Collision filter

Hello all,
is it possible in IsaacSim to group prims in collision groups so that collision would be disabled for every prim that is in the same group. this is for example possible in Isaac Gym.
ex: the following objects do overlap on some areas, but do to the collision group tjey don’t collide with each other but still can collide other objects, like robots…

Hello! Yes it is possible to create collision groups and filter between them.
Here’s how: Rigid-Body Simulation — Omniverse Create documentation