How do you prevent colliders on bones from intersecting each other

I have some colliders on the bones of a mesh. I’m trying to prevent the arm part of the mesh from going through the body part of the mesh. Right now there doesn’t seem to be anything stopping this movement. I know in a ragdolll this does not happen. If two colliders are already intersecting when the model is instantiated, do they automatically not collide?

Hi dansav, did you ever solve this. I’m facing the same issue.