I used an urdf and created an usd with it following this tutorial. Before saving, I modify the collision to use a convex decomposition as I do not want to use the convex hull for the collisions.
When loading my usd afterwards, I get the following warning:
[Warning] [omni.physx.plugin] PhysicsUSD: Parse collision - triangle mesh collision (approximation None/MeshSimplifixation) without SDF cannot be a part of a dynamic body, falling back to convexHull approximation: /World/envs/source_env/obj_0/obj_0_base. To enable SDF collisions, sdfResolution should be > 0.
The collisions seem to be converted to convex hull. How could I have collisions with the convex decomposition and not the convex hull and load it as I wish with those collisions? How could I avoid at the same time this warning just above?