Add contact sensor.

PiperOrigin-RevId: 783011982 Change-Id: Ica56fe9d520fa1d1ee7338e09148b1a55a049912
2025-07-14 13:01:55 -07:00
parent e441868dad
commit d0e4771c8c
25 changed files with 1343 additions and 47 deletions
@@ -2159,6 +2159,7 @@ static int sensorSize(mjtSensor sensor_type, int sensor_dim) {
  case mjSENS_FRAMEQUAT:
    return 4;

+  case mjSENS_CONTACT:
  case mjSENS_USER:
    return sensor_dim;