Companion Animations-Kavat/Kubrow

[(PSN)Reaper-Of-Lotus]

Sometimes warframe and companion animations intersect and pass through each other rendering the 'patting' unnatural and clunky. Is there a way to make the animation bounce of the walls of the character and pets bodies? I can see it would be hard to optimise the animations to be fluid and non-intersecting with warframe armour/weapons and attachments being so varied.