Finding Distance From Robot Collision Model

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I am trying to find the minimum distance between an object in the moveit planning scene and the robot collision frame. Currently, my method is to find the distance between a pose that approximates the moveit planning scene object and line segments that approximates the links of the robot, however it seems like there should be a better way to do this. Is there a method in moveit that allows me to determine the distance from the robot collision model? I couldn't anything in the documentation, but I wanted to see if anyone else knew of anything. Thanks!

For context, I am working with the Franka Emika Panda Robot on ROS Melodic.