Hello,
You are seeing this over-simplification because it makes use of the convex hull of the available mesh, as we need a convex mesh for the collision check.
You could make use of convex decomposition of your mesh to get a more represntative collision mesh.
robotCollisionDecomp = importrobot("concept.urdf",CollisionDecomposition=true);
Alternatively, you could use collisionVHACD to decompose just the required mesh.
meshTri = stlread("concept_c-bras5_col.stl");
decomposedMesh = collisionVHACD(meshTri);
showCollisionArray(decomposedMesh);
Then clear the approximated collision mesh from the rigidBody and replace with the decomposed one.
rbt.Bodies{indexOfBody}.clearCollision;
for i=1:numel(decomposedMesh)
rbt.Bodies{indexOfBody}.addCollision(decomposedMesh{i})
end
