Error adding collisions: Failed getting triangles. Submesh topology is lines or points.

I am creating an application using virtual reality to control a robot. For this, I make a mapping of its environment and communicate it with unity, so that I obtain a point cloud that I convert into a mesh to show it.

I have to add collisions to this mesh to make the application more realistic, but doing so I get this error:

"Failed getting triangles. Submesh topology is lines or points."

As the error message says, the mesh is made up of points and the triangles cannot be obtained. The problem is that the mesh must be formed that way since it comes from a point cloud generated by the robot.

Nor can I add box colliders to each detected object since I do not know the position of the center or its size, I only have the points that make up each object within a large mesh.

In the image you can see what I mean, the objects are made up of points enlarged by shaders and everything is a single mesh.

How could I add colliders?

 

hi have you solved it?