unitree_mujoco和stand_go2例子报错

[tonywang-sh]

unitree_mujoco/simulate目录下unitree_mujoco加载，会提示报错：

提示错误信息：selected interface "lo" is not multicast-capable: disabling multicast

运行python例子unitree_mujoco/example/python/stand_go2.py，同样提示报错，并且仿真器没有反应。

帮确认什么原因和解决办法。谢谢。

[jfelixre]

Same problem here.

[Can-Guo]

Reason:

The error occurs because the loopback interface lo does not support multicast communication, which is required for the Unitree MuJoCo simulation to handle UDP multicast traffic.

Solution:

1. Find another INTERFACE other than lo, which should be a physical network interface that supports multicast (e.g., "eth0" for Ethernet or "wlan0" for Wi-Fi). For example: $: ifconfig | grep MULTICAST (This command output the real network interface which supports the Multicast communication).

In my case, the output:

ens33: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
ens38: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500

which means that ens33 and ens38 support multicast communication in my case.

2. Edit the configuration file for the Python simulator (/simulate_python/config.py) and change the INTERFACE setting from lo to a physical network interface you found in the last step.
3. Edit the python script for stand_go2.py, in which you may change lo to your INTERFACE (e.g., "eth0" for Ethernet or "wlan0" for Wi-Fi).
4. Follow the instruction, rerun the two python script for the demo.

[Agnel-Wang]

CycloneDDS and UnitreeSDK

[Wuhall]

Reason:

The error occurs because the loopback interface lo does not support multicast communication, which is required for the Unitree MuJoCo simulation to handle UDP multicast traffic.

Solution:

1. Find another INTERFACE other than lo, which should be a physical network interface that supports multicast (e.g., "eth0" for Ethernet or "wlan0" for Wi-Fi). For example: $: ifconfig | grep MULTICAST (This command output the real network interface which supports the Multicast communication).

In my case, the output:

ens33: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500
ens38: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500

which means that ens33 and ens38 support multicast communication in my case.

2. Edit the configuration file for the Python simulator (/simulate_python/config.py) and change the INTERFACE setting from lo to a physical network interface you found in the last step.
3. Edit the python script for stand_go2.py, in which you may change lo to your INTERFACE (e.g., "eth0" for Ethernet or "wlan0" for Wi-Fi).
4. Follow the instruction, rerun the two python script for the demo.

Doesn't work

[Can-Guo]

@Wuhall could u provide more information to reproduce the issue your mentioned?

1. cmd: history 50
2. cmd: pwd
3. cmd: ls

show us the terminal output(screenshot or capture image, or just copy and paste), tell us what did u do, and what's the output.

[Wuhall]

@Wuhall could u provide more information to reproduce the issue your mentioned?

1. cmd: history 50
2. cmd: pwd
3. cmd: ls

show us the terminal output(screenshot or capture image, or just copy and paste), tell us what did u do, and what's the output.

Thank for your reply.

1. First, I identified available multicast interfaces using:

   ifconfig | grep MULTICAST

   Output showed three interfaces supporting multicast:

docker0: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
eno1: flags=4099<UP,BROADCAST,MULTICAST>  mtu 1500
wlo1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST>  mtu 1500

2. When setting INTERFACE to "eno1" in both /simulate_python/config.py and stand_go2.py, I received the following error:

  Press enter to start
  1757666220.318750 [1]     python: eno1: does not match an available interface.
  [ChannelFactory] create domain error. msg: Occurred upon initialisation of a cyclonedds.domain.Domain
  Traceback (most recent call last):
    File "/home/lucas/workspace/unitree_mujoco-main/example/python/stand_go2.py", line 32, in <module>
      ChannelFactoryInitialize(1, "eno1")
    File "/home/lucas/workspace/unitree_sdk2_python-master/unitree_sdk2py/core/channel.py", line 301, in ChannelFactoryInitialize
      raise Exception("channel factory init error.")
  Exception: channel factory init error.

3. When switching to "wlo1" (Wi-Fi interface), the script runs without errors but produces no output or visible behavior.

[Ethereal1679]

@Wuhall could u provide more information to reproduce the issue your mentioned?

1. cmd: history 50
2. cmd: pwd
3. cmd: ls

show us the terminal output(screenshot or capture image, or just copy and paste), tell us what did u do, and what's the output.

Thank for your reply.

1. First, I identified available multicast interfaces using:
   ifconfig | grep MULTICAST

   Output showed three interfaces supporting multicast:

docker0: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
eno1: flags=4099<UP,BROADCAST,MULTICAST> mtu 1500
wlo1: flags=4163<UP,BROADCAST,RUNNING,MULTICAST> mtu 1500
2. When setting INTERFACE to "eno1" in both /simulate_python/config.py and stand_go2.py, I received the following error:

Press enter to start
1757666220.318750 [1] python: eno1: does not match an available interface.
[ChannelFactory] create domain error. msg: Occurred upon initialisation of a cyclonedds.domain.Domain
Traceback (most recent call last):
File "/home/lucas/workspace/unitree_mujoco-main/example/python/stand_go2.py", line 32, in
ChannelFactoryInitialize(1, "eno1")
File "/home/lucas/workspace/unitree_sdk2_python-master/unitree_sdk2py/core/channel.py", line 301, in ChannelFactoryInitialize
raise Exception("channel factory init error.")
Exception: channel factory init error.
3. When switching to "wlo1" (Wi-Fi interface), the script runs without errors but produces no output or visible behavior.

You need to pre-load the mujoco scene, for example firstly doing like this: python GMR_mujoco/simulate_python/unitree_mujoco.py, and then running the stand_to_go.py, that's ok. And I think your output is right in spite of doing so above.