sim2sim Mujoco error #13
Description
When i run ros2 launch motion_tracking_controller mujoco.launch.py policy_path:=/home/beyond_mimic/whole_body_tracking/logs/rsl_rl/temp/exported/policy.onnx , the mujoco window opened successfully , but the robot collapse immediately, and the terminal show error log below:
[mujoco_sim-3] [ERROR] [1756890570.075097926] [mujoco_system]: Failed to find sensor in mujoco model, sensor name: base_imu
[mujoco_sim-3] [ERROR] [1756890570.227114580] [controller_manager]: Can't activate controller 'state_estimator': State interface with key 'left_hip_pitch_joint/velocity' does not exist
[mujoco_sim-3] [ERROR] [1756890570.227163917] [controller_manager]: Could not activate controller : 'state_estimator'
[spawner-1] [ERROR] [1756890570.230184904] [spawner_state_estimator]: Failed to activate controller : state_estimator
[INFO] [spawner-2]: process has finished cleanly [pid 36802]
[ERROR] [spawner-1]: process has died [pid 36800, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner state_estimator walking_controller --param-file /tmp/motion_tracking_controller/temp_controllers.yaml --ros-args'].
i guess the problem lies in the first error, which seems that there is something wrong with the unitree G1 model file?
[mujoco_sim-3] [ERROR] [1756890570.075097926] [mujoco_system]: Failed to find sensor in mujoco model, sensor name: base_imu
After some debug, i found that the base_imu is defined in the file /opt/ros/humble/share/unitree_description/urdf/g1/ros2_control.xacro
Now i have no idea how to fix this problem, has anyone encountered the same error?