code: def min_distance_other(self, other_manager,
                             return_names=False, return_data=False):
          
          ddata = fcl.DistanceData()
          if return_data:
              ddata = fcl.DistanceData(
                  fcl.DistanceRequest(enable_nearest_points=True),
                  fcl.DistanceResult()
              )
  
          self._manager.distance(other_manager._manager,
                                 ddata,
                                 fcl.defaultDistanceCallback)
  
          distance = ddata.result.min_distance
  
          names, data = None, None
          if return_names or return_data:
              reverse = False
              names = (self._extract_name(ddata.result.o1),
                       other_manager._extract_name(ddata.result.o2))
              if names[0] is None:
                  reverse = True
                  names = (self._extract_name(ddata.result.o2),
                           other_manager._extract_name(ddata.result.o1))
  
              dnames = tuple(names)
              if reverse:
                  dnames = reversed(dnames)
              data = DistanceData(dnames, ddata.result)
  
          if return_names and return_data:
              return distance, names, data
          elif return_names:
              return distance, names
          elif return_data:
              return distance, data
          else:
              return distance
docs: Get the minimum distance between any pair of objects,
          one in each manager.
  
          Parameters
          ----------
          other_manager : CollisionManager
            Another collision manager object
          return_names : bool
            If true, a 2-tuple is returned containing
            the names of the closest objects.
          return_data : bool
            If true, a DistanceData object is returned as well
  
          Returns
          -----------
          distance : float
            The min distance between a pair of objects,
            one from each manager.
          names : 2-tup of str
            A 2-tuple containing two names (first from this manager,
            second from the other_manager) indicating
            the two closest objects.
          data : DistanceData
            Extra data about the distance query