Query location of collision geometry in ros
Hello everyone, I am working on a manipulator (Franka panda) where I need to query the position of the collision shape defined on each link. For Franka panda collision shape is defined by primitives shapes (like sphere and cylinder) in urdf under collision tag. I know that we can get the status of each link defined in the visual tag, but is there any easy way to do it for shapes defined in the collision tag?