URDF Importer issue, Mesh has corrupted data in primvar 'st' : buffer size NUMBER_1 doesn't match expected size NUMBER_2 in faceVarying primvars

Expected result
  I want to see the same texture as the texture seen in RViz

Actual result
  not same (Isaac Sim 2023.1.1)
    Unable to see image texture
    Just can see black color texture

  however, I can see image texture in Rviz

In my opinion, solving the warning log might be solved the problem. maybe…?
How do I solve it?

[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st_3’: buffer size 2202 doesn’t match expected size 13260 in faceVarying primvars
[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st_2’: buffer size 1407 doesn’t match expected size 6297 in faceVarying primvars
[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st_1’: buffer size 408 doesn’t match expected size 3336 in faceVarying primvars
[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st’: buffer size 408 doesn’t match expected size 4326 in faceVarying primvars
[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st_3’: buffer size 756 doesn’t match expected size 11892 in faceVarying primvars
[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st’: buffer size 5094 doesn’t match expected size 6060 in faceVarying primvars
[Warning] [omni.hydra] Mesh ‘/link/visuals’ has corrupted data in primvar ‘st_2’: buffer size 1626 doesn’t match expected size 11892 in faceVarying primvar

(I can not send urdf, dae, files due to the security issue of my company…)

1 Like

I have met the same problem.
The texture works well when I import .obj file directly.
But failed when I load .urdf file (containing the same .obj file)

This is the results of loading obj file directly.

This is the results of loading urdf file containing the same obj file.

The warings are like :
2024-04-25 06:26:09 [54,851ms] [Warning] [omni.hydra] Mesh ‘/World/physcene_10/chair_1_link/visuals’ has corrupted data in primvar ‘st_2’: buffer size 92763 doesn’t match expected size 102357 in faceVarying primvars
2024-04-25 06:26:09 [54,851ms] [Warning] [omni.hydra] Mesh ‘/World/physcene_10/chair_1_link/visuals’ has corrupted data in primvar ‘st_1’: buffer size 9588 doesn’t match expected size 102357 in faceVarying primvars
2024-04-25 06:26:09 [54,851ms] [Warning] [omni.hydra] Mesh ‘/World/physcene_10/chair_1_link/visuals’ has corrupted data in primvar ‘st’: buffer size 6 doesn’t match expected size 102357 in faceVarying primvars

This is a very common case in isaac sim. The problem need to be fixed.

@jinkk.kim @yangyandan i am not an expert here so take my input as a grain of salt. could defining the dest_path be helpful here? below are a few threads that might be relevant:

and perhaps uploading the .log in its entirety could be helpful for the devs/mods to assess further the cause of this issue.

@Simplychenable Thanks for your reply.

I am afraid this does not work for me.
The folder for materials has already been created and the texture images for each object ( including the car) are exported in the material folder.
And In Isaac Sim, when I load the .usd file, most objects have no problem showing the texture.
Only some difficult objects, such as the car I showed before, lost their textures.

The log shows:
[10.145s] Isaac Sim App is loaded.
2024-05-14 05:37:40 [45,773ms] [Warning] [omni.ui] omni::ui::GpuResourcesCache: trying to release non-existent cached GPU resource ‘/home/yandan/.local/share/ov/pkg/isaac_sim-2023.1.1/kit/exts/omni.kit.window.filepicker/data/thumbnails/folder_256.png:2024-04-25@15:47:57’
2024-05-14 05:37:45 [50,805ms] [Warning] [omni.usd._impl.layer_legacy] omni.usd.Layers is DEPRECATED. Please update to omni.kit.usd.layers for new layers interface.
2024-05-14 05:37:45 [51,106ms] [Warning] [omni.hydra] Mesh ‘/World/main/chair_1_link/visuals’ has corrupted data in primvar ‘st_1’: buffer size 9588 doesn’t match expected size 102351 in faceVarying primvars
2024-05-14 05:37:45 [51,106ms] [Warning] [omni.hydra] Mesh ‘/World/main/chair_1_link/visuals’ has corrupted data in primvar ‘st’: buffer size 92763 doesn’t match expected size 102351 in faceVarying primvars

I think it is the bug of loading the .urdf file in isaac sim, since loading .obj and converting .obj to .usd directly works well. But I need to convert .urdf to .usd. So it is still unsolved.