Drake parser error if URDF has STL files

Question

Drake parser error if URDF has STL files

Opened this issue 4 months ago · 1 comments

Drake Parser throws the following error when trying to load robot_description from topic

[pipeline_testbench_example-4] [ERROR] [1721123876.998814554] [pipeline_testbench_example.moveit.ros.planning_pipeline]: Exception caught: 'MakeConvexHull only applies to obj, vtk, and gltf meshes; given file: /root/workspace/install/moveit_resources_panda_description/share/moveit_resources_panda_description/meshes/collision/link0.stl.'

Answer 1 · 2024-07-20T14:56:52.000Z

This still seems to be an active feature request in Drake as per RobotLocomotion/drake#19408. For now the work around is to convert the stl files into OBJ and load them. This could mean that we may have to create assets specifically for this repository, or use default drake models. I prefer using default drake models because they have some pretty standard robot arms that are used by the community.