g1_29dof.xml
View File

@ -47,6 +47,7 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -144,7 +145,7 @@
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@ -270,8 +271,10 @@
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>

15
robots/g1_description/g1_29dof_rev_1_0.urdf
View File

@ -1,4 +1,4 @@
<robot name="g1_29dof">
<robot name="g1_29dof_rev_1_0">
<mujoco>
<compiler meshdir="meshes" discardvisual="false"/>
</mujoco>
@ -576,11 +576,18 @@
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->

11
robots/g1_description/g1_29dof_rev_1_0.xml
View File

@ -1,4 +1,4 @@
<mujoco model="g1_29dof">
<mujoco model="g1_29dof_rev_1_0">
<compiler angle="radian" meshdir="meshes"/>
<asset>
@ -46,6 +46,7 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -141,7 +142,7 @@
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@ -267,8 +268,10 @@
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>

13
robots/g1_description/g1_29dof_with_hand.urdf
View File

@ -604,11 +604,18 @@
</joint>
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->

9
robots/g1_description/g1_29dof_with_hand.xml
View File

@ -61,6 +61,7 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -158,7 +159,7 @@
<geom pos="0.0039635 0 -0.054" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<geom pos="0.0039635 0 -0.054" quat="1 0 0 0" type="mesh" rgba="0.7 0.7 0.7 1" mesh="waist_support_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.13792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.23778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@ -384,8 +385,10 @@
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>

15
robots/g1_description/g1_29dof_with_hand_rev_1_0.urdf
View File

@ -1,4 +1,4 @@
<robot name="g1_29dof_with_hand">
<robot name="g1_29dof_with_hand_rev_1_0">
<mujoco>
<compiler meshdir="meshes" discardvisual="false"/>
</mujoco>
@ -576,11 +576,18 @@
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.14792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->

11
robots/g1_description/g1_29dof_with_hand_rev_1_0.xml
View File

@ -1,4 +1,4 @@
<mujoco model="g1_29dof_with_hand">
<mujoco model="g1_29dof_with_hand_rev_1_0">
<compiler angle="radian" meshdir="meshes"/>
<asset>
@ -60,6 +60,7 @@
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="pelvis"/>
<geom type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<geom type="mesh" rgba="0.7 0.7 0.7 1" mesh="pelvis_contour_link"/>
<site name="imu_in_pelvis" size="0.01" pos="0.04525 0 -0.08339"/>
<body name="left_hip_pitch_link" pos="0 0.064452 -0.1027">
<inertial pos="0.002741 0.047791 -0.02606" quat="0.954862 0.293964 0.0302556 0.030122" mass="1.35" diaginertia="0.00181517 0.00153422 0.00116212"/>
<joint name="left_hip_pitch_joint" pos="0 0 0" axis="0 1 0" range="-2.5307 2.8798" actuatorfrcrange="-88 88"/>
@ -155,7 +156,7 @@
<geom pos="0.0039635 0 -0.044" quat="1 0 0 0" type="mesh" rgba="0.2 0.2 0.2 1" mesh="logo_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" contype="0" conaffinity="0" group="1" density="0" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<geom pos="0.0039635 0 -0.044" type="mesh" rgba="0.2 0.2 0.2 1" mesh="head_link"/>
<site name="imu" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<site name="imu_in_torso" size="0.01" pos="-0.03959 -0.00224 0.14792"/>
<body name="left_shoulder_pitch_link" pos="0.0039563 0.10022 0.24778" quat="0.990264 0.139201 1.38722e-05 -9.86868e-05">
<inertial pos="0 0.035892 -0.011628" quat="0.654152 0.0130458 -0.326267 0.68225" mass="0.718" diaginertia="0.000465864 0.000432842 0.000406394"/>
<joint name="left_shoulder_pitch_joint" pos="0 0 0" axis="0 1 0" range="-3.0892 2.6704" actuatorfrcrange="-25 25"/>
@ -381,8 +382,10 @@
</actuator>
<sensor>
<gyro name="imu-angular-velocity" site="imu" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-linear-acceleration" site="imu" noise="1e-2" cutoff="157"/>
<gyro name="imu-torso-angular-velocity" site="imu_in_torso" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-torso-linear-acceleration" site="imu_in_torso" noise="1e-2" cutoff="157"/>
<gyro name="imu-pelvis-angular-velocity" site="imu_in_pelvis" noise="5e-4" cutoff="34.9"/>
<accelerometer name="imu-pelvis-linear-acceleration" site="imu_in_pelvis" noise="1e-2" cutoff="157"/>
</sensor>

13
robots/g1_description/g1_dual_arm.urdf
View File

@ -168,11 +168,18 @@
</joint>
<!-- IMU -->
<link name="imu_link"></link>
<joint name="imu_joint" type="fixed">
<link name="imu_in_torso"></link>
<joint name="imu_in_torso_joint" type="fixed">
<origin xyz="-0.03959 -0.00224 0.13792" rpy="0 0 0"/>
<parent link="torso_link"/>
<child link="imu_link"/>
<child link="imu_in_torso"/>
</joint>
<link name="imu_in_pelvis"></link>
<joint name="imu_in_pelvis_joint" type="fixed">
<origin xyz="0.04525 0 -0.08339" rpy="0 0 0"/>
<parent link="pelvis"/>
<child link="imu_in_pelvis"/>
</joint>
<!-- d435 -->