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I figured out why I'm having the current problem. It's basically because I was missing some files (.urdf & .obj.urdf). Somehow those files disappear after I did catkin_make.

Add:

The hsr_description package doesn't have mesh files to construct the urdf. The mesh files are in the different ripo: https://github.com/ToyotaResearchInstitute/hsr_meshes

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