If I have an NRP experiment with an ICUB and a sphere in the scene, and the ICUB's arms are moving randomly. Is it possible to change the sphere's color if a collision between the arm and the sphere happens?
The following change of Michael has been reviewed: https://bbpcode.epfl.ch/code/#/c/38429/
It will allow you the access contact points data as a topic and hence detect collisions. I invite you to test this new feature. One natural follow-up would be to implement states in our SMACH framework that monitor collisions between specific pairs of objects.