The collision feature for complex dexterous hand in genesis is getting better now

[louhz]

I really like the new functionality of self-collision detection, which really release my pressure in manually correct some dexterous hand with more than 20 links.

Just a quick question, how to perform the self-collision check in the code:
[Genesis] [06:13:45] [WARNING] Filtered out geometry pairs causing self-collision for the neutral configuration (qpos0): (21, 34), (21, 36), (21, 37), (22, 39), (22, 41), (22, 42), (23, 43), (28, 48). Consider tuning Morph option 'decompose_robot_error_threshold' or specify dedicated collision meshes. This behavior can be disabled by setting Morph option 'enable_neutral_collision=True'.