ndehio
commented
7 years ago The gazebo interface defines contacts by
- string collision1 -> name of the first collision object.
- string collision2 -> name of the second collision object.
- Vector3d position -> position of the contact joint in inertial frame.
- Vector3d normal ->normal of the contact joint in inertial frame.
- double depth -> intersection (penetration) depth of two collision bodies.
- JointWrench wrench -> Forces and torques acting on both collision bodies.
- Time time -> time at which this contact happened.
See ContactSensor.hh
Position Orientation Ref. Frames Wrench