Is it possible to enable self-collision without considering parent links or specific links of a same asset/actor?.
The create actor appears to have a parameters for doing this but its is unclear and undocumented how to use this:
create_actor(self: Gym, env: Env, asset: Asset, pose: Transform, name: str = None, group: int = - 1, filter: int = - 1, segmentationId: int = 0) → int
Creates an Actor from an Asset
Parameters
param1 (Env) – Environment Handle.
param2 (Asset) – Asset Handle
param3 (isaacgym.gymapi.Transform) – transform transform of where the actor will be initially placed
param4 (str) – name of the actor
param5 (int) – collision group that actor will be part of. The actor will not collide with anything outside of the same collisionGroup
param6 (int) – bitwise filter for elements in the same collisionGroup to mask off collision
param7 (int) – segmentation ID used in segmentation camera sensors
The bitwise filter for elements in the same collisionGroup to mask off collision
seems to possible enable this behavior. What is the structure of this bitwise filter? What order of rigid_bodies does it follow. Can you provide an example?