= 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|URDF]] specification to do so.

The description consists of a set of [[rcpdf/XML/Contact|contact elements]]. A typical description looks like this:

{{{#!xml
<robot name="myRobot">
  <contact name="l_sole_contact" link="l_sole">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <box size="0.05 0.05 0.05" />
    </geometry>
    <limit normal_force="400" />
  </contact>

  <contact name="r_sole_contact" link="r_sole">
    <origin xyz="0 0 0" rpy="0 0 0" />
    <geometry>
      <box size="0.05 0.05 0.05" />
    </geometry>
    <limit normal_force="400" />
  </contact>
</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/XML/Link|URDF Link elements]] documentation for more details.