imu location is wrong

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Issue #54 resolved
John Hsu created an issue

see comment in cfg file about imu,

        #
        # imu is parented to the pelvis
        # offset from the center of mass is
        # 0.05991527603, 0, -0.01415 meters
        # rotation from the pelvis is 1 0 0 0
        # 

Update urdf source file and regenerate model.sdf.

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