We have a feature request for a new MATLAB function to include in the API. Please let me know if adding this function is feasible. Function syntax: boolean = hx_collision(object1,object2) Where object1 and object2 are strings denoting an object name (which would be defined in the .xml file MuJoCo is running to generate the simulation) The boolean returned is 1 if object1 and object2 are in contact with one another and 0 otherwise. Ideally, the argument object1 could be a list of strings, so hx_collision could detect if a group of environment objects defined in object1 is/are contacting object2, and return a list of booleans appropriately which has a length matching the number of objects defined in the object1 list. This function has the potential to be very useful for human experiments where we must time certain tasks, like how long it takes to pick up and move an object to a target in the VRE, for example.