pxmlw6n2f/sdformat_for_mpi/sdf/1.0/contact.sdf

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<element name="contact" required="0">
<element name="collision" required="1">
<attribute name="name" type="string" default="__default__" required="1"/>
</element> <!-- End Collision -->
<element name="topic" type="string" default="__default_topic__" required="1"/>
</element> <!-- End Contact -->