Hi, I'm trying to model things in simulator Gazebo. I found out that Gazebo does not detect self collision, that is, a link of a model can run into another link of the same model, but if the links are from different models, they will not run into each other. I tried to add

<selfCollide>true</selfCollide>

part into my urdf document, but it still won't work. How to turn on self collision detection in Gazebo?