Baxter robot does not avoide collisions

[LuciAnge]

Hi,
I tried to use baxter robot with pre-compiled files provided in this repository in a ROS Noetic environment. I moved the robot by publishing command on /relaxed_ik/ee_pose_goals topic. The robot moved with the respect of the pose goal given but it did not detected and avoided collisions (as you can see in the following figures).

Thank you for your time in advance.