UrdfImu

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

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

Inertial measurement unit sensor configuration.

Defines IMU sensor properties including noise characteristics for gyroscope and accelerometer measurements.

Public Members

UrdfNoise gyroNoise

Noise characteristics for gyroscope measurements.

UrdfNoise accelerationNoise

Noise characteristics for accelerometer measurements.

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.