Smoothing groups lost on import?

[gedalia]

Hello, I'm using the importer to bring in a complex model that's built out of a number of obj files. I believe the objs have nice smoothed normal groups. But when they are baked to the URDF I wind up with a faceted model.
Debug view of interpolated normals in isaac sim, Left side is an regular obj, right side is the same object as part of urdf imported model:

is there any way to not lose this information? I'm trying to make nice renders with the path tracer.

[rgasoto]

We are working on updating the mesh importer used by the URDF importer so this and some other issues we identified go away.

one thing you can try is on the imported mesh - go to the Refinement section and change the Subdivision Scheme from Bilinear to "None" or "catmullClark"

[gedalia]

thanks, that seemed to work on our obj based robot, seems less effective on the STL based one, but maybe those verts aren't welded.