[Question] Ignore collision between components of a articulation robot

[Zyl-000]

Question

Hello, I've noticed that when enable_self_collision=True, collisions between two links connected by the same joint are ignored. Now, I'd like to also ignore collisions between three consecutive links in a chain or between specific body parts I specify. Do you have any solutions for this?

[kellyguo11]

You can use collision groups (https://openusd.org/dev/api/class_usd_physics_collision_group.html) to specify filtered pairs of collisions between bodies. Check out the shadow hand asset in Isaac Sim and Isaac Lab for an example.