Hi, I'm currently using a hand model (Modular Prosthetic Limb) that is interacting with a single object. I'm aware that the position of the contact point between the 2 objects can be obtained using d->contact and the position of the particular part of the hand that touched the object can be found with d->xpos, however is it possible to get the location of where the object touched the hand, in terms of a specific location on the hand itself. As I would like to note all the locations on the hand (skin) where the object came into contact with the hand. I'm thinking that given the xpos value of the particular part in question, and the contact point, you could find the difference between the two values (d->contact - d->xpos). Then when mapping all the points, given the location of that part in global coordinates (in initial position), you could say that the contact point is the initial position of the part + the difference calculated. However would this work, as each part of the hand is not symmetrical? Or can you suggest a better method? Also is there a function available to plot 3d points in the simulation?