How to do collision detection using python?

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Hello there, I want to ask an easy question related to collision detection.

My goals are the following:

1) Collision detection with ur5 robotic arm in rviz.

2) want to detect collision between the objects attached to the gripper and the object in robot's vicinity.

3) want to incorporate inverse kinematics to find different paths to reach the collision object.

Well I came across a few solution but neither seems to cater my requirement.

I am using ROS Kinetic on ubuntu 16.0.4.

I would be really thankful for some easy solution.

Thanks