URDF models does not appear

未关闭

#12 创建于 2025年2月27日 1 条评论 0 个 reaction 已指派 0 人在 GitHub 查看

还没有人认领这个 Issue。

评估

难度: 4/5
预计耗时: 3-5 天
新手友好度: 25/100

Issue 类型: 缺陷
描述清晰度: 需要澄清
活跃度: 停滞
技术栈: python
领域: data-visualization

调研方向

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.

由索引模型根据 Issue 内容生成。

描述

(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!

主要语言: Python
星标: 96
派生: 7
PR 合并指标: 30 天内没有已合并 PR

环境准备

提供 Dockerfile 或 Docker Compose 文件
没有 Pull Request 模板
没有贡献指南

从这里开始

先读完整个 Issue，再读项目的贡献指南。
在 Issue 下留言说明你要接手 —— 这能避免两个人做同样的事。
Fork 仓库，在一个分支上完成修改。
提交 Pull Request，并在描述里引用这个 Issue 编号。

rerun-io/python-example-droid-dataset 的其他 Issue

Compatibility with Intel RealSense cameras instead of ZED
未关闭
- 哪里不对？
难度 5/5 一周以上新手友好度 25/100

rerun-io/python-example-droid-dataset#16 · 2025年9月3日创建
Are some extrinsics wrong？
未关闭
- 哪里不对？
难度 4/5 3-5 天新手友好度 30/100

rerun-io/python-example-droid-dataset#15 · 3 条评论 · 2025年7月25日创建
Are the images released rectified/undistorted?
未关闭
- 哪里不对？
难度 4/5 3-5 天新手友好度 20/100

rerun-io/python-example-droid-dataset#11 · 2 条评论 · 2024年11月20日创建
Urdf gripper
未关闭
- 哪里不对？
难度 4/5 3-5 天新手友好度 25/100

rerun-io/python-example-droid-dataset#8 · 1 条评论 · 1 个 reaction · 2024年8月30日创建
Something wrong about running src/rld.py command.
未关闭
- 哪里不对？
难度 4/5 3-5 天新手友好度 28/100

rerun-io/python-example-droid-dataset#5 · 3 条评论 · 2024年4月30日创建

查看 rerun-io/python-example-droid-dataset 的全部 Issue

相似的 Issue

[bug]: Email notifications show a broken avatar for users without a profile photo
未关闭
- 哪里不对？
难度 2/5 1-3 小时新手友好度 82/100

makeplane/plane#10009 · 2026年10月14日创建

维护者通常 1 天内回复
MCP tool results are JSON-encoded twice before they reach the model
未关闭
- 哪里不对？
难度 2/5 1-3 小时新手友好度 70/100

onyx-dot-app/onyx#16016 · 2026年10月14日创建

维护者通常 1 天内回复
[DOC] Contribute card on Get Involved renders without a link
未关闭
- 哪里不对？
难度 2/5 1-3 小时新手友好度 72/100

sktime/skpro#1214 · 2026年10月14日创建

维护者通常 1 天内回复
black --check exits 0 and prints All done when a multi file run is interrupted
可能已有人在做 @jiteshgulati 今天认领。未关闭
- 哪里不对？
难度 2/5 1-3 小时新手友好度 72/100

psf/black#5541 · 2026年10月14日创建

维护者通常 2 天内回复
Non-positive worker counts wait for results without starting workers
可能已有人在做 @IlyaKhalafi 今天认领。未关闭
- 哪里不对？
难度 2/5 1-3 小时新手友好度 85/100

qdrant/fastembed#817 · 2026年10月14日创建

维护者通常 1 天内回复

更多 Python Issue

URDF models does not appear

哪里不对？

评估

调研方向

描述

环境准备

从这里开始

rerun-io/python-example-droid-dataset 的其他 Issue

哪里不对？

哪里不对？

哪里不对？

哪里不对？

哪里不对？

相似的 Issue

哪里不对？

哪里不对？

哪里不对？

哪里不对？

哪里不对？

把新 issue 发到你的邮箱