XML Robot Contact Point Description Format (RCPDF)

The Robot Contact Point Description Format (RCPDF) is an XML specification to describe the list of the valid contact zones attached to a robot body. This specification do not describe the robot structure, we rely on the URDF specification to do so.

The description consists of a set of contact elements. A typical description looks like this:

   1 <robot name="myRobot">
   2   <contact name="l_sole_contact" link="l_sole">
   3     <origin xyz="0 0 0" rpy="0 0 0" />
   4     <geometry>
   5       <box size="0.05 0.05 0.05" />
   6     </geometry>
   7     <limit normal_force="400" />
   8   </contact>
   9 
  10   <contact name="r_sole_contact" link="r_sole">
  11     <origin xyz="0 0 0" rpy="0 0 0" />
  12     <geometry>
  13       <box size="0.05 0.05 0.05" />
  14     </geometry>
  15     <limit normal_force="400" />
  16   </contact>
  17 </robot>

<contact> and <limit> elements

For details on the contact description format, check out the rcpdf/XML/Contact elements page.

<origin> and <geometry> elements

These nodes are similar to the URDF origin and geometry elements. Please check out the URDF Link elements documentation for more details.