Updated answer as of Gen 9
The following Rock moves make contact:
/nms physical, contact, rock:
Accelerock, Head Smash, Rollout, Stone Axe
The following Ground moves make contact:
/nms physical, contact, ground:
Dig, Drill Run, Headlong Rush, High Horsepower, Stomping Tantrum
Source: using the ms physical, contact, [type] command on Showdown