This adds a tactile pressure sensor as a plugin for a contact sensor with box-shaped collision elements. The plugin sums the normal forces acting on each contact pad and computes pressure by dividing by the area of the box. The area is computed by multiplying the two largest box dimensions of a contact element. The sensor readings are output on a new message type tactile.proto. An example world pressure_sensor.world is included.
How did I forget to upload the tactile.proto...
It's all good. I forget all the time. I guessed at the contents of the proto file based on the code. I potbelly got something wrong.