Crash in MoveIt Setup Assistant when loading Unitree G1 URDF for configuration

[forever-cover]

I am currently working on secondary development of the Unitree G1’s motion capabilities using the official .urdf and mesh files. I created a new ROS 2 package and successfully visualized the G1 model in RViz2.

However, when I attempt to configure the robot with MoveIt 2 for trajectory planning, I encounter a crash. Specifically, MoveIt 2 works fine when I run the panda_demo, but when I use the MoveIt Setup Assistant to configure the G1, the program crashes immediately after I click "Load", and an error is reported.

I would like to know what might be causing this issue.

[mayank0621]

Hi @forever-cover How you have visulize urdf in rviz? Because the urdf I can see is for mujoco.

[sharan05032000]

https://github.com/sharan05032000/Unitree-G1-MoveIt2-Arm-Manipulation.git
Checkout my repo!