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Thanks for the report - it looks like the positions of some of the links subtly changed in the latest release of pr2_description and that we need a slightly altered set of collision operations in pr2_arm_navigation. I'll do a release this week, but in the meantime if you add the following line to get_state_validity.cpp at line 33 things should work (this line just disables all collisions except those that matter for the arm):