Moves tactile sensor to contrib folder (#4481)

# Description

As per our internal discussions, we are moving the tactile sensor
implementation to the `isaaclab_contrib` module. We will move it back to
the core module once the sensor receives sufficient testing, validation,
and API stabilization.

## Type of change

- Breaking change (existing functionality will not work without user
modification)
- Documentation update

## Checklist

- [ ] I have read and understood the [contribution
guidelines](https://isaac-sim.github.io/IsaacLab/main/source/refs/contributing.html)
- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [ ] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [ ] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

---------

Signed-off-by: Kelly Guo <kellyg@nvidia.com>
Co-authored-by: Kelly Guo <kellyg@nvidia.com>

Author: Mayankm96

docs/source/_static/refs.bib

@@ -194,3 +194,14 @@ @article{kulkarni2025aerialgym
   pages={4093-4100},
   doi={10.1109/LRA.2025.3548507}
 }
+
+@article{si2022taxim,
+  title={Taxim: An example-based simulation model for gelsight tactile sensors},
+  author={Si, Zilin and Yuan, Wenzhen},
+  journal={IEEE Robotics and Automation Letters},
+  volume={7},
+  number={2},
+  pages={2361--2368},
+  year={2022},
+  publisher={IEEE}
+}

docs/source/api/index.rst

@@ -79,6 +79,7 @@ The following modules are available in the ``isaaclab_contrib`` extension:
    actuators
    assets
    mdp
+   sensors
 
 isaaclab_tasks extension
 ------------------------

docs/source/api/lab/isaaclab.sensors.rst

@@ -38,9 +38,6 @@
     MultiMeshRayCasterCameraCfg
     Imu
     ImuCfg
-    VisuoTactileSensor
-    VisuoTactileSensorCfg
-    VisuoTactileSensorData
 
 Sensor Base
 -----------
@@ -207,22 +204,3 @@ Inertia Measurement Unit
     :inherited-members:
     :show-inheritance:
     :exclude-members: __init__, class_type
-
-Visuo-Tactile Sensor
---------------------
-
-.. autoclass:: VisuoTactileSensor
-    :members:
-    :inherited-members:
-    :show-inheritance:
-
-.. autoclass:: VisuoTactileSensorData
-    :members:
-    :inherited-members:
-    :exclude-members: __init__
-
-.. autoclass:: VisuoTactileSensorCfg
-    :members:
-    :inherited-members:
-    :show-inheritance:
-    :exclude-members: __init__, class_type

docs/source/api/lab_contrib/isaaclab_contrib.sensors.rst

@@ -0,0 +1,39 @@
+isaaclab_contrib.sensors
+========================
+
+.. automodule:: isaaclab_contrib.sensors
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    VisuoTactileSensor
+    VisuoTactileSensorCfg
+    VisuoTactileSensorData
+    GelSightRenderCfg
+
+
+Visuo-Tactile Sensor
+--------------------
+
+.. autoclass:: VisuoTactileSensor
+    :members:
+    :inherited-members:
+    :show-inheritance:
+
+.. autoclass:: VisuoTactileSensorData
+    :members:
+    :inherited-members:
+    :exclude-members: __init__
+
+.. autoclass:: VisuoTactileSensorCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__, class_type
+
+.. autoclass:: GelSightRenderCfg
+    :members:
+    :inherited-members:
+    :show-inheritance:
+    :exclude-members: __init__

docs/source/overview/core-concepts/sensors/visuo_tactile_sensor.rst

@@ -22,11 +22,12 @@ Tactile sensors require specific configuration parameters to define their behavi
 
 .. code-block:: python
 
-    from isaaclab.sensors.tacsl_sensor import VisuoTactileSensorCfg
     from isaaclab.sensors import TiledCameraCfg
     from isaaclab_assets.sensors import GELSIGHT_R15_CFG
     import isaaclab.sim as sim_utils
 
+    from isaaclab_contrib.sensors.tacsl_sensor import VisuoTactileSensorCfg
+
     # Tactile sensor configuration
     tactile_sensor = VisuoTactileSensorCfg(
         prim_path="{ENV_REGEX_NS}/Robot/elastomer/tactile_sensor",

scripts/demos/sensors/tacsl_sensor.py

@@ -7,7 +7,7 @@
 Example script demonstrating the TacSL tactile sensor implementation in IsaacLab.
 
 This script shows how to use the TactileSensor for both camera-based and force field
-tactile sensing with the gelsight finger setup.
+tactile sensing with the GelSight finger setup.
 
 .. code-block:: bash
 
@@ -80,15 +80,15 @@
 import isaaclab.sim as sim_utils
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
-
-# Import our TactileSensor
-from isaaclab.sensors import TiledCameraCfg, VisuoTactileSensorCfg
-from isaaclab.sensors.tacsl_sensor.visuotactile_render import compute_tactile_shear_image
-from isaaclab.sensors.tacsl_sensor.visuotactile_sensor_data import VisuoTactileSensorData
+from isaaclab.sensors import TiledCameraCfg
 from isaaclab.utils import configclass
 from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR
 from isaaclab.utils.timer import Timer
 
+from isaaclab_contrib.sensors.tacsl_sensor import VisuoTactileSensorCfg
+from isaaclab_contrib.sensors.tacsl_sensor.visuotactile_render import compute_tactile_shear_image
+from isaaclab_contrib.sensors.tacsl_sensor.visuotactile_sensor_data import VisuoTactileSensorData
+
 from isaaclab_assets.sensors import GELSIGHT_R15_CFG
 
 
@@ -224,10 +224,13 @@ def mkdir_helper(dir_path: str) -> tuple[str, str]:
     """
     tactile_img_folder = dir_path
     os.makedirs(tactile_img_folder, exist_ok=True)
+    # create a subdirectory for the force field data
     tactile_force_field_dir = os.path.join(tactile_img_folder, "tactile_force_field")
     os.makedirs(tactile_force_field_dir, exist_ok=True)
+    # create a subdirectory for the RGB image data
     tactile_rgb_image_dir = os.path.join(tactile_img_folder, "tactile_rgb_image")
     os.makedirs(tactile_rgb_image_dir, exist_ok=True)
+
     return tactile_force_field_dir, tactile_rgb_image_dir
 
 
@@ -268,9 +271,13 @@ def save_viz_helper(
                 tactile_shear_force[1, :, :].detach().cpu().numpy(),
             )
             combined_image = np.vstack([tactile_image, tactile_image_1])
-            cv2.imwrite(os.path.join(tactile_force_field_dir, f"{count}.png"), (combined_image * 255).astype(np.uint8))
+            cv2.imwrite(
+                os.path.join(tactile_force_field_dir, f"{count:04d}.png"), (combined_image * 255).astype(np.uint8)
+            )
         else:
-            cv2.imwrite(os.path.join(tactile_force_field_dir, f"{count}.png"), (tactile_image * 255).astype(np.uint8))
+            cv2.imwrite(
+                os.path.join(tactile_force_field_dir, f"{count:04d}.png"), (tactile_image * 255).astype(np.uint8)
+            )
 
     if tactile_data.tactile_rgb_image is not None:
         tactile_rgb_data = tactile_data.tactile_rgb_image.cpu().numpy()
@@ -284,7 +291,7 @@ def save_viz_helper(
                 if tactile_rgb_tiled.max() <= 1.0
                 else tactile_rgb_tiled.astype(np.uint8)
             )
-        cv2.imwrite(os.path.join(tactile_rgb_image_dir, f"{count}.png"), tactile_rgb_tiled)
+        cv2.imwrite(os.path.join(tactile_rgb_image_dir, f"{count:04d}.png"), tactile_rgb_tiled)
 
 
 def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
@@ -299,6 +306,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
 
     if args_cli.save_viz:
         # Create output directories for tactile data
+        print(f"[INFO]: Saving tactile data to: {args_cli.save_viz_dir}...")
         dir_path_list = mkdir_helper(args_cli.save_viz_dir)
 
     # Create constant downward force
@@ -337,7 +345,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
                 even_mask = env_indices % 2 == 0
                 torque_tensor[odd_mask, 0, 2] = 10  # rotation for odd environments
                 torque_tensor[even_mask, 0, 2] = -10  # rotation for even environments
-                scene["contact_object"].set_external_force_and_torque(force_tensor, torque_tensor)
+                scene["contact_object"].permanent_wrench_composer.set_forces_and_torques(force_tensor, torque_tensor)
 
         # Step simulation
         scene.write_data_to_sim()
@@ -380,7 +388,7 @@ def main():
     sim = sim_utils.SimulationContext(sim_cfg)
 
     # Set main camera
-    sim.set_camera_view(eye=[1.5, 1.5, 1.5], target=[0.0, 0.0, 0.0])
+    sim.set_camera_view(eye=[0.5, 0.6, 1.0], target=[-0.1, 0.1, 0.5])
 
     # Create scene based on contact object type
     if args_cli.contact_object_type == "cube":
@@ -395,6 +403,10 @@ def main():
         scene_cfg.tactile_sensor.contact_object_prim_path_expr = None
         # this flag is to visualize the tactile sensor points
         scene_cfg.tactile_sensor.debug_vis = True
+    else:
+        raise ValueError(
+            f"Invalid contact object type: '{args_cli.contact_object_type}'. Must be 'none', 'cube', or 'nut'."
+        )
 
     scene = InteractiveScene(scene_cfg)
 

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.54.1"
+version = "0.54.2"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,16 @@
 Changelog
 ---------
 
+0.54.2 (2026-01-28)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Moved :mod:`isaaclab.sensors.tacsl_sensor` to :mod:`isaaclab_contrib.sensors.tacsl_sensor` module,
+  since it is not completely ready for release yet.
+
+
 0.54.1 (2026-01-25)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -27,13 +27,17 @@
     SurfaceGripper,
     SurfaceGripperCfg,
 )
-from isaaclab.sensors import ContactSensorCfg, FrameTransformerCfg, SensorBase, SensorBaseCfg, VisuoTactileSensorCfg
+from isaaclab.sensors import ContactSensorCfg, FrameTransformerCfg, SensorBase, SensorBaseCfg
 from isaaclab.sim import SimulationContext
 from isaaclab.sim.utils.stage import get_current_stage, get_current_stage_id
 from isaaclab.sim.views import XformPrimView
 from isaaclab.terrains import TerrainImporter, TerrainImporterCfg
 from isaaclab.utils.version import get_isaac_sim_version
 
+# Note: This is a temporary import for the VisuoTactileSensorCfg class.
+# It will be removed once the VisuoTactileSensor class is added to the core Isaac Lab framework.
+from isaaclab_contrib.sensors.tacsl_sensor import VisuoTactileSensorCfg
+
 from .interactive_scene_cfg import InteractiveSceneCfg
 
 # import logger

source/isaaclab/isaaclab/sensors/__init__.py

@@ -32,8 +32,6 @@
 +---------------------+---------------------------+---------------------------------------------------------------+
 | Imu                 | /World/robot/base         | Leaf exists and is a physics body (Rigid Body)                |
 +---------------------+---------------------------+---------------------------------------------------------------+
-| Visuo-Tactile Sensor| /World/robot/base         | Leaf exists and is a physics body (Rigid Body)                |
-+---------------------+---------------------------+---------------------------------------------------------------+
 
 """
 
@@ -44,4 +42,3 @@
 from .ray_caster import *  # noqa: F401, F403
 from .sensor_base import SensorBase  # noqa: F401
 from .sensor_base_cfg import SensorBaseCfg  # noqa: F401
-from .tacsl_sensor import *  # noqa: F401, F403