📏 Proximity

The Proximity sensor reports the nearest distance from one or more local probe positions to a selected set of tracked rigid links. Each probe returns the nearest point on any tracked mesh surface within max_range.

sensor = scene.add_sensor(
    gs.sensors.Proximity(
        entity_idx=robot.idx,
        link_idx_local=robot.get_link("palm").idx_local,
        probe_local_pos=((0.0, 0.0, 0.0),),
        track_link_idx=(duck.base_link_idx, box.base_link_idx),  # global rigid link idx
        max_range=0.5,
        draw_debug=True,
    )
)

scene.build()

distances = sensor.read()        # shape ([n_envs,] n_probes)
points = sensor.nearest_points   # shape ([n_envs,] n_probes, 3)

If no tracked mesh is found within max_range, the reported distance is clamped to max_range and the returned points are the probe positions themselves.

The interactive example at examples/sensors/proximity_shadowhand.py mounts proximity probes on the palm and fingertips of a dexterous robot hand.