UrdfForce

Fully qualified name: isaacsim::asset::importer::urdf::UrdfForce

struct UrdfForce : public isaacsim::asset::importer::urdf::UrdfSensor

Force sensor configuration.

Defines force sensor properties including the reference frame and measurement direction for force/torque sensing.

Public Members

std::string frame

The child element frame to measure force relative to.

int measureDirection

Direction of force measurement (0: parent_to_child, 1: child_to_parent).

std::string name

Name identifier for the sensor.

Transform origin

Transform from link frame to sensor frame.

UrdfSensorType type

Type of sensor (camera, lidar, IMU, etc.).

std::string id

Unique identifier for the sensor.

float updateRate

Update rate of the sensor in Hz.