Real-Time Physics Simulation Forum

I am trying to use custom STL files as collision meshes in URDF models. I import the models with the function loadURDF(), and I notice that while their visuals look good, but their collision geometry seems to be larger in volume than it should be.

After digging around, I have found that this might be because imported meshes have collision margins added to them. However, I did not find any information on whether this functionality is even exposed through the Python API or not.

Can the default collision margins result in such behaviour? Is this functionality exposed

I had the same problem and it was because I was using concave shapes. You can use V-HACD (search it in the quickstart guide or use the test_vhacd executable if you have compiled Bullet).

See viewtopic.php?f=24&t=11962