URDF importer: visuals has corrupted data in primvar st: buffer size 24 doesn't match expected size in faceVarying primvars

Hi all,

When I use URDF importer in Isaac Sim to convert my robot urdf to usd format, it occurs problem as:

/World/Robot/leg_link/visuals has corrupted data in primvar st: buffer size 24 doesn’t match expected size 24588 in faceVarying primvars

The converted usd file could be separately viewed in Isaac Sim, though having the output as:

Mesh /World/envs/env_94/Robot/leg_link/visuals has corrupted data in primvar st_2: buffer size 4776 doesn’t match expected size 24588 in faceVarying primvars

But loading it requires more time (much slower than other robot types when loading 1024 robots).

I think it is a specific problem with my dae file during conversion. I checked the related output only appears in ~/.local/share/ov/pkg/isaac_sim-2022.1.0/kit/plugins/rtx/librtx.hydra.so.

Could you give me more hints about the detailed reason to trigger this output?
Thank you very much in advance.

1 Like

Hi, do you have the URDF file so I can inspect what is happening? what settings did you use when importing it too? If you don’t want to share the urdf publicly in the forum, feel free to DM it to me.

I can share mine here. Pretty much everything in the part-net mobility dataset is problematic.
mobility.urdf (36.7 KB)

Hi, I have the same problem. What is the solution? Thanks.

Hi, I have the same issue. Did you solve the problem? Thanks.

I’d need the meshes as well, do you have a link where I can find those assets?

https://sapien.ucsd.edu/browse

https://sapien.ucsd.edu/browse

40417.zip (3.9 MB)
Here is the complete urdf
Let me know if you have any questions.