Refines collision groups further based on asset's settings #1328
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Mayankm96
requested review from
Dhoeller19,
jsmith-bdai and
kellyguo11
as code owners
kellyguo11
reviewed
Nov 4, 2024
| for prim_path_expr in prim_path_exprs: | ||
| prim_paths += sim_utils.find_matching_prim_paths(prim_path_expr) | ||
| else: | ||
| prim_paths = self.env_prim_paths |
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There's a new feature from physics that will let us do the environment collision filtering automatically through physics replication. we should probably think about how to incorporate this with the collision group logic.
| asset_paths = sim_utils.find_matching_prim_paths(asset_cfg.prim_path) | ||
| self._global_prim_paths += asset_paths | ||
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| # store prims in collision groups |
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might make sense to do the collision group creation separately so that we can also use this for the direct workflow?
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Description
Previously, we supported only two types of collision groups for an asset:
-1: global collision group (collides with all assets in the scene)0: local collision group (collides with other assets in the same environment)However, in some cases (for instance, dynamic obstacles), you may want to further refine the collisions within the same environment.
This MR implements the filter collision function in the interactive scene to handle this case.
The implementation is far from perfect. Would be great to discuss this further and make it cover more cases.
Type of change
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there