@ebreard6
@jeff.dietiker noted that there is a setting error in the sqp file attached to the forum post. The sqp diameter is set to 0.015m, when it should be 0.025m.
Did you override this value manually? The sqp designer correctly sets it to 0.025m. Also note that if this value is not specified the solver will compute the bounding diameter from the SQP parameters. We allow manual overwrite of the diameter because it is sometimes beneficial to slightly increase the diameter to get better collision detection.