Changing the scale of the robot

[bulbus]

Hello everybody.

Describe the bug I have been using the content of this repo in combination with an Hololens for a few time. Lately I tried to scale the whole holographic experience in order to have a clearer view of the robot moving near a small object. Moving the robot and the object under a parent object and scaling the parent object, when the trajectory calculated with moveit is returned, the robot behaves in a strange way, moving near the target position and then slowing down to almost being still and reaching the position after many seconds. Also, when more than one pose is requested to moveit, the robot is not able to reach the first pose and moves to the second (or last) one.

To Reproduce Steps to reproduce the behavior:

1. Scale the robot (or the parent)
2. Plan a trajectory with moveit
3. Execute the returned trajectories
4. See abnormal behaviour

Console logs / stack traces Nothing

Expected behavior I would expect no difference in respect to the scale 1:1

Environment (please complete the following information, where applicable):

• Unity Version: 2020.3.32f1
• Unity machine OS + version: Windows 10
• ROS machine OS + version: Ubuntu 18.04, ROS Noetic
• ROS–Unity communication: Docker
• Branch or version: e.g. v0.6.0

I think I'm missing something with the physics of the joints due to the change of scale, but I'd appreciate some help to investigate the reason, I think that scaling the experience in a mixed reality context might be a frequent use case.

Thanks, Jacopo