Hi, I would like to collide two spaces using dSpaceCollide2 (or just dCollide) , to find if my robot space collides with an obstacles space. But this function only accepts dGeomID as arguments and not dSpaceID. After a long time trying I was still unable to find a way to convert a dSpaceID to dGeomID (is there no such function?) Can anybody give me a hint? -Jev