How do you make objects with the same parent not collide with each other but collide with everything else?

I’m trying to make a ragdoll character, but the limbs cannot fully rotate because they are hitting each other. I am trying to make a ragdoll like the ones in this video > New Weapons! - A week of Game Development in Unity #9 - YouTube

Is it possible to set the physics layer matrix so that the layer the ragdoll objects are on do not collide with each other? Just make sure there isn’t a tick in the box where ragdoll meets ragdoll.