Can I check if Self-Collision is enabled in a USD file?

Omniverse Isaac Sim
1

When using the URDF Importer to create a USD, there is an option to enable or disable self-collision. See image here

image
image558×719 38.9 KB

I would like to know if, given a USD file, if it is possible to see whether self collision was enabled or disabled for that USD file. Thank you.

Isaac Sim Version

4.2.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: RTX 4090
  • Driver Version:
2

Please check in Property->Physics->Collider settings.