pxmlw6n2f/sdformat_for_mpi/sdf/1.3/contact.sdf

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<element name="contact" required="0">
<description>These elements are specific to the contact sensor.</description>
<element name="collision" type="string" default="__default__" required="1">
<description>name of the collision element within a link that acts as the contact sensor.</description>
</element> <!-- End Collision -->
<element name="topic" type="string" default="__default_topic__" required="1">
<description>Topic on which contact data is published.</description>
</element>
</element> <!-- End Contact -->