Could you elaborate on this a bit? I don't have familiarity with that class of problems, so I'm having trouble understanding the obstacles. My naive instinct i

Could you elaborate on this a bit? I don't have familiarity with that class of problems, so I'm having trouble understanding the obstacles. My naive instinct is that you would detect and store points of contact between the sensor surface and the object while also positionally tracking the sensor in 3D space relative to an origin. You would certainly need a lot of precision in movement tracking to minimize error. Maybe that's where it gets tricky? Also worth noting that the problem feels somewhat moot since there are easier solutions (e.g. lidar).