Not a URDF maintainer here, just interested by-stander. Wouldn't the elegant approach be to extend any collision checker that supports such optimized checks with a checking function that evaluates whether a given mesh is convex? Like that, the checker could decide whether or not to run the algorithms optimized for convex meshes upon loading of the meshes. --- [Visit Topic](https://discourse.ros.org/t/add-attribute-to-indicate-if-a-mesh-is-a-convex-hull/4479/2) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: