File: motion_planning_msgs/AllowedContactSpecification.msg
# The names of the regions
string name
# The shape of the region in the environment
geometric_shapes_msgs/Shape shape
# The pose of the space defining the region
geometry_msgs/PoseStamped pose_stamped
# The set of links that will be allowed to have penetration contact within this region
string[] link_names
# The maximum penetration depth allowed for every link
float64 penetration_depth
Expanded Definition