UrdfContact

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

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

Contact sensor configuration.

Defines contact sensor properties including the collision elements that are monitored for contact detection.

Public Members

std::vector<UrdfCollision> collision

Collision elements monitored for contact detection.

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.