Segmentation fault (core dumped)

[xiao-white8023]

我在运行./unitree_mujoco -r go2 -s scene_terrain.xml 发生了报错 Segmentation fault (core dumped) 这要怎么处理，求告知，非常感谢

[xiao-white8023]

(env_isaaclab) cjh@cjh-BATTLE-AX-B760M-WHITE-WIFI-D5:~/桌面/IsaacLab/unitree_rl_lab/unitree_mujoco/simulate/build$ ./unitree_mujoco -r go2 -s scene_terrain.xml
MuJoCo version 3.4.0
Mujoco data is prepared
<<------------- Link ------------->>
Link_index: 0, name: world
Link_index: 1, name: base_link
Link_index: 2, name: FL_hip
Link_index: 3, name: FL_thigh
Link_index: 4, name: FL_calf
Link_index: 5, name: FL_foot
Link_index: 6, name: FR_hip
Link_index: 7, name: FR_thigh
Link_index: 8, name: FR_calf
Link_index: 9, name: FR_foot
Link_index: 10, name: RL_hip
Link_index: 11, name: RL_thigh
Link_index: 12, name: RL_calf
Link_index: 13, name: RL_foot
Link_index: 14, name: RR_hip
Link_index: 15, name: RR_thigh
Link_index: 16, name: RR_calf
Link_index: 17, name: RR_foot

<<------------- Joint ------------->>
Joint_index: 1, name: FL_hip_joint
Joint_index: 2, name: FL_thigh_joint
Joint_index: 3, name: FL_calf_joint
Joint_index: 4, name: FR_hip_joint
Joint_index: 5, name: FR_thigh_joint
Joint_index: 6, name: FR_calf_joint
Joint_index: 7, name: RL_hip_joint
Joint_index: 8, name: RL_thigh_joint
Joint_index: 9, name: RL_calf_joint
Joint_index: 10, name: RR_hip_joint
Joint_index: 11, name: RR_thigh_joint
Joint_index: 12, name: RR_calf_joint

<<------------- Actuator ------------->>
Actuator_index: 0, name: FR_hip
Actuator_index: 1, name: FR_thigh
Actuator_index: 2, name: FR_calf
Actuator_index: 3, name: FL_hip
Actuator_index: 4, name: FL_thigh
Actuator_index: 5, name: FL_calf
Actuator_index: 6, name: RR_hip
Actuator_index: 7, name: RR_thigh
Actuator_index: 8, name: RR_calf
Actuator_index: 9, name: RL_hip
Actuator_index: 10, name: RL_thigh
Actuator_index: 11, name: RL_calf

<<------------- Sensor ------------->>
Sensor_index: 0, name: FR_hip_pos, dim: 1
Sensor_index: 1, name: FR_thigh_pos, dim: 1
Sensor_index: 2, name: FR_calf_pos, dim: 1
Sensor_index: 3, name: FL_hip_pos, dim: 1
Sensor_index: 4, name: FL_thigh_pos, dim: 1
Sensor_index: 5, name: FL_calf_pos, dim: 1
Sensor_index: 6, name: RR_hip_pos, dim: 1
Sensor_index: 7, name: RR_thigh_pos, dim: 1
Sensor_index: 8, name: RR_calf_pos, dim: 1
Sensor_index: 9, name: RL_hip_pos, dim: 1
Sensor_index: 10, name: RL_thigh_pos, dim: 1
Sensor_index: 11, name: RL_calf_pos, dim: 1
Sensor_index: 12, name: FR_hip_vel, dim: 1
Sensor_index: 13, name: FR_thigh_vel, dim: 1
Sensor_index: 14, name: FR_calf_vel, dim: 1
Sensor_index: 15, name: FL_hip_vel, dim: 1
Sensor_index: 16, name: FL_thigh_vel, dim: 1
Sensor_index: 17, name: FL_calf_vel, dim: 1
Sensor_index: 18, name: RR_hip_vel, dim: 1
Sensor_index: 19, name: RR_thigh_vel, dim: 1
Sensor_index: 20, name: RR_calf_vel, dim: 1
Sensor_index: 21, name: RL_hip_vel, dim: 1
Sensor_index: 22, name: RL_thigh_vel, dim: 1
Sensor_index: 23, name: RL_calf_vel, dim: 1
Sensor_index: 24, name: FR_hip_torque, dim: 1
Sensor_index: 25, name: FR_thigh_torque, dim: 1
Sensor_index: 26, name: FR_calf_torque, dim: 1
Sensor_index: 27, name: FL_hip_torque, dim: 1
Sensor_index: 28, name: FL_thigh_torque, dim: 1
Sensor_index: 29, name: FL_calf_torque, dim: 1
Sensor_index: 30, name: RR_hip_torque, dim: 1
Sensor_index: 31, name: RR_thigh_torque, dim: 1
Sensor_index: 32, name: RR_calf_torque, dim: 1
Sensor_index: 33, name: RL_hip_torque, dim: 1
Sensor_index: 34, name: RL_thigh_torque, dim: 1
Sensor_index: 35, name: RL_calf_torque, dim: 1
Sensor_index: 36, name: imu_quat, dim: 4
Sensor_index: 40, name: imu_gyro, dim: 3
Sensor_index: 43, name: imu_acc, dim: 3
Sensor_index: 46, name: frame_pos, dim: 3
Sensor_index: 49, name: frame_vel, dim: 3

Segmentation fault (core dumped)

[ravijo]

@xiao-white8023 I believe this is due to the joystick being enabled in your configuration. Please set use_joystick to 0 in the config.yaml file and try again.

[xiao-white8023]

@xiao-white8023 I believe this is due to the joystick being enabled in your configuration. Please set use_joystick to 0 in the config.yaml file and try again.

Thank you for your answer. After I changed it, it still prompted Segmentation fault (core dumped)

[ravijo]

You can try the python example, to get some clues on the error. Check here

python3 ./unitree_mujoco.py

[xiao-white8023]

You can try the python example, to get some clues on the error. Check here

python3 ./unitree_mujoco.py

After running python3 ./unitree_mujoco.py, everything is normal and no errors are reported.

[ravijo]

Great. Although it is recommed to use C++ but python can make life easy, just in case.Feel free to check both versions.

[wds-dxh]

@xiao-white8023
你应该是安装了ros2 这里的dds不兼容,使用宇树官方的即可
exportLD_LIBRARY_PATH=./mujoco_learn/ref/unitree_sdk2/thirdparty/lib/x86_64:$LD_LIBRARY_PATH
./unitree_mujoco -r go2 -s scene_terrain.xml