From 10f8dad254a89d9894ea4623996c01294c8e6b25 Mon Sep 17 00:00:00 2001
From: Silvio Traversaro <silvio.traversaro@iit.it>
Date: Tue, 6 Feb 2024 10:52:35 +0000
Subject: [PATCH] Automatic build. GitHub Actions build: 7798427068
 icub-model-generator commit:
 robotology/icub-models-generator@9a939e2a9fee2ea98f7fc70cb3919800fb6ab4f8
 urdf_parser_py commit:
 ros/urdf_parser_py@31474b9baaf7c3845b40e5a9aa87d5900a2282c3
 simmechanics-to-urdf commit:
 robotology/simmechanics-to-urdf@a72ed738acbd16b76f89e9cffbe41cf465f6afc6

---
 iCub/robots/iCubGazeboV2_6/model.urdf | 6 +++---
 iCub/robots/iCubGazeboV2_7/model.urdf | 6 +++---
 iCub/robots/iCubGenova11/model.urdf   | 6 +++---
 iCub/robots/iCubWaterloo01/model.urdf | 6 +++---
 4 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/iCub/robots/iCubGazeboV2_6/model.urdf b/iCub/robots/iCubGazeboV2_6/model.urdf
index 9fc740a..b48ec9d 100644
--- a/iCub/robots/iCubGazeboV2_6/model.urdf
+++ b/iCub/robots/iCubGazeboV2_6/model.urdf
@@ -985,7 +985,7 @@
   </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
-    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
+    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
     <parent link="head"/>
     <child link="head_imu_0"/>
     <dynamics damping="0.1"/>
@@ -2681,7 +2681,7 @@
     <sensor name="head_imu_0" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
+      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
       <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
     <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
 </plugin>
@@ -2689,7 +2689,7 @@
   </gazebo>
   <sensor name="head_imu_0" type="accelerometer">
     <parent link="head"/>
-    <origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
+    <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
diff --git a/iCub/robots/iCubGazeboV2_7/model.urdf b/iCub/robots/iCubGazeboV2_7/model.urdf
index 5820582..8bb5a4d 100644
--- a/iCub/robots/iCubGazeboV2_7/model.urdf
+++ b/iCub/robots/iCubGazeboV2_7/model.urdf
@@ -985,7 +985,7 @@
   </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
-    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
+    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
     <parent link="head"/>
     <child link="head_imu_0"/>
     <dynamics damping="0.1"/>
@@ -2697,7 +2697,7 @@
     <sensor name="head_imu_0" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
+      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
       <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
     <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
 </plugin>
@@ -2705,7 +2705,7 @@
   </gazebo>
   <sensor name="head_imu_0" type="accelerometer">
     <parent link="head"/>
-    <origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
+    <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
diff --git a/iCub/robots/iCubGenova11/model.urdf b/iCub/robots/iCubGenova11/model.urdf
index e567574..d33784d 100644
--- a/iCub/robots/iCubGenova11/model.urdf
+++ b/iCub/robots/iCubGenova11/model.urdf
@@ -985,7 +985,7 @@
   </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
-    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
+    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
     <parent link="head"/>
     <child link="head_imu_0"/>
     <dynamics damping="0.1"/>
@@ -2697,7 +2697,7 @@
     <sensor name="head_imu_0" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
+      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
       <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
     <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
 </plugin>
@@ -2705,7 +2705,7 @@
   </gazebo>
   <sensor name="head_imu_0" type="accelerometer">
     <parent link="head"/>
-    <origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
+    <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">
diff --git a/iCub/robots/iCubWaterloo01/model.urdf b/iCub/robots/iCubWaterloo01/model.urdf
index e567574..d33784d 100644
--- a/iCub/robots/iCubWaterloo01/model.urdf
+++ b/iCub/robots/iCubWaterloo01/model.urdf
@@ -985,7 +985,7 @@
   </joint>
   <link name="head_imu_0"/>
   <joint name="head_imu_0_fixed_joint" type="fixed">
-    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="1.5707963267948997 0 0"/>
+    <origin xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023" rpy="-1.5707963267948997 0 -3.141592653589793"/>
     <parent link="head"/>
     <child link="head_imu_0"/>
     <dynamics damping="0.1"/>
@@ -2697,7 +2697,7 @@
     <sensor name="head_imu_0" type="imu">
       <always_on>1</always_on>
       <update_rate>100</update_rate>
-      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 1.5707963267948997 -3.4914813388431334e-15 0.0</pose>
+      <pose>0.023453700190734995 0.20544400000000002 -0.023077900000000023 -1.5707963267948997 -3.713525943768165e-15 -3.141592653589793</pose>
       <plugin name="iCub_yarp_gazebo_plugin_IMU" filename="libgazebo_yarp_imu.so">
     <yarpConfigurationFile>model://iCub/conf/gazebo_icub_inertial.ini</yarpConfigurationFile>
 </plugin>
@@ -2705,7 +2705,7 @@
   </gazebo>
   <sensor name="head_imu_0" type="accelerometer">
     <parent link="head"/>
-    <origin rpy="1.5707963267948997 -3.4914813388431334e-15 0.0" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
+    <origin rpy="-1.5707963267948997 -3.713525943768165e-15 -3.141592653589793" xyz="0.023453700190734995 0.20544400000000002 -0.023077900000000023"/>
   </sensor>
   <gazebo reference="root_link">
     <sensor name="root_link_ems_acc_eb5" type="imu">