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Just a guess (cause i don't know the sdf files of your models), but it seems that you are asking for the model_states in a specific frame

   `resp_coordinates = model_coordinates(blockName,block._relative_entity_name)`

each model position will be relative to block._relative_entity_name. I assume that the service will just take the 'link' frame of the models. and there might be the static offset.

You should instead call the service like this:

   `resp_coordinates = model_coordinates(blockName,"")`

the empty relative frame will cause that the position is in global "world" or "map" frame.