Address review

README.md

@@ -110,10 +110,12 @@ colcon build --packages-select moveit_drake
 
 ### .stl support
 
-Unfortunately, Drake does not support `.stl` files (11/28/2024, see [drake#19408](https://github.com/RobotLocomotion/drake/issues/19408)). We're working around this by replacing the `.stl` files in the urdf string
-with `.obj` files in the plugin implementations. Make sure that the moveit config you're using contains the relevant `.stl` files. If it doesn't,
-take a look into the scripts/ directory. We've provided a simple python script to add additional `.obj` files for given `.stl` files. Usage:
+Unfortunately, Drake does not support `.stl` files (11/28/2024, see [drake#19408](https://github.com/RobotLocomotion/drake/issues/19408)).
+We're working around this by replacing the `.stl` files in the urdf string with `.obj` files in the plugin implementations.
+Make sure that the moveit config you're using contains the relevant `.stl` files. If it doesn't, take a look into the scripts/ directory.
+We've provided a simple python script to add additional `.obj` files for given `.stl` files. Usage:
 
 ```
 ./scripts/convert_stl_to_obj.py /PATH/TO/YOUR/MESH/DIR
 ```
+Don't forget to rebuild your description package so the .obj files are copied into the workspace's install directory.

include/moveit/drake/conversions.hpp

@@ -149,7 +149,7 @@ void getRobotTrajectory(const ::drake::trajectories::Trajectory<double>& drake_t
                         std::shared_ptr<::robot_trajectory::RobotTrajectory>& moveit_trajectory);
 
 /**
- * @brief Converts all STL file paths in a string to OBJ file paths
+ * @brief Converts all STL file paths in a URDF string to OBJ file paths
  *
  * @param input Input robot description
  * @return std::string Robot description with all STL file paths replaced by OBJ file paths

scripts/convert_stl_to_obj.py

@@ -14,9 +14,11 @@ def convert_stl_to_obj(directory):
     """
     for root, _, files in os.walk(directory):
         for file in files:
-            if file.lower().endswith(".stl"):
-                stl_path = os.path.join(root, file)
-                obj_path = os.path.splitext(stl_path)[0] + ".obj"
+            stl_path = os.path.join(root, file)
+            file_root, file_ext = os.path.splitext(stl_path)
+
+            if file_ext.lower() in [".stl", ".STL"]:  # Check if the file is an STL file
+                obj_path = file_root + ".obj"  # Create the OBJ file path
 
                 try:
                     # Load the STL file

src/conversions.cpp

@@ -241,13 +241,21 @@ void getRobotTrajectory(const ::drake::trajectories::Trajectory<double>& drake_t
 std::string replaceSTLWithOBJ(const std::string& input)
 {
   std::string result = input;
-  const std::string target = ".stl";
+  const std::string lower_case_stl = ".stl";
+  const std::string upper_case_stl = ".STL";
   const std::string replacement = ".obj";
 
   size_t pos = 0;
-  while ((pos = result.find(target, pos)) != std::string::npos)
+  while ((pos = result.find(lower_case_stl, pos)) != std::string::npos)
   {
-    result.replace(pos, target.length(), replacement);
+    result.replace(pos, lower_case_stl.length(), replacement);
+    pos += replacement.length();  // Move past the replacement to avoid infinite loop
+  }
+
+  pos = 0;
+  while ((pos = result.find(upper_case_stl, pos)) != std::string::npos)
+  {
+    result.replace(pos, upper_case_stl.length(), replacement);
     pos += replacement.length();  // Move past the replacement to avoid infinite loop
   }