gazebo_plugins/ContactsState Message

Header header
    uint32 seq
    time stamp
    string frame_id
gazebo_plugins/ContactState[] states
    string info
    string geom1_name
    string geom2_name
    geometry_msgs/Wrench[] wrenches
        geometry_msgs/Vector3 force
            float64 x
            float64 y
            float64 z
        geometry_msgs/Vector3 torque
            float64 x
            float64 y
            float64 z
    geometry_msgs/Vector3[] contact_positions
        float64 x
        float64 y
        float64 z
    geometry_msgs/Vector3[] contact_normals
        float64 x
        float64 y
        float64 z
    float64[] depths