ImuSensorReading

Fully qualified name: isaacsim::sensors::experimental::physics::ImuSensorReading

struct ImuSensorReading

IMU sensor reading with acceleration, angular velocity, and orientation.

All values are in the sensor’s local frame except orientation, which is in world frame. Quaternion is stored in wxyz order.

Public Members

float linearAccelerationX = {0.0f}

Linear acceleration along X axis in m/s^2.

float linearAccelerationY = {0.0f}

Linear acceleration along Y axis in m/s^2.

float linearAccelerationZ = {0.0f}

Linear acceleration along Z axis in m/s^2.

float angularVelocityX = {0.0f}

Angular velocity around X axis in rad/s.

float angularVelocityY = {0.0f}

Angular velocity around Y axis in rad/s.

float angularVelocityZ = {0.0f}

Angular velocity around Z axis in rad/s.

float orientationW = {1.0f}

Quaternion w component (world frame).

float orientationX = {0.0f}

Quaternion x component (world frame).

float orientationY = {0.0f}

Quaternion y component (world frame).

float orientationZ = {0.0f}

Quaternion z component (world frame).

float time = {0.0f}

Simulation time of this reading in seconds.

bool isValid = {false}

Whether this reading contains valid data.