Developed core sensor framework enhancements for the Genesis-Embodied-AI/Genesis repository, focusing on enabling new sensor modalities such as rigid contact force grid sensors and tactile fingertips. The work involved refactoring base sensor classes and data recording pathways in C++ and Python to improve maintainability and support richer data capture. By restructuring the sensor integration and simulation components, the developer established a robust foundation for advanced robotics sensing. These changes not only expanded the system’s capabilities but also enhanced testability and future extensibility, ensuring the framework can accommodate evolving requirements in sensor data recording and integration for production environments.