Hey all,<div>As I mentioned in another thread, I&#39;m having a problem with collision detection. I want to test to see if the robot is colliding with itself. I&#39;ve loaded the URDF into robot_description, I&#39;m publishing joint_states, I&#39;ve set default_collision_operations, and defined groups. Here&#39;s how I&#39;m launching planning_environment. </div>

<div><br></div><div><div><span class="Apple-tab-span" style="white-space:pre">	</span>&lt;node pkg=&quot;planning_environment&quot; type=&quot;environment_server&quot; output=&quot;screen&quot; name=&quot;environment_server_myrobot&quot;&gt;      </div>

<div>   <span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;group&quot; type=&quot;string&quot; value=&quot;myrobot&quot; /&gt;</div><div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;allow_valid_collisions&quot; type=&quot;bool&quot; value=&quot;false&quot; /&gt;</div>

<div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;collision_map_safety_timeout&quot; type=&quot;double&quot; value=&quot;100000.0&quot; /&gt;</div><div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;joint_states_safety_timeout&quot; type=&quot;double&quot; value=&quot;1.0&quot; /&gt;</div>

<div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;bounding_planes&quot; type=&quot;string&quot; value=&quot;0 0 1 -0.01&quot; /&gt;</div><div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;pointcloud_padd&quot; type=&quot;double&quot; value=&quot;0.00&quot; /&gt;</div>

<div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;use_collision_map&quot; value=&quot;false&quot; /&gt;</div><div><span class="Apple-tab-span" style="white-space:pre">		</span>&lt;param name=&quot;contacts_to_compute_for_display&quot; type=&quot;int&quot; value=&quot;50&quot; /&gt;</div>

<div>        &lt;/node&gt;</div></div><div><br></div><div>My robot generously fits into a 2 meter cube. However, when I run collision detection (i.e. call GetStateValidity), the collisions the algorithm finds are far outside the 2 meter cube. Here&#39;s one marker:</div>

<div><div>---</div><div>header: </div><div>  seq: 150</div><div>  stamp: </div><div>    secs: 1281057846</div><div>    nsecs: 457145271</div><div>  frame_id: BASE_FRAME</div><div>ns: PIECE1+PIECE2</div><div>id: 150</div>
<div>
type: 2</div><div>action: 0</div><div>pose: </div><div>  position: </div><div>    x: -67.8300476074</div><div>    y: -29.5642662048</div><div>    z: 11.4108705521</div><div>  orientation: </div><div>    x: 0.0</div><div>
    y: 0.0</div>
<div>    z: 0.0</div><div>    w: 1.0</div><div>scale: </div><div>  x: 0.01</div><div>  y: 0.01</div><div>  z: 0.01</div><div>color: </div><div>  r: 1.0</div><div>  g: 0.800000011921</div><div>  b: 0.0399999991059</div><div>

  a: 0.600000023842</div><div>lifetime: </div><div>  secs: 0</div><div>  nsecs: 0</div><div>frame_locked: False</div><div>points: []</div><div>colors: []</div><div>text: &#39;&#39;</div><div>mesh_resource: &#39;&#39;</div>

<div>mesh_use_embedded_materials: False</div></div><div><br></div><div>Why would there be a collision all the way out there? My only thought is that all of my meshes are scaled to a factor of .01, but even manually scaling the markers down by that much, they don&#39;t correspond with the space that the robot occupies. </div>

<div>Any thoughts?</div><div><br></div><div>-David!!</div>