I called collision Error, but I know is not the technical name.
Look at the photo, after adding motion to a character, you know
that will happens many time, I read before about it, but don't know
where I put the file / info, can someone guide me to fix that problem?
Look at the hand getting into the body.

Most all poses(animations) will need to be adjusted from time to time.  Clothing and Hair will react to the Collision-Shapes when they are turn on but Body-Parts will collide with Body-Parts.
To adjust body-parts open the Avatar's... Modify/Animation/Edit Motion Layer tool and tweak the colliding part. Depending on the animation file used, if any, adjustments may need to be made multiple times during an avatar's animation.



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This is a common problem, especially when using characters with different body shapes.

To fix it just scrub through the motion clip to the problem point and then use "Edit Motion Layer" from the Animation tab of the Modify Panel to adjust shoulder/arm/hand position so the hand doesn't go through the body. 

                                                                

Peter
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