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I think you explained the available options pretty well. If you want to know which objects are in collision, you will need to query the collision environment yourself, since MoveIt only checks for collisions with the robot by default.
Rather than instantiating and maintaining a collision environment yourself though, you should be able to access the one used by MoveIt internally. Maybe a look at the Developer Concepts will help you find the right entry point. Please feel free to post an answer with your own solution when you find it.
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I think you explained the available options pretty well. If you want to know which objects are in collision, you will need to query the collision environment yourself, since MoveIt only checks for collisions with the robot by default. default.
Rather than instantiating and maintaining a collision environment yourself though, you should be able to access the one used by MoveIt internally. Maybe a look at the Developer Concepts will help you find the right entry point. Please feel free to post an answer with your own solution when you find it.
PS: You can certainly set the AllowedCollisionMatrix such that two objects may not collide, but I haven't tested if disallowing collisions between two objects in the scene causes the planning to fail, and either way I don't believe there is an API to check for those collisions outside of the collision manager itself.
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