code: def min_distance_single(self,
                              mesh,
                              transform=None,
                              return_name=False,
                              return_data=False):
          
          if transform is None:
              transform = np.eye(4)
  
          # Create FCL data
          b = self._get_BVH(mesh)
  
          t = fcl.Transform(transform[:3, :3], transform[:3, 3])
          o = fcl.CollisionObject(b, t)
  
          # Collide with manager's objects
          ddata = fcl.DistanceData()
          if return_data:
              ddata = fcl.DistanceData(
                  fcl.DistanceRequest(enable_nearest_points=True),
                  fcl.DistanceResult()
              )
  
          self._manager.distance(o, ddata, fcl.defaultDistanceCallback)
  
          distance = ddata.result.min_distance
  
          # If we want to return the objects that were collision, collect them.
          name, data = None, None
          if return_name or return_data:
              cg = ddata.result.o1
              if cg == b:
                  cg = ddata.result.o2
  
              name = self._extract_name(cg)
  
              names = (name, '__external')
              if cg == ddata.result.o2:
                  names = reversed(names)
              data = DistanceData(names, ddata.result)
  
          if return_name and return_data:
              return distance, name, data
          elif return_name:
              return distance, name
          elif return_data:
              return distance, data
          else:
              return distance
docs: Get the minimum distance between a single object and any
          object in the manager.
  
          Parameters
          ---------------
          mesh : Trimesh object
            The geometry of the collision object
          transform : (4,4) float
            Homogenous transform matrix for the object
          return_names : bool
            If true, return name of the closest object
          return_data : bool
            If true, a DistanceData object is returned as well
  
          Returns
          -------------
          distance : float
            Min distance between mesh and any object in the manager
          name : str
            The name of the object in the manager that was closest
          data : DistanceData
            Extra data about the distance query