# Stretch RE1 New User Install STL Error **URL:** \ **Category:** Ask\ **Created:** [February 5, 2023, 1:08am UTC](https://forum.hello-robot.com/t/stretch-re1-new-user-install-stl-error/580 "2023-02-05T01:08:45Z")\ **Posts on this page:** 4\ **Page:** 1
**Author:** ![jehan](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jehan/32/347_2.png) [@jehan](https://forum.hello-robot.com/u/jehan)\ **Post date:** [February 5, 2023, 1:08am UTC](https://forum.hello-robot.com/t/stretch-re1-new-user-install-stl-error/580/1 "2023-02-05T01:08:45Z")
Hello, I’ve encountered a missing STL error with a Stretch RE1 running Ubuntu 20.04 after attempting to do a new user install. After installing using `./stretch_new_user_install.py` without running into any error, I restarted the robot and ran into an error while running `stretch_robot_system_check.py`. Other scripts such as `stretch_xbox_controller_teleop.py` also give the same error. This error seems to involve looking for a mesh that may be used for soft limits to limit self collisions: ````auto For use with S T R E T C H (R) RESEARCH EDITION from Hello Robot Inc. --------------------------------------------------------------------- Waiting for all the hello* devices ... Found all hello* devices. Traceback (most recent call last): File "/home/jehan/.local/bin/stretch_xbox_controller_teleop.py", line 475, in main() File "/home/jehan/.local/bin/stretch_xbox_controller_teleop.py", line 431, in main robot.startup() File "/home/jehan/.local/lib/python3.8/site-packages/stretch_body/robot.py", line 166, in startup self.non_dxl_thread = NonDXLStatusThread(self,target_rate_hz=self.params['rates']['NonDXLStatusThread_Hz']) File "/home/jehan/.local/lib/python3.8/site-packages/stretch_body/robot.py", line 65, in __init__ self.robot.collision.startup() File "/home/jehan/.local/lib/python3.8/site-packages/stretch_body/robot_collision.py", line 72, in startup self.models.append(getattr(importlib.import_module(module_name), class_name)(self)) File "/home/jehan/.local/lib/python3.8/site-packages/stretch_tool_share/stretch_dex_wrist/collision_model.py", line 44, in __init__ self.fk=EndOfArmForwardKinematics() File "/home/jehan/.local/lib/python3.8/site-packages/stretch_body/robot_collision.py", line 143, in __init__ self.robot_model = urdfpy.URDF.load(urdf_file) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 3729, in load return URDF._from_xml(node, path) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 3926, in _from_xml kwargs = cls._parse(node, path) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 161, in _parse kwargs.update(cls._parse_simple_elements(node, path)) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 137, in _parse_simple_elements v = [t._from_xml(n, path) for n in vs] File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 137, in v = [t._from_xml(n, path) for n in vs] File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 181, in _from_xml return cls(**cls._parse(node, path)) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 161, in _parse kwargs.update(cls._parse_simple_elements(node, path)) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 137, in _parse_simple_elements v = [t._from_xml(n, path) for n in vs] File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 137, in v = [t._from_xml(n, path) for n in vs] File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 1146, in _from_xml kwargs = cls._parse(node, path) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 161, in _parse kwargs.update(cls._parse_simple_elements(node, path)) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 127, in _parse_simple_elements v = t._from_xml(v, path) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 181, in _from_xml return cls(**cls._parse(node, path)) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 161, in _parse kwargs.update(cls._parse_simple_elements(node, path)) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 127, in _parse_simple_elements v = t._from_xml(v, path) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/urdf.py", line 581, in _from_xml meshes = load_meshes(fn) File "/home/jehan/.local/lib/python3.8/site-packages/urdfpy/utils.py", line 225, in load_meshes meshes = trimesh.load(filename) File "/home/jehan/.local/lib/python3.8/site-packages/trimesh/exchange/load.py", line 117, in load ) = parse_file_args(file_obj=file_obj, File "/home/jehan/.local/lib/python3.8/site-packages/trimesh/exchange/load.py", line 557, in parse_file_args raise ValueError('string is not a file: {}'.format(file_obj)) ValueError: string is not a file: /home/jehan/stretch_user/stretch-re1-1075/exported_urdf/./meshes/link_wrist_yaw_bottom.STL``` The mesh `link_wrist_yaw_bottom.STL` is not there, and I can't seem to find it anywhere on the filesystem. Any tips as to how to fix this issue? ```` ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [February 6, 2023, 3:35pm UTC](https://forum.hello-robot.com/t/stretch-re1-new-user-install-stl-error/580/2 "2023-02-06T15:35:21Z")
Hi @jehan, welcome to the forum! Your interpretation is correct; `stretch_body`, the Python library underlying `stretch_robot_system_check.py` and the other stretch\_\* tools, has self-collision checking built in and the error is the collision manager finding something wrong with the URDF stored at `~/stretch_user/stretch-re1-xxxx/exported_urdf/`. Start by confirming there is valid URDF/mesh files within that folder. Next, run `stretch_params.py | grep robot.tool` to check what tool is configured on the robot (i.e. `tool_stretch_gripper` if you have the standard gripper attached to your Stretch). ---
**Author:** ![jehan](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/jehan/32/347_2.png) [@jehan](https://forum.hello-robot.com/u/jehan)\ **Post date:** [February 7, 2023, 12:17am UTC](https://forum.hello-robot.com/t/stretch-re1-new-user-install-stl-error/580/3 "2023-02-07T00:17:40Z")
I was able to fix my issue by copying the `meshes` folder from another user to the `~/stretch_user/stretch-re1-xxxx/exported_urdf/` folder for my new user. Resolved for me now. ---
**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\ **Post date:** [February 7, 2023, 3:48am UTC](https://forum.hello-robot.com/t/stretch-re1-new-user-install-stl-error/580/4 "2023-02-07T03:48:27Z")
Awesome, glad to hear it!