Detecting Self Collision With Manipulator In Simulink/Simscape

I'm trying to train a robot manipulator with reinforcement learning for path planning. I have the model of the manipulator build in Simulink/Simscape. When I run the simulation for training, the manipulator is constantly overlapping with itself, for example the links would go into the base. I was hoping to be able to detect self collision then terminate the training episode. So would it be possible to detect these self collisions of my manipulator model in Simulink/Simscape?

Thanks and regards

[Vincent]

Also would adding contact forces between the links and the base help in this situation? Would adding those blocks help prevent the components of the manipulator from overlapping with eachother?

Thanks