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
@@ -947,5 +947,15 @@ TEST_F(SupportTest, SetKeyframe) {
  mj_deleteModel(model);
 }

+TEST_F(SupportTest, ContactSensorDim) {
+  int dataSpec = 1 << mjCONDATA_FOUND   |
+                 1 << mjCONDATA_FORCE   |
+                 1 << mjCONDATA_DIST    |
+                 1 << mjCONDATA_POS     |
+                 1 << mjCONDATA_TANGENT;
+
+  EXPECT_EQ(mju_condataSize(dataSpec), 1+3+1+3+3);
+}
+
 }  // namespace
 }  // namespace mujoco