[quote="airballking, post:2, topic:4479"]
Wouldnt 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.
[/quote]
That would be expensive to check. It only has to be done while loading the URDF of course, so that might not be a huge problem.
However, isn't the issue tracker a better place discuss this? This thread here has to risk of splitting the discussion between there and here.
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