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Probably a very old question, but it indeed allows us to add the relative path in the URDF Files, as visible in several of their official examples in PyBullet. For eg. r2d2.urdf, where the mesh file is directly imported.

<visual>
      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
      <geometry>
        <mesh filename="l_finger_tip.stl"/>
      </geometry>
</visual>

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