[Question] How to attach the sensor of the finger tip

[Entongsu]

Hello,

I am working with a Franka Emika Panda robot and would like to add a contact sensor specifically to the tip of the gripper rather than the entire finger.

Currently, the contact sensor applies to the entire surface of the gripper finger, but I need a more localized contact detection at the fingertip.

Could you provide guidance on how to achieve this in Isaac Lab? Specifically:

How do we define a contact sensor region limited to the gripper tip?
How to modify the sensor attachment so it does not cover the full gripper?

Thank you!

[virgilio96upm]

Hi, I believe that it is currently not possible to specify the position of the contact sensor in isaaclab (see source code https://isaac-sim.github.io/IsaacLab/main/_modules/isaaclab/sensors/contact_sensor/contact_sensor.html#ContactSensor). One solution is to add a small body at the tip of the finger or split the finger into two bodies and assign the contact sensor to the tip body. Another workaround is to try to add the contact sensor definition from Isaacsim, which allows to define the position of the sensor as shown in the API documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/py/source/extensions/isaacsim.sensors.physics/docs/index.html#isaacsim.sensors.physics.ContactSensor