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Did a coupled sim. Getting tighter but still it looks worse than my arm sim, probably because of the mocap im using and not the to the point keyframe i was using for the arm test. Now since I'm using this mocap there is so much crap i have to wait through every time that I'm not really interested in. I'm going to try a new method to avoid self collisions (which will basically destroy your sim). Every frame has to be checked for self collisions and simmed over again and again until its gone before I can move on to a "real" fat solve.