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STL doesn't support textures (well, 'official' STL doesn't), it only encodes surface geometry, no colour, no textures.

Colours can be set (on the entire mesh) using the color element in a URDF.

If you really want to texture, you'll have to use another format (RViz also supports .dae (Collada) and Ogre .mesh).

STL doesn't support textures (well, 'official' STL doesn't), it only encodes surface geometry, no colour, no textures.

Colours can be set (on (at least in RViz, and on the entire mesh) using the color element in a URDF.

If you really want to texture, texture your meshes, you'll have to use another format (RViz also supports .dae (Collada) and Ogre .mesh).