When there are 32+ bodies in a .mjcf file, ActorBuilder.collision_groups[2] is greater than $2^{32} - 1$ which causes an error
This is due to the way that collision groups are set here and leads to an error here when setting the collision groups since they are supposed to be uint32
Changes:
throw an error when this happens
propose an alternative which sets the collision group based on the depth from the root body node of the .mjcf so there are less collision groups
.mjcffile,ActorBuilder.collision_groups[2]is greater than $2^{32} - 1$ which causes an erroruint32.mjcfso there are less collision groups