How to set collision groups between objects?

[strn18]

Hi,
I would like to configure collision groups between different objects.

My goal is to allow collisions between object A and B, and object B and C, while object A and C should not collide (i.e., A collides with B, and B collides with C, but A and C do not collide. They pass through each other).

I found relevant information in the OmniPhysics documentation, but I’m not sure how to apply this to IsaacLab code.

If you could provide a code snippet or an example showing how to implement this in IsaacLab, I would really appreciate it. Thanks!