Regarding the issue of G1 deployment #24
Description
Hello, thank you very much for opening up such a great project.
I have followed the instructions for sim2sim and sim2real, and my current situation is:
(1) Step 1: Connect G1 through a network cable, start the command on the PC, and the robot will automatically enter the ready state, but the robot does not have the ability to stand in balance. standby_controller activate / walking_controller inactive / state_estimator active。
ros2 launch motion_tracking_controller real.launch.py network_interface:=enx00e04c673ac0 policy_path:=/home/nvidia/chaersi2.onnx
(2) Step 2: With L1+A and R1+A, the robot will start executing the actions in the onnx file and enter a balanced state. standby_controller inactivate / walking_controller active / state_estimator active。 After the function is executed, the robot is unable to balance again and falls down.
(3) Step 3: When I exit the launch file, it displays as follows.
My logical thinking is as follows: G1 should enter equilibrium mode instead of a powerless fall state when L1+A and R1+A are not executed. I'm not sure if it's a problem with my startup method or if I haven't set any control commands.
At the same time, I tried to execute policy. onnx in 'motion_tracking_comtrol' in Mujoco and real, but both encountered errors.
I hope you can answer for me, thank you.
ros2 launch motion_tracking_controller mujoco.launch.py policy_path:=/home/nvidia/colcon_ws/src/unitree_bringup/config/g1/policy.onnx
(backup_env_isaaclab) nvidia@nvidia:~/colcon_ws$ ros2 launch motion_tracking_controller mujoco.launch.py policy_path:=/home/nvidia/colcon_ws/src/unitree_bringup/config/g1/policy.onnx
[INFO] [launch]: All log files can be found below /home/nvidia/.ros/log/2025-11-04-16-32-24-665986-nvidia-244750
[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 [244753]
[INFO] [spawner-2]: process started with pid [244755]
[INFO] [mujoco_sim-3]: process started with pid [244757]
[INFO] [robot_state_publisher-4]: process started with pid [244759]
[INFO] [joy_linux_node-5]: process started with pid [244761]
[INFO] [joy_teleop-6]: process started with pid [244763]
[joy_linux_node-5] 2025-11-04 16:32:24.886 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7411: open_and_lock_file failed -> Function open_port_internal
[robot_state_publisher-4] 2025-11-04 16:32:24.887 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7411: open_and_lock_file failed -> Function open_port_internal
[mujoco_sim-3] MuJoCo version 3.2.7
[mujoco_sim-3] 2025-11-04 16:32:24.888 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7411: open_and_lock_file failed -> Function open_port_internal
[mujoco_sim-3] 2025-11-04 16:32:24.888 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7417: open_and_lock_file failed -> Function open_port_internal
[joy_linux_node-5] [ERROR] [1762245144.893221366] [joy_node]: Couldn't open joystick /dev/input/js0. Will retry every second.
[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] ========================================
[robot_state_publisher-4] [WARN] [1762245144.894920608] [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] [1762245144.894998228] [robot_state_publisher]: got segment LL_FOOT
[robot_state_publisher-4] [INFO] [1762245144.895020045] [robot_state_publisher]: got segment LR_FOOT
[robot_state_publisher-4] [INFO] [1762245144.895022408] [robot_state_publisher]: got segment camera_bottom_screw_frame
[robot_state_publisher-4] [INFO] [1762245144.895024623] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-4] [INFO] [1762245144.895026621] [robot_state_publisher]: got segment head_link
[robot_state_publisher-4] [INFO] [1762245144.895028341] [robot_state_publisher]: got segment imu_in_pelvis
[robot_state_publisher-4] [INFO] [1762245144.895030212] [robot_state_publisher]: got segment imu_in_torso
[robot_state_publisher-4] [INFO] [1762245144.895032026] [robot_state_publisher]: got segment left_ankle_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895033824] [robot_state_publisher]: got segment left_ankle_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895035627] [robot_state_publisher]: got segment left_elbow_link
[robot_state_publisher-4] [INFO] [1762245144.895037436] [robot_state_publisher]: got segment left_hip_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895039198] [robot_state_publisher]: got segment left_hip_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895040888] [robot_state_publisher]: got segment left_hip_yaw_link
[robot_state_publisher-4] [INFO] [1762245144.895042555] [robot_state_publisher]: got segment left_knee_link
[robot_state_publisher-4] [INFO] [1762245144.895044233] [robot_state_publisher]: got segment left_rubber_hand
[robot_state_publisher-4] [INFO] [1762245144.895045968] [robot_state_publisher]: got segment left_shoulder_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895047700] [robot_state_publisher]: got segment left_shoulder_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895049376] [robot_state_publisher]: got segment left_shoulder_yaw_link
[robot_state_publisher-4] [INFO] [1762245144.895051048] [robot_state_publisher]: got segment left_wrist_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895052720] [robot_state_publisher]: got segment left_wrist_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895054517] [robot_state_publisher]: got segment left_wrist_yaw_link
[robot_state_publisher-4] [INFO] [1762245144.895056236] [robot_state_publisher]: got segment logo_link
[robot_state_publisher-4] [INFO] [1762245144.895058230] [robot_state_publisher]: got segment mid360_link
[robot_state_publisher-4] [INFO] [1762245144.895059933] [robot_state_publisher]: got segment pelvis
[robot_state_publisher-4] [INFO] [1762245144.895061666] [robot_state_publisher]: got segment pelvis_contour_link
[robot_state_publisher-4] [INFO] [1762245144.895063388] [robot_state_publisher]: got segment right_ankle_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895065078] [robot_state_publisher]: got segment right_ankle_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895066735] [robot_state_publisher]: got segment right_elbow_link
[robot_state_publisher-4] [INFO] [1762245144.895068398] [robot_state_publisher]: got segment right_hip_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895070093] [robot_state_publisher]: got segment right_hip_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895071763] [robot_state_publisher]: got segment right_hip_yaw_link
[robot_state_publisher-4] [INFO] [1762245144.895073459] [robot_state_publisher]: got segment right_knee_link
[robot_state_publisher-4] [INFO] [1762245144.895075138] [robot_state_publisher]: got segment right_rubber_hand
[robot_state_publisher-4] [INFO] [1762245144.895076920] [robot_state_publisher]: got segment right_shoulder_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895078655] [robot_state_publisher]: got segment right_shoulder_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895080374] [robot_state_publisher]: got segment right_shoulder_yaw_link
[robot_state_publisher-4] [INFO] [1762245144.895082047] [robot_state_publisher]: got segment right_wrist_pitch_link
[robot_state_publisher-4] [INFO] [1762245144.895083844] [robot_state_publisher]: got segment right_wrist_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895085485] [robot_state_publisher]: got segment right_wrist_yaw_link
[robot_state_publisher-4] [INFO] [1762245144.895087247] [robot_state_publisher]: got segment torso_link
[robot_state_publisher-4] [INFO] [1762245144.895089075] [robot_state_publisher]: got segment waist_roll_link
[robot_state_publisher-4] [INFO] [1762245144.895090767] [robot_state_publisher]: got segment waist_yaw_link
[spawner-2] 2025-11-04 16:32:24.994 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7411: open_and_lock_file failed -> Function open_port_internal
[spawner-2] 2025-11-04 16:32:24.994 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7417: open_and_lock_file failed -> Function open_port_internal
[spawner-1] 2025-11-04 16:32:24.994 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7411: open_and_lock_file failed -> Function open_port_internal
[spawner-1] 2025-11-04 16:32:24.994 [RTPS_TRANSPORT_SHM Error] Failed init_port fastrtps_port7417: open_and_lock_file failed -> Function open_port_internal
[spawner-1] [INFO] [1762245145.017668350] [spawner_state_estimator]: waiting for service /controller_manager/list_controllers to become available...
[spawner-2] [INFO] [1762245145.019196620] [spawner_standby_controller]: waiting for service /controller_manager/list_controllers to become available...
[mujoco_sim-3] Successfully loaded 1 physics plugin(s)
[mujoco_sim-3] [INFO] [1762245145.334562029] [mujoco_sim_ros2_node.mujoco_ros2_control]: Setting up publisher for position sensor: imu_in_pelvis
[mujoco_sim-3] [INFO] [1762245145.334694073] [mujoco_sim_ros2_node.mujoco_ros2_control]: Setting up publisher for position sensor: mid360
[mujoco_sim-3] [INFO] [1762245145.337352102] [resource_manager]: Initialize hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1762245145.337379962] [resource_manager]: Successful initialization of hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1762245145.337441503] [resource_manager]: 'configure' hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1762245145.337445485] [resource_manager]: Successful 'configure' of hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1762245145.337472495] [resource_manager]: 'activate' hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1762245145.337475112] [resource_manager]: Successful 'activate' of hardware 'MujocoSystem'
[mujoco_sim-3] [INFO] [1762245145.337585704] [mujoco_sim_ros2_node.mujoco_ros2_control]: Loading controller_manager
[mujoco_sim-3] [INFO] [1762245145.342653323] [mujoco_sim_ros2_node]: Mujoco ros2 controller has been successfully initialized !
[mujoco_sim-3] [INFO] [1762245145.521259397] [controller_manager]: Loading controller 'state_estimator'
[mujoco_sim-3] [INFO] [1762245145.534380949] [controller_manager]: Loading controller 'standby_controller'
[spawner-1] [INFO] [1762245145.534727140] [spawner_state_estimator]: Loaded state_estimator
[mujoco_sim-3] [INFO] [1762245145.538933323] [controller_manager]: Configuring controller 'state_estimator'
[spawner-2] [INFO] [1762245145.539586858] [spawner_standby_controller]: Loaded standby_controller
[mujoco_sim-3] [INFO] [1762245145.542662346] [state_estimator]: GM observer Cut off frequency: 10.000000
[mujoco_sim-3] [INFO] [1762245145.544338980] [state_estimator]: IMU process acceleration noise density: 0.010000
[mujoco_sim-3] [INFO] [1762245145.544357128] [state_estimator]: IMU process acceleration bias noise density: 0.005000
[mujoco_sim-3] [INFO] [1762245145.544362525] [state_estimator]: Contact process noise position: 0.002000
[mujoco_sim-3] [INFO] [1762245145.544367111] [state_estimator]: Contact sensor noise position: 0.002000
[mujoco_sim-3] [INFO] [1762245145.544371095] [state_estimator]: Contact height sensor noise: 0.002000
[mujoco_sim-3] [INFO] [1762245145.544375059] [state_estimator]: Contact radius: 0.000000
[mujoco_sim-3] [INFO] [1762245145.544379680] [state_estimator]: Contact force threshold: 150.000000
[mujoco_sim-3] [INFO] [1762245145.544384841] [state_estimator]: Contact force scale: 15.000000
[mujoco_sim-3] [INFO] [1762245145.544389083] [state_estimator]: Contact ZMP length x: 0.080000
[mujoco_sim-3] [INFO] [1762245145.544393223] [state_estimator]: Contact ZMP length y: 0.025000
[mujoco_sim-3] [INFO] [1762245145.544397201] [state_estimator]: Position noise density: 0.010000
[mujoco_sim-3] [WARN] [1762245145.546014770] [state_estimator]: Position Topic or Pose frame for external localization correction is not set
[mujoco_sim-3] [INFO] [1762245145.548806115] [controller_manager]: Configuring controller 'standby_controller'
[spawner-1] [INFO] [1762245145.555083005] [spawner_state_estimator]: Configured and activated state_estimator
[mujoco_sim-3] [INFO] [1762245145.555798706] [controller_manager]: Loading controller 'walking_controller'
[spawner-1] [INFO] [1762245145.562968268] [spawner_state_estimator]: Loaded walking_controller
[mujoco_sim-3] [INFO] [1762245145.563114025] [controller_manager]: Configuring controller 'walking_controller'
[mujoco_sim-3] [ERROR] [1762245145.574948290] [walking_controller]: Caught exception in callback for transition 10
[mujoco_sim-3] [ERROR] [1762245145.575018236] [walking_controller]: Original error: OnnxPolicy: 'anchor_body_name' not found in model metadata. Please check the model.
[mujoco_sim-3] [WARN] [1762245145.575042432] [walking_controller]: Callback returned ERROR during the transition: configure
[mujoco_sim-3] [ERROR] [1762245145.575062944] [controller_manager]: After configuring, controller 'walking_controller' is in state 'unconfigured' , expected inactive.
[spawner-1] [ERROR] [1762245145.575879193] [spawner_state_estimator]: Failed to configure controller
[INFO] [spawner-2]: process has finished cleanly [pid 244755]
[ERROR] [spawner-1]: process has died [pid 244753, exit code 1, cmd '/opt/ros/humble/lib/controller_manager/spawner state_estimator walking_controller --ros-args'].