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We finally found our way through this, by creating a gazebo_plugin and attaching it to the world to get access to the models->body->geom->ogrevisual->mesh

this helped us a lot : http://answers.ros.org/question/1919/gazebo-tutorials-for-creating-a-plugin

Any other simpler mean to access to the triangles of the mesh (not the geoms) that are in contact during a collision would be appreciated.

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