How to avoid self-collision of two-armed robot

[yueguang666]

Hello!
I use keyboard_ikgoal_driver.py to control the baxter robot. Its left_lower_forearm and right_lower_forearm will always self-collide, while its left_upper_forearm and right_upper_forearm will not.
I tried to improve the weight_priors parameter of the NNSelfCollision object, but the self-collision problem still existed. And it is the same situation when I try to change to a yumi robot. All documentation for the baxter and yumi robots comes from the relaxed_ik_core package.

Is this normal? I would appreciate all answers. Have a good life!