@petercorke Is there a way to do self collision checking? I see the iscollided function, but it seems this is for checking if any of the arm links have collided with an external shape as you have to pass in the joint angles and a shape. But I'm wondering if there is a way to check if any of the arm links are colliding with each other in a certain joint angle configuration. I've checked that my links have collision geometry, and even tried passing in a link geometry to the iscollided function, but it always returns true in this case since this function cycles through the links and checks if they have collided with the shape (in this case, a link will have collided with itself).