The collision settings for robots imported by the URDF importer are strange

Isaac Sim Version

4.2.0
4.1.0
4.0.0

Operating System

Ubuntu 22.04

GPU Information

  • Model: GeForce RTX 3090
  • Driver Version: 555.42.06

Topic Description

There are too few parameters in the collision settings for robots imported by the URDF importer.

Detailed Description

Some of the properties of the collision immediately after import are shown below.

The parameters for changing the collider’s Approximation setting to Triangle Mesh and then changing it back are shown below.

Clearly, there are more parameters that can be set.
The default collider setting is sometimes too rough and I would like to be able to change the setting immediately.

Steps to Reproduce

  1. Select collision for any link of the imported robot in the URDF Importer (use “Convex Decomposition”).
  2. Check that Phisics->Collider->Approximation in the properties is set to “Convex Decomposition”.
  3. Choose “Triangle Mesh”.
  4. Choose “Convex Decomposition”.