KinematicContactSensor

Point contact probe, backed by genesis.sensors.ContactProbe.

A set of point probes ride on a parent link and report binary contact. Genesis thresholds internally at cfg.contact_threshold (default 1e-4 m of inter-penetration) and returns the pre-thresholded boolean mask. Use this where the question is "did this point on the robot touch something" without invoking the deformable-elastomer tactile stack.

Configuration

KinematicContactSensorCfg extends SensorCfg. All fields are keyword-only.

Field	Type	Default	Notes
name	str	""	Inherited from SensorCfg. Unique per scene.
entity_name	str	"robot"	Inherited. Which entity carries the probes.
link_name	str	""	Parent link the probes ride on. Required.
probe_local_pos	tuple[tuple[float, float, float], ...]	((0.0, 0.0, 0.0),)	Probe positions in the parent link's local frame.
probe_radius	float	0.01	Probe sphere radius in metres (Genesis default).
contact_threshold	float	1e-4	Depth threshold (metres) used both by Genesis to mark contact and by the wrapper to derive data.in_contact.
history_length	int	0	Forwarded to Genesis. 0 = current-step only; > 0 allocates a ring buffer carried as a leading axis on data.depth / data.in_contact.

Data

Field	Type	Shape
in_contact	torch.Tensor (bool)	(num_envs, [history,] num_probes) — Genesis-thresholded contact mask.

Example

from genelab.configs import InteractiveSceneCfg
from genelab.sensor import KinematicContactSensorCfg

scene_cfg = InteractiveSceneCfg(
    sensors=(
        KinematicContactSensorCfg(
            name="fingertip_contacts",
            link_name="right_finger_tip",
            probe_local_pos=(
                (0.0, 0.0, 0.0),
                (0.005, 0.0, 0.0),
                (-0.005, 0.0, 0.0),
            ),
            contact_threshold=2e-4,
        ),
    ),
)

See also

• ProximitySensor
• Concepts — Sensors