from __future__ import annotations

import torch
from isaaclab.envs import mdp
from isaaclab.managers import SceneEntityCfg


def illegal_contact(env, threshold: float, sensor_cfg: SceneEntityCfg) -> torch.Tensor:
    """Terminate on illegal contacts and return the mask on the RL env device."""
    return mdp.illegal_contact(env, threshold=threshold, sensor_cfg=sensor_cfg).to(env.device)