Describe the bug

In release 2.2.0, the Mesh Converter did the following to add mesh approximation:

mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(child_mesh_prim)
mesh_collision_api.GetApproximationAttr().Set(cfg.collision_approximation)

But now it's not in _convert_asset or schemas.define_rigid_body_properties.

So when I use the mesh converter, the collider approximation turned into triangle mesh, even though my mesh_collision_props is schemas_cfg.ConvexDecompositionPropertiesCfg. After adding the two lines above back into mesh_converter.py, the approximation gets proper again.

If this is indeed a bug, I can try to fix it and make a PR.

Steps to reproduce

Use isaaclab.sim.converters.MeshConverter to convert an obj mesh to usd.

System Info

Describe the characteristic of your environment:

• Commit: de9e8ce is the relavant commit. My env is 2.3.0
• Isaac Sim Version: 5.1.0
• OS: Ubuntu 24.04
• GPU: RTX 3090
• CUDA: 12.4
• GPU Driver: 550.135

Checklist

• I have checked that there is no similar issue in the repo (required)
• I have checked that the issue is not in running Isaac Sim itself and is related to the repo

Acceptance Criteria

• The collider approximation attribute in mesh converter works properly