Real-Time Physics Simulation Forum

Is there any way to use collision masks via pybullet? Being able to specify masks inside a urdf would also be acceptable. Right now I'm stuck either turning off self collisions or trying to approximate the geometry with cylinders, but the later isn't really a good solution for my current model.

I am not exactly sure what you mean, but you can identify different visual shapes and collision shapes in your URDF file.

I've also been looking for this.
The C++ code clearly supports bitmasks, but I can't find out how to get it in pybullet. Its entirely possible its not part of the exposed API.
Perhaps if we both add it as an issue?