Meaning of aggregate unclear

What does gym.begin_aggregate do? The documentation on this is not very clear, i.e.,

Creates new aggregate group

is not very clear about exactly what an “aggregate group” is and what it is used for, and why the Franka and Shadowhand examples use this.

Thanks!

Hi @oswinso,

You can find out more about PhysX aggregates here: Rigid Body Collision — NVIDIA PhysX SDK 3.4.0 Documentation

They are mostly a means for the physics engine to optimize things better for performance.

Take care,
-Gav