Jasper

A different option would be to have a config file which specifies additional components to be added to the proto file. What do you think about this option? We thought...

I think those are two different ways to solve the same problem. The advantage of putting everything into the URDF is that it is all in one place. The advantage...

The relevant part of the generated proto: ``` Solid { translation -0.025450 0.053500 -0.023500 rotation -1.000000 -0.000000 -0.000000 1.570800 physics Physics { } boundingObject Box { size 0.01 0.01 0.01...

I agree and will work on it, a problem is if there are multiple fixed joints in series the first link/solid with physics when going up the kinematic chain towards...

I have tested the solution you proposed but it only works if there is a Physics node in the direct parent. I think a better solution might be to make...

Or somethink like here could be done: https://github.com/cyberbotics/webots/blob/a05248b57540c72651f7353dfd34718c8ffaceba/src/webots/nodes/WbAccelerometer.cpp#L154

We currently just add a dummy physics node to the Solid which has the IMU as children but I would like to fix this in webots in the future, I...

@Flova would you say that this is solved "enough" by the imu phase reset? What other stabilization techniques did you want to try ?

What is the status on this?

This can be calculated by looking at the focal length defined in https://github.com/bit-bots/bitbots_main/blob/22622a780bca744a302a4546160e4e9ac9f91733/bitbots_misc/bitbots_basler_camera/config/camera_calibration_amy.yaml#L24 $2 * atan(2048/(2*1080.60229)) = 1.517...$