Object contact detection

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Could anyone guide me into understanding how to use the Pose object to detect if two objects are in contact or not? Basically I am detecting the 3D bounding box of two objects and want to compute if they are in contact or not but find it very hard to understand the values from the Pose objects I get.

For example I have the following outputs from two objects:

[id: 2
 score: 0.569206118584
 pose: 
    pose: 
      position: 
         x: 0.0832138635287
         y: -0.0710613445594
         z: 0.425628615615
      orientation: 
         x: 0.00550811981815
         y: 0.979609808877
         z: 0.200557171152
         w: 0.0105405914287
 covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]


[id: 6
 score: 0.542971670628
 pose: 
   pose: 
     position: 
       x: 0.105067411042
       y: 0.0287577297228
       z: 0.628288991104
    orientation: 
       x: 0.00183063408254
       y: -0.975413817534
       z: -0.219429642514
       w: 0.0203756061971
covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]]

Am I misunderstanding or is it possible to compute if these objects are in contact? I also have access to the size of the computed 3D bounding box as:

size:
  x: 0.926773071289
  y: 0.176253395081
  z: 0.0451341438293

Any help or tips on where to learn more is appreciated.