Currently, I am migrating from Isaac Gym to Isaac Lab.

In Isaac Gym, for convex decomposition, we used to set the following params as follows:

1. asset.vhacd_enabled = True
2. asset.vhacd_params.resolution = 10000

Similarly, for collisions, I used to set the bitmasks value to filter property in isaacgym.gymapi.RigidShapeProperties class.

How can I achieve the same in Isaac Lab i.e., set convex decomposition parameters and define collision masks? I did not find relevant info for the same in the current documentation.