File: gazebo_plugins/ContactState.msg
string info # text info on this contact
string geom1_name # name of contact geom1
string geom2_name # name of contact geom2
geometry_msgs/Wrench[] wrenches # list of forces/torques
geometry_msgs/Vector3[] contact_positions # list of contact position
geometry_msgs/Vector3[] contact_normals # list of contact normals
float64[] depths # list of penetration depths
Expanded Definition