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Add contact sensor.

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PiperOrigin-RevId: 783011982
Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
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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/changelog.rst
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@@ -9,6 +9,9 @@ General
^^^^^^^
- Added the :ref:`insidesite<sensor-insidesite>` sensor, for checking if an object is inside the volume of a site.
It is useful for triggering events in surrounding environment logic.
- Added the :ref:`contact<sensor-contact>` sensor, for reporting contact information according to user-defined criteria.
The purpose of the :el:`contact` sensor is to report contact-related information in a fixed-size array. This is useful
as input to learning-based agents and in environment logic.
- Removed the SdfLib plugin and the dependency on `SdfLib <https://github.com/UPC-ViRVIG/SdfLib>`__. SDFs are now
supported natively in mjModel.