Registering contact locations on a simulated robotic hand
Hello, I am currently trying to simulate a robotic hand in gazebo 11. I need to detect the contact at certain points of the hand and register the coordinates of the contact locations with respect to the world frame (the contact locations should be updated all the time). So far, I have placed small links at the points of interest on the hand and I have equiped each link with a contact sensor and a plugin in c++ to detect the contact. Also, I know how to write a plugin to register small links coordinates. The problem is that I don't know how to connect these two pieces of information in a clean way (i.e. register the coordinates only where the contact happens), please let me know how to do it. Also, please let me know if my approach is good in the first place, if not can you suggest another approach?
Thank you
