Simulation support for Stretch RE2

Hi, I am trying to export the Stretch urdf based on stretch_ros/stretch_description repo. The default meshes are .STL but Pybullet and Isaacgym seem to not read many of the mesh files.

As per this, should I convert the STL files to OBJ format and replace the names in stretch.urdf?

Hi @Vidhi_Jain, Pybullet should be able to import .STL meshes. Here’s a experiment I threw together to show this:

Isaac Gym should be able to import the URDF with .STL meshes if it is based on PyBullet.

1 Like