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Keep track of the shortest distance to collision using python

Hi, I'm currently using the moveit_commander through python to command moveit, and everything works great. However, I want to calculate the shortest distance to collision along the planned trajectory. I found FCL might be able to do that, but materials I found are mainly C++ codes, and it seems there's no released python wrapper for the planning scene. I've also searched through moveit_commander namespace reference ( ), yet still can't find anything relevant. Is there anything in python or unreleased python wrapper I can use to achieve what I want to do? Thanks