Collision Filtering for Rigid Body Shapes


I am using a URDF file for my simulation programs. I can enable self-collision between all the links as shown here: gym.create_actor(env, asset, pose, “Robot”, 0, 0), but I was wondering if it’s possible to create a specific collision filter between some of the links in the URDF (enable/disable self collision between a specific set of links, not all)? I’ve found a function (set_actor_rigid_shape_properties) but I am not sure how to use it. Thanks in advance for your help!