URDF models does not appear

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#12 opened on Feb 27, 2025 1 comment 0 reactions 0 assignees View on GitHub

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Assessment

Difficulty: 4/5
Estimated time: 3-5 days
Newbie friendliness: 25/100

Issue type: Bug
Clarity: Needs clarification
Activity status: Stale
Tech stack: python
Domain: data-visualization

Research direction

Start by running src/rlds.py and src/raw.py with the shown scene, then inspect src/rerun_loader_urdf.py, especially the logged lines around rr.log and the timeless errors. Trace whether the URDF data reaches the spatial view and compare both execution paths. Done means the URDF model appears in the spatial view without the reported logging failure.

Written by the indexing model from the issue text.

Description

(aloha) m@m:~/rerun_test/python-example-droid-dataset$ python3 src/rlds.py 
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
No scene picked, downloads the droid_100 dataset, might be a bit slow!
WARNING: All log messages before absl::InitializeLog() is called are written to STDERR
E0000 00:00:1740634625.775669   31283 cuda_dnn.cc:8310] Unable to register cuDNN factory: Attempting to register factory for plugin cuDNN when one has already been registered
E0000 00:00:1740634625.778167   31283 cuda_blas.cc:1418] Unable to register cuBLAS factory: Attempting to register factory for plugin cuBLAS when one has already been registered
I0000 00:00:1740634632.180245   31283 gpu_device.cc:2022] Created device /job:localhost/replica:0/task:0/device:GPU:0 with 13766 MB memory:  -> device: 0, name: NVIDIA GeForce RTX 4070 Ti SUPER, pci bus id: 0000:01:00.0, compute capability: 8.9
[2025-02-27T05:37:12Z INFO  winit::platform_impl::linux::x11::window] Guessed window scale factor: 1
[2025-02-27T05:37:12Z WARN  wgpu_hal::gles::egl] No config found!
[2025-02-27T05:37:12Z WARN  wgpu_hal::gles::egl] EGL says it can present to the window but not natively
/home/m/rerun_test/python-example-droid-dataset/src/rerun_loader_urdf.py:42: RerunWarning: log: TypeError(log() got an unexpected keyword argument 'timeless')
  rr.log(self.root_path + "", rr.ViewCoordinates.RIGHT_HAND_Z_UP, timeless=True)  # default ROS convention
[2025-02-27T05:37:12Z WARN  wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048
/home/m/rerun_test/python-example-droid-dataset/src/rerun_loader_urdf.py:163: RerunWarning: log: TypeError(log() got an unexpected keyword argument 'timeless')
  rr.log(
[2025-02-27T05:37:12Z WARN  wgpu_hal::gles::adapter] Max vertex attribute stride unknown. Assuming it is 2048

After installing requirements, I ran rlds.py but urdf model is not appearing on the spatial view.

------------------------------edit------------------------------

Tried to use raw file(none CUDA version), but also urdf models are not appearing.

m@m:~/rerun_test/python-example-droid-dataset$ src/raw.py --scene data/Sun_Jun_11_15:52:37_2023/
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint1']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint2']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint3']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint4']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint5']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint6']/dynamics
Unknown attribute "D" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
Unknown attribute "K" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
Unknown attribute "mu_coulomb" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
Unknown attribute "mu_viscous" in /robot[@name='panda']/joint[@name='panda_joint7']/dynamics
├── action
│   ├── cartesian_position (303)
│   ├── cartesian_velocity (303)
│   ├── gripper_position (303)
│   ├── gripper_velocity (303)
│   ├── joint_position (303)
│   ├── joint_velocity (303)
│   ├── robot_state
│   │   ├── cartesian_position (303)
│   │   ├── gripper_position (303)
│   │   ├── joint_positions (303)
│   │   ├── joint_torques_computed (303)
│   │   ├── joint_velocities (303)
│   │   ├── motor_torques_measured (303)
│   │   ├── prev_command_successful (303)
│   │   ├── prev_controller_latency_ms (303)
│   │   ├── prev_joint_torques_computed (303)
│   │   └── prev_joint_torques_computed_safened (303)
│   ├── target_cartesian_position (303)
│   └── target_gripper_position (303)
└── observation
    ├── camera_extrinsics
    │   ├── 17368348_left (303)
    │   ├── 17368348_left_gripper_offset (303)
    │   ├── 17368348_right (303)
    │   ├── 17368348_right_gripper_offset (303)
    │   ├── 19824535_left (303)
    │   ├── 19824535_right (303)
    │   ├── 23404442_left (303)
    │   ├── 23404442_right (303)
    │   ├── 23897859_left (303)
    │   ├── 23897859_right (303)
    │   ├── 26405488_left (303)
    │   ├── 26405488_right (303)
    │   ├── 27904255_left (303)
    │   ├── 27904255_right (303)
    │   ├── 29838012_left (303)
    │   └── 29838012_right (303)
    ├── camera_type
    │   ├── 17368348 (303)
    │   ├── 23897859 (303)
    │   └── 27904255 (303)
    ├── controller_info
    │   ├── controller_on (303)
    │   ├── failure (303)
    │   ├── movement_enabled (303)
    │   └── success (303)
    ├── robot_state
    │   ├── cartesian_position (303)
    │   ├── gripper_position (303)
    │   ├── joint_positions (303)
    │   ├── joint_torques_computed (303)
    │   ├── joint_velocities (303)
    │   ├── motor_torques_measured (303)
    │   ├── prev_command_successful (303)
    │   ├── prev_controller_latency_ms (303)
    │   ├── prev_joint_torques_computed (303)
    │   └── prev_joint_torques_computed_safened (303)
    └── timestamp
        ├── cameras
        │   ├── 17368348_estimated_capture (303)
        │   ├── 17368348_frame_received (303)
        │   ├── 17368348_read_end (303)
        │   ├── 17368348_read_start (303)
        │   ├── 23897859_estimated_capture (303)
        │   ├── 23897859_frame_received (303)
        │   ├── 23897859_read_end (303)
        │   ├── 23897859_read_start (303)
        │   ├── 27904255_estimated_capture (303)
        │   ├── 27904255_frame_received (303)
        │   ├── 27904255_read_end (303)
        │   └── 27904255_read_start (303)
        ├── control
        │   ├── control_start (303)
        │   ├── policy_start (303)
        │   ├── sleep_start (303)
        │   ├── step_end (303)
        │   └── step_start (303)
        ├── robot_state
        │   ├── read_end (303)
        │   ├── read_start (303)
        │   ├── robot_timestamp_nanos (303)
        │   └── robot_timestamp_seconds (303)
        └── skip_action (303)
opening data/Sun_Jun_11_15:52:37_2023/recordings/MP4/23897859-stereo.mp4
opening data/Sun_Jun_11_15:52:37_2023/recordings/MP4/27904255-stereo.mp4
opening data/Sun_Jun_11_15:52:37_2023/recordings/MP4/17368348-stereo.mp4
/home/m/rerun_test/python-example-droid-dataset/src/rerun_loader_urdf.py:42: RerunWarning: log: TypeError(log() got an unexpected keyword argument 'timeless')
  rr.log(self.root_path + "", rr.ViewCoordinates.RIGHT_HAND_Z_UP, timeless=True)  # default ROS convention
/home/m/rerun_test/python-example-droid-dataset/src/rerun_loader_urdf.py:163: RerunWarning: log: TypeError(log() got an unexpected keyword argument 'timeless')
  rr.log(
empty!
empty!
empty!

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