code: def in_collision_other(self, other_manager,
                             return_names=False, return_data=False):
          
          cdata = fcl.CollisionData()
          if return_names or return_data:
              cdata = fcl.CollisionData(
                  request=fcl.CollisionRequest(
                      num_max_contacts=100000,
                      enable_contact=True))
          self._manager.collide(other_manager._manager,
                                cdata,
                                fcl.defaultCollisionCallback)
          result = cdata.result.is_collision
  
          objs_in_collision = set()
          contact_data = []
          if return_names or return_data:
              for contact in cdata.result.contacts:
                  reverse = False
                  names = (self._extract_name(contact.o1),
                           other_manager._extract_name(contact.o2))
                  if names[0] is None:
                      names = (self._extract_name(contact.o2),
                               other_manager._extract_name(contact.o1))
                      reverse = True
  
                  if return_names:
                      objs_in_collision.add(names)
                  if return_data:
                      if reverse:
                          names = reversed(names)
                      contact_data.append(ContactData(names, contact))
  
          if return_names and return_data:
              return result, objs_in_collision, contact_data
          elif return_names:
              return result, objs_in_collision
          elif return_data:
              return result, contact_data
          else:
              return result
docs: Check if any object from this manager collides with any object
          from another manager.
  
          Parameters
          -------------------
          other_manager : CollisionManager
            Another collision manager object
          return_names : bool
            If true, a set is returned containing the names
            of all pairs of objects in collision.
          return_data : bool
            If true, a list of ContactData is returned as well
  
          Returns
          -------------
          is_collision : bool
            True if a collision occurred between any pair of objects
            and False otherwise
          names : set of 2-tup
            The set of pairwise collisions. Each tuple
            contains two names (first from this manager,
            second from the other_manager) indicating
            that the two corresponding objects are in collision.
          contacts : list of ContactData
            All contacts detected