{"comment":{"url":"https://api.github.com/repos/robotology-playground/icub-gazebo/comments/11257878","html_url":"https://github.com/robotology-playground/icub-gazebo/commit/ae4e8cd757e4561d431ccc1f765f0497ddb4dde9#commitcomment-11257878","id":11257878,"user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"position":null,"line":null,"path":"","commit_id":"ae4e8cd757e4561d431ccc1f765f0497ddb4dde9","created_at":"2015-05-19T09:47:34Z","updated_at":"2015-05-19T09:47:34Z","body":"I thinks it is easier if the imu readings are expressed in the seesaw frame, so you can just put `<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>` or just remove the `<pose>` element, because its default values is `<pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>`."}}