Hi,
the current stage collision detection defaults the height of all the blocks on the robot to have a pose.z equals to 0, so only the objects sitting on the ground level (global_zmin = 0) can pass the z range test and signal a collision.

I'm working on fixing this so the robot will collide with objects properly, the current "IntersectGlobalZ(z)" method only takes one z value from the block(on the robot) and checks for whether the object is in the right z range. But I think 2 values are needed to do this z range test properly, one is the global_zmin or global_zmax of the block(on the robot) and the other one is the z size of the block(on the robot), so I'm planning on adding the extra argument to the method and try to make it work, is there anyone else working on this issue?