Hello, I have a question regarding the self-collision detection algorithm between the bodies in one kinematic chain. Consider a very simple double inverted pendulum example, see example1.xml. In this example, the collisions between Link 2 and CBeam are automatically detected. However, no collision between Link2 and Link1 is detected. As an example, one can perturb the pendulum and see Link2 always passes through Link1 without detecting collisions. Clearly, if Link2 is not a child of Link1, collisions between them are automatically detected; see example2.xml. Is there any way to activate the collision within one kinematic chain? Thanks a lot. Best, Sina