Segmentation fault (core dumped)

[shifuxiao]

我在docker 容器中运行官方的脚本：import genesis as gs

gs.init(backend=gs.gpu)

scene = gs.Scene(
show_viewer = False,
viewer_options = gs.options.ViewerOptions(
res = (1280, 960),
camera_pos = (3.5, 0.0, 2.5),
camera_lookat = (0.0, 0.0, 0.5),
camera_fov = 40,
max_FPS = 60,
),
vis_options = gs.options.VisOptions(
show_world_frame = True,
world_frame_size = 1.0,
show_link_frame = False,
show_cameras = False,
plane_reflection = True,
ambient_light = (0.1, 0.1, 0.1),
),
renderer=gs.renderers.Rasterizer(),
)

plane = scene.add_entity(
gs.morphs.Plane(),
)
franka = scene.add_entity(
gs.morphs.MJCF(file='xml/franka_emika_panda/panda.xml'),
)

cam = scene.add_camera(
res = (640, 480),
pos = (3.5, 0.0, 2.5),
lookat = (0, 0, 0.5),
fov = 30,
GUI = False,
)

scene.build()

渲染rgb、深度、分割掩码和法线图

rgb, depth, segmentation, normal = cam.render(rgb=True, depth=True, segmentation=True, normal=True)

cam.start_recording()

import numpy as np

for i in range(120):
scene.step()
cam.set_pose(
pos = (3.0 * np.sin(i / 60), 3.0 * np.cos(i / 60), 2.5),
lookat = (0, 0, 0.5),
)
# cam.render()
cam.stop_recording(save_to_filename='video.mp4', fps=60)
遇到这个报错，有人遇到吗？可否讨论一下：[Genesis] [08:52:22] [INFO] Building scene ...
[W 05/07/25 08:52:22.451 2711] [frontend_ir.cpp:begin_frontend_struct_for_on_snode@1678] ti.loop_config(serialize=True) does not have effect on the struct for. The execution order is not guaranteed.
[W 05/07/25 08:52:23.016 2711] [frontend_ir.cpp:begin_frontend_struct_for_on_snode@1678] ti.loop_config(serialize=True) does not have effect on the struct for. The execution order is not guaranteed.
[W 05/07/25 08:52:23.177 2711] [frontend_ir.cpp:begin_frontend_struct_for_on_snode@1678] ti.loop_config(serialize=True) does not have effect on the struct for. The execution order is not guaranteed.
[Genesis] [08:52:23] [WARNING] Reference robot position exceeds joint limits.
[Genesis] [08:52:23] [WARNING] Constraint solver time constant was increased to avoid numerical instability (from 0.005 to 0.02). Decrease simulation timestep to avoid altering the original value.
[W 05/07/25 08:52:24.364 2711] [frontend_ir.cpp:begin_frontend_struct_for_on_external_tensor@1694] ti.loop_config(serialize=True) does not have effect on the struct for. The execution order is not guaranteed.
[W 05/07/25 08:52:29.794 2711] [frontend_ir.cpp:begin_frontend_struct_for_on_snode@1678] ti.loop_config(serialize=True) does not have effect on the struct for. The execution order is not guaranteed.
[Genesis] [08:52:29] [INFO] Compiling simulation kernels...
[Genesis] [08:53:51] [INFO] Building visualizer...
Segmentation fault (core dumped)