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Add contact sensor.

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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
This commit is contained in:
Yuval Tassa
2025-07-14 13:01:55 -07:00
committed by Copybara-Service
parent e441868dad
commit d0e4771c8c
25 changed files with 1343 additions and 47 deletions
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doc/XMLschema.rst
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@@ -1239,6 +1239,19 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`contact | \* | :class: mjcf-attributes |
| <sensor-contact>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`name<sensor-contact-name>` | :ref:`geom1<sensor-contact-geom1>` | :ref:`geom2<sensor-contact-geom2>` | :ref:`body1<sensor-contact-body1>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`body2<sensor-contact-body2>` | :ref:`subtree1<sensor-contact-subtree1>` | :ref:`subtree2<sensor-contact-subtree2>` | :ref:`site<sensor-contact-site>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`num<sensor-contact-num>` | :ref:`data<sensor-contact-data>` | :ref:`reduce<sensor-contact-reduce>` | :ref:`cutoff<sensor-contact-cutoff>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`noise<sensor-contact-noise>` | :ref:`user<sensor-contact-user>` | | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| sensor |br| |_| |L| | | .. table:: |
| :ref:`e_potential | \* | :class: mjcf-attributes |
| <sensor-e_potential>` | | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |