<element name="force_torque" required="0">
  <description>These elements are specific to the force torque sensor.</description>
  <element name="frame" type="string" default="child" required="0">
    <description>
      Frame in which to report the wrench values. Currently supported frames are:
        "parent" report the wrench expressed in the orientation of the parent link frame,
        "child" report the wrench expressed in the orientation of the child link frame,
        "sensor" report the wrench expressed in the orientation of the joint sensor frame.
      Note that for each option the point with respect to which the
      torque component of the wrench is expressed is the joint origin.
    </description>
  </element>
  <element name="measure_direction" type="string" default="child_to_parent" required="0">
    <description>
      Direction of the wrench measured by the sensor. The supported options are:
        "parent_to_child" if the measured wrench is the one applied by the parent link on the child link,
        "child_to_parent" if the measured wrench is the one applied by the child link on the parent link.
    </description>
  </element>

  <element name="force" required="0">
    <description>These elements are specific to measurement-frame force, 
    which is expressed in Newtons</description>
    <element name="x" required="0">
      <description>Force along the X axis</description>
      <include filename="noise.sdf" required="0"/>
    </element>
    <element name="y" required="0">
      <description>Force along the Y axis</description>
      <include filename="noise.sdf" required="0"/>
    </element>
    <element name="z" required="0">
      <description>Force along the Z axis</description>
      <include filename="noise.sdf" required="0"/>
    </element>
  </element>

  <element name="torque" required="0">
    <description>These elements are specific to measurement-frame torque, 
    which is expressed in Newton-meters</description>
    <element name="x" required="0">
      <description>Torque about the X axis</description>
      <include filename="noise.sdf" required="0"/>
    </element>
    <element name="y" required="0">
      <description>Force about the Y axis</description>
      <include filename="noise.sdf" required="0"/>
    </element>
    <element name="z" required="0">
      <description>Torque about the Z axis</description>
      <include filename="noise.sdf" required="0"/>
    </element>
  </element>
</element>
