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Hey,

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...

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