diff --git a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
index 96b3138364706200f8dc189b2a78b179ef0dd948..63886c9b2130dfbb8b5b5c308f43d3aa66c35293 100644
--- a/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleSelfCollisionChecker.cpp
@@ -285,6 +285,23 @@ namespace armarx
                     //update robot
                     _module<ControlThreadDataBuffer>().updateVirtualRobot(selfCollisionAvoidanceRobot, selfCollisionAvoidanceRobotNodes);
 
+                    //check for all nodes 0
+                    {
+                        bool allJoints0 = true;
+                        for(const VirtualRobot::RobotNodePtr node : selfCollisionAvoidanceRobotNodes)
+                        {
+                            if(0 != node->getJointValue())
+                            {
+                                allJoints0 = false;
+                                break;
+                            }
+                        }
+                        if(allJoints0)
+                        {
+                            continue;
+                        }
+                    }
+
                     bool collision = false;
                     for (std::size_t idx = 0; idx < nodePairsToCheck.size(); ++idx)
                     {