About hard-coded filter ints

[CavalloneChen]

Hi, the filter_ints for the self_collision is currently hard-coded as below:

As I need to change from the PHC-provided unitree G1 urdf to the official urdf, this filter ints list is no longer applicable. Is it safe to simply omit this code block but keep the self collision detection on ? Or is there a way to automatically generate filter ints from urdf and configs?