Two robotic arms used at the same time, collision cylinders can not be aligned

[SimonQi1]

When using jaco7_and_ur5.urdf, after running rosrun relaxed_ik urdf_viewer_with_collision_info.py, the positions of the two robotic arms generating the columns overlap, but I don't want that

Is there something wrong with the settings of my start_here.py file

or other possible problems.

I sincerely hope that I can get your help，Thank you

[LuciAnge]

Hi, I used RelaxedIK with two UR5 robots. I had the same problem: the algorithm assumes that both robots start with the base frame coincident with the common_world frame. In order to solve it I added a fixed frame in the joint_names list.
I hope this informotion can help you to solve your problem.
Best regards