Methods, apparatus, systems, and computer-readable media are provided for detecting a geometric change in a robot's configuration and taking responsive action in instances where the geometric change is likely to impact operation of the robot. In various implementations, a geometric model of a robot in a selected pose may be obtained. Image data of the actual robot in the selected pose may also be obtained. The image data may be compared to the geometric model to detect a geometric difference between the geometric model and the actual robot. Output may be provided that is indicative of the geometric difference between the geometric model and the actual robot.