what joy should we use in mujoco simulation ,is logitech joy or unitree joy,but how can we get receiver of unitree joy #14
Description
Question :what joy should we use in mujoco simulation ,is logitech joy or unitree joy,but how can we get receiver of unitree joy ,The receiver, where is it? What's its position within the robot's structure? I don't seem to have found it
After ros2 launch motion_tracking_controller mujoco.launch.py policy_path:=src/policy/policy_zuiwu_48000.onnx
the terminal print information as the following:
ros2 launch motion_tracking_controller mujoco.launch.py policy_path:=src/policy/policy_zuiwu_48000.onnx
[INFO] [launch]: All log files can be found below /root/.ros/log/2025-09-05-16-33-32-855802-era-Legion-Y9000P-IRX8-352
[INFO] [launch]: Default logging verbosity is set to INFO
[launch] Temp controllers.yaml written to /tmp/motion_tracking_controller/temp_controllers.yaml
[INFO] [spawner-1]: process started with pid [355]
[INFO] [spawner-2]: process started with pid [357]
[INFO] [mujoco_sim-3]: process started with pid [359]
[INFO] [robot_state_publisher-4]: process started with pid [361]
[INFO] [joy_linux_node-5]: process started with pid [363]
[INFO] [joy_teleop-6]: process started with pid [365]
[mujoco_sim-3] MuJoCo version 3.2.7
[mujoco_sim-3] ========================================
[mujoco_sim-3] Loaded ROS parameters:
[mujoco_sim-3] model package: unitree_description
[mujoco_sim-3] model file: /opt/ros/humble/share/unitree_description//mjcf/g1.xml
[mujoco_sim-3] physics plugins:
[mujoco_sim-3] - mujoco_ros2_control::MujocoRos2ControlPlugin
[mujoco_sim-3] ========================================
[joy_linux_node-5] [ERROR] [1757061213.107412573] [joy_node]: Couldn't open joystick /dev/input/js0. Will retry every second.
[robot_state_publisher-4] [WARN] [1757061213.114381147] [kdl_parser]: The root link pelvis has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-4] [INFO] [1757061213.114507613] [robot_state_publisher]: got segment LL_FOOT
[robot_state_publisher-4] [INFO] [1757061213.114547317] [robot_state_publisher]: got segment LR_FOOT
[robot_state_publisher-4] [INFO] [1757061213.114555081] [robot_state_publisher]: got segment head_link
[robot_state_publisher-4] [INFO] [1757061213.114561454] [robot_state_publisher]: got segment imu_in_pelvis
[robot_state_publisher-4] [INFO] [1757061213.114567444] [robot_state_publisher]: got segment imu_in_torso
[robot_state_publisher-4] [INFO] [1757061213.114572906] [robot_state_publisher]: got segment left_ankle_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114578813] [robot_state_publisher]: got segment left_ankle_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114584633] [robot_state_publisher]: got segment left_elbow_link
[robot_state_publisher-4] [INFO] [1757061213.114590338] [robot_state_publisher]: got segment left_hip_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114595822] [robot_state_publisher]: got segment left_hip_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114601578] [robot_state_publisher]: got segment left_hip_yaw_link
[robot_state_publisher-4] [INFO] [1757061213.114607068] [robot_state_publisher]: got segment left_knee_link
[robot_state_publisher-4] [INFO] [1757061213.114612474] [robot_state_publisher]: got segment left_rubber_hand
[robot_state_publisher-4] [INFO] [1757061213.114618286] [robot_state_publisher]: got segment left_shoulder_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114623859] [robot_state_publisher]: got segment left_shoulder_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114629338] [robot_state_publisher]: got segment left_shoulder_yaw_link
[robot_state_publisher-4] [INFO] [1757061213.114634613] [robot_state_publisher]: got segment left_wrist_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114639881] [robot_state_publisher]: got segment left_wrist_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114645315] [robot_state_publisher]: got segment left_wrist_yaw_link
[robot_state_publisher-4] [INFO] [1757061213.114650895] [robot_state_publisher]: got segment logo_link
[robot_state_publisher-4] [INFO] [1757061213.114656366] [robot_state_publisher]: got segment mid360_link
[robot_state_publisher-4] [INFO] [1757061213.114661694] [robot_state_publisher]: got segment pelvis
[robot_state_publisher-4] [INFO] [1757061213.114667206] [robot_state_publisher]: got segment pelvis_contour_link
[robot_state_publisher-4] [INFO] [1757061213.114672642] [robot_state_publisher]: got segment right_ankle_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114678102] [robot_state_publisher]: got segment right_ankle_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114683689] [robot_state_publisher]: got segment right_elbow_link
[robot_state_publisher-4] [INFO] [1757061213.114689331] [robot_state_publisher]: got segment right_hip_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114694672] [robot_state_publisher]: got segment right_hip_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114700058] [robot_state_publisher]: got segment right_hip_yaw_link
[robot_state_publisher-4] [INFO] [1757061213.114705314] [robot_state_publisher]: got segment right_knee_link
[robot_state_publisher-4] [INFO] [1757061213.114710703] [robot_state_publisher]: got segment right_rubber_hand
[robot_state_publisher-4] [INFO] [1757061213.114716035] [robot_state_publisher]: got segment right_shoulder_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114721333] [robot_state_publisher]: got segment right_shoulder_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114726810] [robot_state_publisher]: got segment right_shoulder_yaw_link
[robot_state_publisher-4] [INFO] [1757061213.114732289] [robot_state_publisher]: got segment right_wrist_pitch_link
[robot_state_publisher-4] [INFO] [1757061213.114737647] [robot_state_publisher]: got segment right_wrist_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114743021] [robot_state_publisher]: got segment right_wrist_yaw_link
[robot_state_publisher-4] [INFO] [1757061213.114748501] [robot_state_publisher]: got segment torso_link
[robot_state_publisher-4] [INFO] [1757061213.114753847] [robot_state_publisher]: got segment waist_roll_link
[robot_state_publisher-4] [INFO] [1757061213.114759278] [robot_state_publisher]: got segment waist_yaw_link
[spawner-2] [INFO] [1757061213.296836866] [spawner_standby_controller]: waiting for service /controller_manager/list_controllers to become available...
[spawner-1] [INFO] [1757061213.322083899] [spawner_state_estimator]: waiting for service /controller_manager/list_controllers to become available...
[mujoco_sim-3] Successfully loaded 1 physics plugin(s)
[mujoco_sim-3] [INFO] [1757061214.056452306] [mujoco_sim_ros2_node.mujoco_ros2_control]: Setting up publisher for position sensor: imu_in_pelvis
[mujoco_sim-3] [INFO] [1757061214.056575469] [mujoco_sim_ros2_node.mujoco_ros2_control]: Setting up publisher for position sensor: mid360
[mujoco_sim-3] [INFO] [1757061214.067463164] [resource_manager]: Initialize hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1757061214.067488366] [resource_manager]: Successful initialization of hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1757061214.067551253] [resource_manager]: 'configure' hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1757061214.067555171] [resource_manager]: Successful 'configure' of hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1757061214.067578274] [resource_manager]: 'activate' hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1757061214.067580813] [resource_manager]: Successful 'activate' of hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1757061214.067671288] [mujoco_sim_ros2_node.mujoco_ros2_control]: Loading controller_manager
[mujoco_sim-3] [INFO] [1757061214.072642209] [mujoco_sim_ros2_node]: Mujoco ros2 controller has been successfully initialized !
[spawner-1] [INFO] [1757061214.078711050] [spawner_state_estimator]: Set controller params file to "/tmp/motion_tracking_controller/temp_controllers.yaml" for state_estimator
[mujoco_sim-3] [INFO] [1757061214.079128564] [controller_manager]: Loading controller 'state_estimator'
[spawner-1] [INFO] [1757061214.091415508] [spawner_state_estimator]: Loaded state_estimator
[mujoco_sim-3] [INFO] [1757061214.092232154] [controller_manager]: Configuring controller 'state_estimator'
[mujoco_sim-3] [INFO] [1757061214.096583546] [state_estimator]: GM observer Cut off frequency: 10.000000
[mujoco_sim-3] [INFO] [1757061214.098112513] [state_estimator]: IMU process acceleration noise density: 0.010000
[mujoco_sim-3] [INFO] [1757061214.098137777] [state_estimator]: IMU process acceleration bias noise density: 0.005000
[mujoco_sim-3] [INFO] [1757061214.098145079] [state_estimator]: Contact process noise position: 0.002000
[mujoco_sim-3] [INFO] [1757061214.098150432] [state_estimator]: Contact sensor noise position: 0.002000
[mujoco_sim-3] [INFO] [1757061214.098156780] [state_estimator]: Contact height sensor noise: 0.002000
[mujoco_sim-3] [INFO] [1757061214.098162731] [state_estimator]: Contact radius: 0.000000
[mujoco_sim-3] [INFO] [1757061214.098174506] [state_estimator]: Contact force threshold: 150.000000
[mujoco_sim-3] [INFO] [1757061214.098181980] [state_estimator]: Contact force scale: 15.000000
[mujoco_sim-3] [INFO] [1757061214.098188085] [state_estimator]: Contact ZMP length x: 0.080000
[mujoco_sim-3] [INFO] [1757061214.098193736] [state_estimator]: Contact ZMP length y: 0.025000
[mujoco_sim-3] [INFO] [1757061214.098198954] [state_estimator]: Position noise density: 0.010000
[mujoco_sim-3] [WARN] [1757061214.100463360] [state_estimator]: Position Topic or Pose frame for external localization correction is not set
[spawner-1] [INFO] [1757061214.109096607] [spawner_state_estimator]: Configured and activated state_estimator
[spawner-1] [INFO] [1757061214.119297279] [spawner_state_estimator]: Set controller params file to "/tmp/motion_tracking_controller/temp_controllers.yaml" for walking_controller
[mujoco_sim-3] [INFO] [1757061214.119726083] [controller_manager]: Loading controller 'walking_controller'
[spawner-1] [INFO] [1757061214.129855497] [spawner_state_estimator]: Loaded walking_controller
[mujoco_sim-3] [INFO] [1757061214.130588513] [controller_manager]: Configuring controller 'walking_controller'
[mujoco_sim-3] Metadata:
[mujoco_sim-3] joint_names: [left_hip_pitch_joint, right_hip_pitch_joint, waist_yaw_joint, left_hip_roll_joint, right_hip_roll_joint, waist_roll_joint, left_hip_yaw_joint, right_hip_yaw_joint, waist_pitch_joint, left_knee_joint, right_knee_joint, left_shoulder_pitch_joint, right_shoulder_pitch_joint, left_ankle_pitch_joint, right_ankle_pitch_joint, left_shoulder_roll_joint, right_shoulder_roll_joint, left_ankle_roll_joint, right_ankle_roll_joint, left_shoulder_yaw_joint, right_shoulder_yaw_joint, left_elbow_joint, right_elbow_joint, left_wrist_roll_joint, right_wrist_roll_joint, left_wrist_pitch_joint, right_wrist_pitch_joint, left_wrist_yaw_joint, right_wrist_yaw_joint]
[mujoco_sim-3] joint_stiffness: 40.179 40.179 40.179 99.098 99.098 28.501 40.179 40.179 28.501 99.098 99.098 14.251 14.251 28.501 28.501 14.251 14.251 28.501 28.501 14.251 14.251 14.251 14.251 14.251 14.251 16.778 16.778 16.778 16.778
[mujoco_sim-3] joint_damping: 2.558 2.558 2.558 6.309 6.309 1.814 2.558 2.558 1.814 6.309 6.309 0.907 0.907 1.814 1.814 0.907 0.907 1.814 1.814 0.907 0.907 0.907 0.907 0.907 0.907 1.068 1.068 1.068 1.068
[mujoco_sim-3] default_joint_pos: -0.312 -0.312 0 0 0 0 0 0 0 0.669 0.669 0.2 0.2 -0.363 -0.363 0.2 -0.2 0 0 0 0 0.6 0.6 0 0 0 0 0 0
[mujoco_sim-3] command_names: [motion]
[mujoco_sim-3] observation_names: [command, motion_anchor_ori_b, base_ang_vel, joint_pos, joint_vel, actions]
[mujoco_sim-3] action_scale: 0.548 0.548 0.548 0.351 0.351 0.439 0.548 0.548 0.439 0.351 0.351 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.439 0.075 0.075 0.075 0.075
[mujoco_sim-3] anchor_body_name: torso_link
[mujoco_sim-3] body_names: [pelvis, left_hip_roll_link, left_knee_link, left_ankle_roll_link, right_hip_roll_link, right_knee_link, right_ankle_roll_link, torso_link, left_shoulder_roll_link, left_elbow_link, left_wrist_yaw_link, right_shoulder_roll_link, right_elbow_link, right_wrist_yaw_link]
[mujoco_sim-3] Inputs:
[mujoco_sim-3] Input 0: obs - Shape: [1, 154]
[mujoco_sim-3] Input 1: time_step - Shape: [1, 1]
[mujoco_sim-3] Outputs:
[mujoco_sim-3] Output 0: actions - Shape: [1, 29]
[mujoco_sim-3] Output 1: joint_pos - Shape: [1, 29]
[mujoco_sim-3] Output 2: joint_vel - Shape: [1, 29]
[mujoco_sim-3] Output 3: body_pos_w - Shape: [1, 14, 3]
[mujoco_sim-3] Output 4: body_quat_w - Shape: [1, 14, 4]
[mujoco_sim-3] Output 5: body_lin_vel_w - Shape: [1, 14, 3]
[mujoco_sim-3] Output 6: body_ang_vel_w - Shape: [1, 14, 3]
[mujoco_sim-3] [INFO] [1757061214.194975002] [MotionTrackingController]: Load Onnx model from/root/docker_ws/ws_g1_motion_tracking_controller/src/policy/policy_zuiwu_48000.onnx successfully !
[mujoco_sim-3] [INFO] [1757061214.201032522] [walking_controller]: Command Terms:
[mujoco_sim-3] [INFO] [1757061214.201064865] [walking_controller]: motion - size: 58
[mujoco_sim-3] [INFO] [1757061214.201068314] [walking_controller]: Observation Terms:
[mujoco_sim-3] [INFO] [1757061214.201073484] [walking_controller]: command - size: 58
[mujoco_sim-3] [INFO] [1757061214.201077844] [walking_controller]: motion_anchor_ori_b - size: 6
[mujoco_sim-3] [INFO] [1757061214.201080803] [walking_controller]: base_ang_vel - size: 3
[mujoco_sim-3] [INFO] [1757061214.201083739] [walking_controller]: joint_pos - size: 29
[mujoco_sim-3] [INFO] [1757061214.201086721] [walking_controller]: joint_vel - size: 29
[mujoco_sim-3] [INFO] [1757061214.201089601] [walking_controller]: actions - size: 29
[mujoco_sim-3] [ERROR] [1757061214.201328334] [walking_controller]: Caught exception in callback for transition 13
[mujoco_sim-3] [ERROR] [1757061214.201335289] [walking_controller]: Original error: Anchor body torso_link not found.
[mujoco_sim-3] [WARN] [1757061214.201340252] [walking_controller]: Error occurred while doing error handling.
[mujoco_sim-3] [ERROR] [1757061214.201346178] [controller_manager]: After activation, controller 'walking_controller' is in state 'unconfigured' (1), expected 'active' (3).
[spawner-1] [INFO] [1757061214.203569688] [spawner_state_estimator]: Configured and activated walking_controller
[spawner-2] [INFO] [1757061214.315211752] [spawner_standby_controller]: Set controller params file to "/tmp/motion_tracking_controller/temp_controllers.yaml" for standby_controller
[mujoco_sim-3] [INFO] [1757061214.316012723] [controller_manager]: Loading controller 'standby_controller'
[spawner-2] [INFO] [1757061214.321381123] [spawner_standby_controller]: Loaded standby_controller
[mujoco_sim-3] [INFO] [1757061214.322018427] [controller_manager]: Configuring controller 'standby_controller'
[INFO] [spawner-1]: process has finished cleanly [pid 355]
[INFO] [spawner-2]: process has finished cleanly [pid 357]
we can see in mujoco simulation the robot lie on ground,but how can we switch it to execute the policy controller ,
I have a g1 remote joy but have not receiver part ,
The receiver, where is it? What's its position within the robot's structure? I don't seem to have found it