How to enforce self-collisions with Franka?

[dseita]

I am using Isaac Gym and setup.py says it is version 1.0.preview4. I am wondering how to enforce self-collisions for the Franka robot?

In particular, I am running the Franka OSC example from isaacgym/python/examples/franka_osc.py and if I change the way that the Franka hand moves, I observe that self-collisions are not enforced correctly. One way to do this is to change this:

    # Set desired hand positions
    if args.pos_control:
        pos_des[:, 0] = init_pos[:, 0] - 0.1
        pos_des[:, 1] = math.sin(itr / 50) * 0.2
        pos_des[:, 2] = init_pos[:, 2] + math.cos(itr / 50) * 0.2

To this, where instead of subtracting 0.1, I subtract 0.5:

    # Set desired hand positions
    if args.pos_control:
        pos_des[:, 0] = init_pos[:, 0] - 0.5
        pos_des[:, 1] = math.sin(itr / 50) * 0.2
        pos_des[:, 2] = init_pos[:, 2] + math.cos(itr / 50) * 0.2

This results in a video that looks like this:

Franka OSC Self-Collision Gripper not Enforced

Which shows that the Franka gripper is intersecting with other links of the Franka. I am curious if there is a way to fix this? For example do I have to adjust some simulation parameters like this in the docs?

Or is there a way to fix this with the URDF file of the Franka? But the Franka URDF shows, for example, that panda_leftfinger and panda_rightfinger already have collision geometries with <collision> ... </collision> there.

[dseita]

I figured out the solution, it was to change:

franka_handle = gym.create_actor(env, franka_asset, pose, "franka", i, 1)

to

franka_handle = gym.create_actor(env, franka_asset, pose, "franka", i, 0)

From the documentation this is changing the param6 to be 0 so items in the same collision group will NOT mask off collision (which I interpret as, it will ENABLE self collision).