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Contact sensor: 6 axis force/torque sensing

It would be nice to extend the contact sensing tutorial to show how to add up all contact forces on a body to get an aggregate JointWrench (3 forces and 3 torques). This would allow the contact sensor to simulate a six axis force/torque sensor on the foot or wrist.

Even if the DRCSIM robot does not have such a sensor, this simulated sensor would be useful for debugging.

Thanks, Chris