Thanks for the Feedback! I’m adding an internal bug tracker to get the UI selector to work accordingly in the URDF importer.
One small note - Triangle Mesh and Mesh simplification does not work on Dynamic Rigid Bodies - It will default to convex hull. The best alternative would be Convex Decomposition - You can also open the advanced settings for convex decomposition and enable “Shrink Wrap” - I found it to give the most accurate results:
