PointCloudTactileSensor¶

Stiffness-and-shear point-cloud tactile sensor, backed by genesis.sensors.ProximityTaxel.

A point cloud is sampled from the parent link's mesh (use_visual_mesh=True by default) and queried against a set of tracked links each step. The contact response is governed by a linear stiffness and an optional shear_coupling — lighter than the deformable elastomer model but still gives per-probe tactile information sampled from the geometry.

For tasks that need finite-stiffness deformable contact dynamics, see ElastomerTactileSensor.

Configuration¶

PointCloudTactileSensorCfg 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 probe.
`link_name`	`str`	`""`	Parent link the probe rides 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_local_normal`	`tuple[float, float, float]`	`(0.0, 0.0, 1.0)`	Probe forward direction in the parent link's local frame.
`probe_radius`	`float`	`0.01`	Probe sphere radius (metres).
`track_link_names`	`tuple[str, ...]`	`()`	Non-empty set of links to sense contact against.
`n_sample_points`	`int`	`500`	Point-cloud density sampled from the mesh.
`use_visual_mesh`	`bool`	`True`	Sample from the visual mesh (`True`) or collision geometry (`False`).
`stiffness`	`float`	`100.0`	Linear stiffness for the contact response (N/m).
`shear_coupling`	`float`	`0.0`	Tangential coupling coefficient.
`history_length`	`int`	`0`	Forwarded to Genesis. `0` = current-step only; `> 0` allocates a ring buffer.

track_link_names is required

Genesis rejects an empty track_link_idx. The wrapper raises a ValueError up-front; populate it with the links to sense against (e.g. the manipulated object).

Data¶

Genesis's ProximityTaxel.read() returns a structured ProximityTaxelData(force=…, torque=…). The wrapper extracts both as tensors and exposes them on PointCloudTactileData; raw aliases force so the shape-agnostic reward primitives in genelab.mdp.rewards.tactile keep working.

Field	Type	Shape
`force`	`torch.Tensor` (float32)	`(num_envs, [history,] num_probes, 3)` — contact force vector in the probe's local frame.
`torque`	`torch.Tensor` (float32)	`(num_envs, [history,] num_probes, 3)` — contact torque vector in the probe's local frame.
`raw`	`torch.Tensor`	Alias for `force`.

Example¶

from genelab.configs import InteractiveSceneCfg
from genelab.sensor import PointCloudTactileSensorCfg

scene_cfg = InteractiveSceneCfg(
    sensors=(
        PointCloudTactileSensorCfg(
            name="finger_pad",
            link_name="right_finger_tip",
            probe_local_pos=((0.0, 0.0, 0.001),),
            track_link_names=("object",),
            n_sample_points=128,
            stiffness=250.0,
            shear_coupling=0.5,
        ),
    ),
)

PointCloudTactileSensor¶

Configuration¶

Data¶

Example¶

See also¶