diff --git a/talos_bringup/config/talos_full_hardware.yaml b/talos_bringup/config/talos_full_hardware.yaml
index ea930250916303beb321b3481d33bbef75218577..4e6505013212b3badbcaa1c4acdadd9c2725e7ac 100644
--- a/talos_bringup/config/talos_full_hardware.yaml
+++ b/talos_bringup/config/talos_full_hardware.yaml
@@ -52,7 +52,7 @@ force_torque:
 
 imu:
   base_imu:
-    frame: base_link
+    frame: imu_link
     raw_data:
       orientation_port: orientation_base
       linear_acceleration_port: linear_acceleration_base
diff --git a/talos_description/urdf/torso/torso.urdf.xacro b/talos_description/urdf/torso/torso.urdf.xacro
index 5ceb621a333965f627129fdaeb500e146fbdbba3..966902a2332e74442347560ea17a1622d3e09657 100644
--- a/talos_description/urdf/torso/torso.urdf.xacro
+++ b/talos_description/urdf/torso/torso.urdf.xacro
@@ -138,7 +138,7 @@
     </joint>
 
   <xacro:talos_imu name="imu" parent="${name}_2_link" update_rate="100.0">
-    <origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${-90.0*deg_to_rad}"/>
+    <origin xyz="0.04925 0 0.078" rpy="${180.0*deg_to_rad} 0 ${90.0*deg_to_rad}"/>
   </xacro:talos_imu>