From 6b99e6a7a438b4e1c7e00aad151ebeeb84490a7e Mon Sep 17 00:00:00 2001
From: Lorenzo Moretti <107630048+LoreMoretti@users.noreply.github.com>
Date: Tue, 13 Aug 2024 15:51:10 +0200
Subject: [PATCH] Avoid to use joint acceleration in ergoCubSim (#256)

---
 urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml b/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
index bae0349b..4c98392c 100644
--- a/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
+++ b/urdf/ergoCub/conf/estimators/wbd_ecub_sim.xml
@@ -9,7 +9,7 @@
         <param name="defaultContactFrames">(l_hand_palm,r_hand_palm,root_link,l_foot_front,l_foot_rear,r_foot_front,r_foot_rear,l_upper_leg,r_upper_leg)</param>
         <param name="imuFrameName">head_imu_0</param>
         <param name="useJointVelocity">true</param>
-        <param name="useJointAcceleration">true</param>
+        <param name="useJointAcceleration">false</param>
         <param name="imuFilterCutoffInHz">3.0</param>
         <param name="forceTorqueFilterCutoffInHz">3.0</param>
         <param name="jointVelFilterCutoffInHz">3.0</param> <!-- used if useJointVelocity is set to true -->