No color with rigid materials from meshes

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 24.04
Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

  • Model: NVIDIA RTX 4500 Ada
  • Driver Version: 550.144.03
  • CUDA Version: 12.4

Topic Description

I’m working with warp to generate USD stages and load them with Isaac Sim for visualization. Until recently, I was using USD composer for visualization, which worked fine. However, I’m planning to work with both isaacsim and warp in the future, and as far as I can see, I shouldn’t need the composer anymore.

However, when I’m loading USD stages with isaac, they are all colorless. More specifically, the color attributes of all rigid body meshes seem to get lost.

The template shapes that should define the color are loaded, but still, everything appears to be grey. It’s a fresh install, I didn’t change any default settings yet.

The logs seem to indicate that isaac expects 1 color per vertex in the mesh - the USD comes straight from NVIDIA warp though, so I would expect it to be compatible with Isaacsim?

Logs

2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_13_frankie_leftfinger/shape_44.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 1744 in vertex primvars
2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_10_panda_link7/shape_30.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 33666 in vertex primvars
2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_5_panda_link2/shape_7.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 35118 in vertex primvars
2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_7_panda_link4/shape_15.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 41046 in vertex primvars
2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_6_panda_link3/shape_11.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 40304 in vertex primvars
2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_8_panda_link5/shape_19.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 51179 in vertex primvars
2025-01-31 15:49:32 [2,352,254ms] [Warning] [omni.hydra] Mesh ‘/root/body_3_panda_link0/shape_2.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 52644 in vertex primvars
2025-01-31 15:49:32 [2,352,255ms] [Warning] [omni.hydra] Mesh ‘/root/body_12_frankie_hand/shape_37.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 19828 in vertex primvars
2025-01-31 15:49:32 [2,352,255ms] [Warning] [omni.hydra] Mesh ‘/root/body_9_panda_link6/shape_26.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 59937 in vertex primvars
2025-01-31 15:49:32 [2,352,256ms] [Warning] [omni.hydra] Mesh ‘/root/body_4_panda_link1/shape_3.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 34555 in vertex primvars
2025-01-31 15:49:32 [2,352,258ms] [Warning] [omni.hydra] Mesh ‘/root/body_2_panda_base_arm/shape_0.proto_mesh_id0’ has corrupted data in primvar ‘displayColor’: buffer size 1 doesn’t match expected size 80739 in vertex primvars

Screenshot

Hi @jonathan.kuelz , could you provide a sample USD file or small repro. steps for us to try on our end?

Thanks,
Miles

Hi Miles,

sure, here’s a usda file together with my source code
urdf_demo.zip (430.1 KB).

I loaded a URDF with warp, applied some controls, and saved it to usda. The resulting animation is grey. This is most likely related to the issue I opened here.

It looks like there’s a bug in Warp’s USD renderer. We’re aware of it and will work on getting it fixed.

Hi @jonathan.kuelz, thanks for reporting this issue!

We’ve just merged commit 15d1842 into the main branch, which should address this issue.

Please let us know if you get a chance to build Warp from source and confirm whether it’s working for you.

1 Like

Colors are showing now, thanks for your support.