Advait,

Given the current APIs it's not possible.  I was considering modifying the collision space API to produce this information, and I'll probably get around to it reasonably soon but it's not a high priority.  Note that you shouldn't trust the current markers to give you all the links that are in collision - it will really only give you the first link it found that's in collision.  If you a file a feature request ticket I'll modify the ticket when it's ready to go.  And we would of course welcome a patch if you decide to do it yourself.

--Gil

--
E. Gil Jones (gjones@willowgarage.com)
Research Engineer
Willow Garage, Inc.
68 Willow Road
Menlo Park, CA 94025
650.475.9772


On Thu, Jan 20, 2011 at 5:37 PM, Advait Jain <advait@cc.gatech.edu> wrote:
I am interested in getting the locations of all the contacts between
the arm (in its current configuration) and the environment.

The environment_server node of the planning_environment package almost
does the job but it publishes each contact point as a separate Marker.

It would be really helpful for me if there were a way to get the
entire collision state in one shot. Is this a possibility?

Thanks again,
Advait
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