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We have several gazebo touch sensors on the simulated hand. They are accessible on the topics name /..._bumper:

  • /ffdistal_bumper
  • /ffknuckle_bumper
  • /ffmiddle_bumper
  • ...

However they appear to be broken for the time being in Fuerte (see this thread). They should work in Gazebo 1.6.17 release but I don't know when that will happen...