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you need this method:

bool isObjectInCollision(const std::string& object_name);

it's a public method of planning_environment::CollisionModels.

besides, if you want to know exactly which objects are in collision with the target object, use this method:

void getAllEnvironmentCollisionsForObject(const std::string& object_name, 
                        std::vector<arm_navigation_msgs::ContactInformation>& contacts,
                        unsigned int num_per_pair = 1);