Would the maintainer be open to adding an an attribute to the mesh tag indicating if the mesh is a convex hull? The default would be false.
<mesh filename="" convex="true" />
The use-case here is to utilize this information in planners / collision checkers that can enable certain optimizations when the meshes they are passed are convex. One example would be FCL, which has optimized implementations for convex-convex algorithms. (Comment on GitHub by gavanderhoorn)