UrdfRay

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

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

Ray-based sensor configuration for lidar/laser scanners.

Defines properties for ray-casting sensors including horizontal and vertical scanning dimensions and Isaac Sim specific configuration parameters.

Public Members

bool hasHorizontal = false

Whether horizontal scanning dimension is configured.

bool hasVertical = false

Whether vertical scanning dimension is configured.

UrdfRayDim horizontal

Horizontal scanning dimension parameters.

UrdfRayDim vertical

Vertical scanning dimension parameters.

std::string isaacSimConfig

Isaac Sim specific configuration string.

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.