API reference

Import simulator modules only after Isaac Lab’s AppLauncher starts Isaac Sim. This reference describes the public integration surface; examples run in a simulation environment, while the documentation build never imports it.

TactileSensor

dex01_sim_asset.TactileSensor extends Isaac Lab’s SensorBase. Construct it with TactileSensorCfg through your scene configuration.

Interface	Result
`data`	Updated `TactileSensorData` buffers
`num_taxels`	Number of sample points; 738 for the supplied DEX-01 layout
`taxel2pixel`	Integer `(row, column)` pairs in taxel order
`get_tactile_image()`	Force frame `(environments, height, width)`; DEX-01 uses 32 × 32

See reading data for an executable usage snippet.

TactileSensorCfg

Inherits Isaac Lab’s SensorBaseCfg, including prim_path, update_period, and debug_vis. The sensor’s leaf prim name must be literal, not a regex.

Field	Meaning
`mesh_prim_path`	Required counter-object path; its collision mesh must use SDF
`pattern_cfg`	Required taxel pattern configuration
`offset.pos`	Sensor-frame translation relative to the parent, in metres
`offset.rot`	Sensor-frame rotation as `(w, x, y, z)`; identity by default
`visualizer_cfg`	Optional debug marker configuration

    mesh_prim_path: str = MISSING
    """Prim path expression (with '.*' env wildcard) for the counter object.

    May point at a rigid body or an articulation link. The prim must carry a collision mesh whose
    approximation is ``sdf``, since penetration is measured against the PhysX signed distance field.
    """

    offset: OffsetCfg = OffsetCfg()
    """The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity."""

    pattern_cfg: PatternBaseCfg = MISSING
    """The pattern that defines the local taxel layout in terms of positions and normals."""

TactileSensorData

Here E is the number of environments and T the number of taxels. Buffers are initially None and become tensors during sensor initialization.

Field	Shape	Units and interpretation
`normal_forces`	`(E, T)`	Normal force magnitudes, newtons
`taxel_points_w`	`(E, T, 3)`	Sample positions in world coordinates, metres
`taxel_normals_w`	`(E, T, 3)`	Unit world normals
`taxel_rot_w`	`(E, T, 4)`	World quaternions `(w, x, y, z)`
`depths`	`(E, T)`	Metres; negative in contact and zero otherwise
`depth_dots`	`(E, T)`	Penetration-depth rate, metres per second

Lifecycle

Configure sensors on the scene before sim.reset(). Then advance the scene with scene.write_data_to_sim(), sim.step(), and scene.update(sim_dt) before reading frames. The sensor’s data property updates outdated buffers; its update_period comes from Isaac Lab’s base sensor configuration.

normal_forces is nonnegative. depths is negative only for penetrating samples when the configured object contributes contact force; otherwise it is zero. The sum is the normal projection of the configured object’s filtered PhysX contact force. The pattern decides the image dimensions; DEX-01 is 32 × 32, while grid patterns can have different dimensions.

Pattern configurations

GridPatternCfg creates a flat sampling grid. CustomPatternCfg reads NPZ poses and pixel mappings. Dex01PatternCfg selects the supplied DEX-01 layout. See pattern file format.

Source definitions remain authoritative; changes to these interfaces must update this page and the integration guides in the same PR.