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ode can give the penetration depth, so with CollisionModels we can also get this info. just need to add this line in line 1427 of planning_environment/src/models/collision_models.cpp

contact_info.depth = contact.depth;

but this depth is somehow useless. because when the robot link penetrates into an object, there are usually many collision points, and it's hard to find the one we specially need.

besides, it seems that we can only get the penetration depth between the robot link and the object. we cannot get the depth between two objects.

ode can give the penetration depth, so with CollisionModels we can also get this info. just need to add this line in line 1427 of planning_environment/src/models/collision_models.cpp

contact_info.depth = contact.depth;
contact.depth;