TemperatureGridSensor¶

Coarse thermal-grid sensor, backed by genesis.sensors.TemperatureGrid.

A regular (nx, ny, nz) grid of temperature samples carried on a robot link. Useful as a low-cost thermal proxy for tasks where contact-driven heat matters — friction-warmed end-effectors, exhaust plumes, thermal-aware grasping. This is the minimum-viable wrapper exposing grid resolution and ambient temperature; the richer Genesis surface (per-material properties_dict, heat_generation, convection_coefficient) is omitted from this revision.

Configuration¶

TemperatureGridSensorCfg 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 grid.
`link_name`	`str`	`""`	Link that carries the grid. Required.
`grid_size`	`tuple[int, int, int]`	`(1, 1, 1)`	`(nx, ny, nz)` resolution in the link's local frame.
`ambient_temperature`	`float \\| None`	`None`	Seed temperature in degrees Celsius. `None` falls through to Genesis's per-material defaults.
`history_length`	`int`	`0`	Forwarded to Genesis. `0` = current-step only; `> 0` allocates a ring buffer and `data.temperature` carries a leading history axis.

Data¶

TemperatureGridData.temperature is (num_envs, [history,] nx, ny, nz) in degrees Celsius.

Example¶

from genelab.configs import InteractiveSceneCfg
from genelab.sensor import TemperatureGridSensorCfg

scene_cfg = InteractiveSceneCfg(
    sensors=(
        TemperatureGridSensorCfg(
            name="gripper_thermals",
            link_name="right_gripper",
            grid_size=(4, 4, 2),
            ambient_temperature=22.0,
        ),
    ),
)

TemperatureGridSensor¶

Configuration¶

Data¶

Example¶

See also¶