can we get the penetration depth with CollisionModels?

edit

i find this method in planning_environment::CollisionModels

void getAllCollisionsForState(const planning_models::KinematicState& state, std::vector<arm_navigation_msgs::ContactInformation>& contacts, unsigned int num_per_pair = 1);

and the arm_navigation_msgs::ContactInformation do have a field named depth. but with my test, it's always equal to 0 even when two objects penetrating into each other deeply. why this method doesn't give correct depth? is it because ODE doesn't support it? and do we have other method to get the depth value?

thanks.