diff --git a/CONTRIBUTORS.md b/CONTRIBUTORS.md
index ed704177acd..e46de6d4677 100644
--- a/CONTRIBUTORS.md
+++ b/CONTRIBUTORS.md
@@ -142,6 +142,7 @@ Guidelines for modifications:
 * Yohan Choi
 * Yujian Zhang
 * Yun Liu
+* Zehao Wang
 * Ziqi Fan
 * Zoe McCarthy
 * David Leon
diff --git a/scripts/tools/convert_mesh.py b/scripts/tools/convert_mesh.py
index 50b295397d3..4147f618d22 100644
--- a/scripts/tools/convert_mesh.py
+++ b/scripts/tools/convert_mesh.py
@@ -118,6 +118,18 @@ def main():
     collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=args_cli.collision_approximation != "none")
 
     # Create Mesh converter config
+    collision_cfg = None
+    if args_cli.collision_approximation == 'convexDecomposition':
+        collision_cfg = schemas_cfg.ConvexDecompositionPropertiesCfg()
+    elif args_cli.collision_approximation == 'convexHull':
+        collision_cfg = schemas_cfg.ConvexHullPropertiesCfg()
+    elif args_cli.collision_approximation == 'boundingCube':
+        collision_cfg = schemas_cfg.BoundingCubePropertiesCfg()
+    elif args_cli.collision_approximation == "boundingSphere":
+        collision_cfg = schemas_cfg.BoundingSpherePropertiesCfg()
+    elif args_cli.collision_approximation == "meshSimplification":
+        collision_cfg = schemas_cfg.TriangleMeshSimplificationPropertiesCfg()
+        
     mesh_converter_cfg = MeshConverterCfg(
         mass_props=mass_props,
         rigid_props=rigid_props,
@@ -127,7 +139,7 @@ def main():
         usd_dir=os.path.dirname(dest_path),
         usd_file_name=os.path.basename(dest_path),
         make_instanceable=args_cli.make_instanceable,
-        collision_approximation=args_cli.collision_approximation,
+        mesh_collision_props=collision_cfg
     )
 
     # Print info