Finding the shortest distance between geoms

[udayanbb]

I'm looking for a way to extract shortest distance between geoms. Specifically I like to obtain the distance between the surfaces of specific link on a robot and a box morph in my scene. I believe some version of this would be computed as part of collision detection but I can't figure out how to get at a usable number. Thanks in advance!

[duburcqa]

You could have a look to this issue: #1425