I made a modified version of joint_monkey.py that loads and displays my URDF file. The file is attached to this message. In its current form, the URDF file will cause joint_monkey.py to get a segmentation fault in gym.simulate(sim). I loaded the resulting core file into gdb, and got this:
Program terminated with signal SIGSEGV, Segmentation fault.
#0 0x00007f9420c1cb95 in physx::Dy::FeatherstoneArticulation::setupInternalConstraintsRecursive(physx::Dy::ArticulationLink*, unsigned int, bool, physx::Dy::ArticulationData&, physx::Cm::SpatialVectorF*, float, float, float, float, bool, unsigned int, float) ()
[Current thread is 1 (Thread 0x7f9439bf0740 (LWP 10821))]
If robot_seg_fault.urdf is modified so that the section labeled “This causes a segmentation fault” is commented out and the section labeled “This works” is uncommented out, joint_monkey.py displays the robot correctly. Please let me know if you need any more information about this problem.
robot_seg_fault.urdf (39.2 KB)