Yes. “kāma” is sankappa rāga.
- “kāma rāga” means cravings for sensual pleasures enjoyed with the five physical senses: seeing, hearing, smelling, tasting, and touching mind-pleasing things.
- Thus “kāma rāga” is reserved explicitly for pleasurable experiences with “close contact”: smell, taste, and touch. Brahmas do not have kāma rāga.
- Rupavacara Brahmas don’t have “kāma rāga”; they have “rupa rāga” (sights/sounds), and arupavacara Brahmas have “arupa rāga” (only thoughts about “memories”)
See “What is “Kāma”? It is not Just Sex” and “Kāma Guṇa – Origin of Attachment (Tanhā).”