(env_isaaclab) chek@chek-System-Product-Name:~/unitree_mujoco/simulate/build$ ./unitree_mujoco
MuJoCo version 3.3.6
Mujoco data is prepared
<<------------- Link ------------->>
Link_index: 0, name: world
Link_index: 1, name: pelvis
Link_index: 2, name: left_hip_pitch_link
Link_index: 3, name: left_hip_roll_link
Link_index: 4, name: left_hip_yaw_link
Link_index: 5, name: left_knee_link
Link_index: 6, name: left_ankle_pitch_link
Link_index: 7, name: left_ankle_roll_link
Link_index: 8, name: right_hip_pitch_link
Link_index: 9, name: right_hip_roll_link
Link_index: 10, name: right_hip_yaw_link
Link_index: 11, name: right_knee_link
Link_index: 12, name: right_ankle_pitch_link
Link_index: 13, name: right_ankle_roll_link
Link_index: 14, name: waist_yaw_link
Link_index: 15, name: waist_roll_link
Link_index: 16, name: torso_link
Link_index: 17, name: left_shoulder_pitch_link
Link_index: 18, name: left_shoulder_roll_link
Link_index: 19, name: left_shoulder_yaw_link
Link_index: 20, name: left_elbow_link
Link_index: 21, name: left_wrist_roll_link
Link_index: 22, name: left_wrist_pitch_link
Link_index: 23, name: left_wrist_yaw_link
Link_index: 24, name: right_shoulder_pitch_link
Link_index: 25, name: right_shoulder_roll_link
Link_index: 26, name: right_shoulder_yaw_link
Link_index: 27, name: right_elbow_link
Link_index: 28, name: right_wrist_roll_link
Link_index: 29, name: right_wrist_pitch_link
Link_index: 30, name: right_wrist_yaw_link
<<------------- Joint ------------->>
Joint_index: 0, name: floating_base_joint
Joint_index: 1, name: left_hip_pitch_joint
Joint_index: 2, name: left_hip_roll_joint
Joint_index: 3, name: left_hip_yaw_joint
Joint_index: 4, name: left_knee_joint
Joint_index: 5, name: left_ankle_pitch_joint
Joint_index: 6, name: left_ankle_roll_joint
Joint_index: 7, name: right_hip_pitch_joint
Joint_index: 8, name: right_hip_roll_joint
Joint_index: 9, name: right_hip_yaw_joint
Joint_index: 10, name: right_knee_joint
Joint_index: 11, name: right_ankle_pitch_joint
Joint_index: 12, name: right_ankle_roll_joint
Joint_index: 13, name: waist_yaw_joint
Joint_index: 14, name: waist_roll_joint
Joint_index: 15, name: waist_pitch_joint
Joint_index: 16, name: left_shoulder_pitch_joint
Joint_index: 17, name: left_shoulder_roll_joint
Joint_index: 18, name: left_shoulder_yaw_joint
Joint_index: 19, name: left_elbow_joint
Joint_index: 20, name: left_wrist_roll_joint
Joint_index: 21, name: left_wrist_pitch_joint
Joint_index: 22, name: left_wrist_yaw_joint
Joint_index: 23, name: right_shoulder_pitch_joint
Joint_index: 24, name: right_shoulder_roll_joint
Joint_index: 25, name: right_shoulder_yaw_joint
Joint_index: 26, name: right_elbow_joint
Joint_index: 27, name: right_wrist_roll_joint
Joint_index: 28, name: right_wrist_pitch_joint
Joint_index: 29, name: right_wrist_yaw_joint
<<------------- Actuator ------------->>
Actuator_index: 0, name: left_hip_pitch
Actuator_index: 1, name: left_hip_roll
Actuator_index: 2, name: left_hip_yaw
Actuator_index: 3, name: left_knee
Actuator_index: 4, name: left_ankle_pitch
Actuator_index: 5, name: left_ankle_roll
Actuator_index: 6, name: right_hip_pitch
Actuator_index: 7, name: right_hip_roll
Actuator_index: 8, name: right_hip_yaw
Actuator_index: 9, name: right_knee
Actuator_index: 10, name: right_ankle_pitch
Actuator_index: 11, name: right_ankle_roll
Actuator_index: 12, name: waist_yaw
Actuator_index: 13, name: waist_roll
Actuator_index: 14, name: waist_pitch
Actuator_index: 15, name: left_shoulder_pitch
Actuator_index: 16, name: left_shoulder_roll
Actuator_index: 17, name: left_shoulder_yaw
Actuator_index: 18, name: left_elbow
Actuator_index: 19, name: left_wrist_roll
Actuator_index: 20, name: left_wrist_pitch
Actuator_index: 21, name: left_wrist_yaw
Actuator_index: 22, name: right_shoulder_pitch
Actuator_index: 23, name: right_shoulder_roll
Actuator_index: 24, name: right_shoulder_yaw
Actuator_index: 25, name: right_elbow
Actuator_index: 26, name: right_wrist_roll
Actuator_index: 27, name: right_wrist_pitch
Actuator_index: 28, name: right_wrist_yaw
<<------------- Sensor ------------->>
Sensor_index: 0, name: left_hip_pitch_pos, dim: 1
Sensor_index: 1, name: left_hip_roll_pos, dim: 1
Sensor_index: 2, name: left_hip_yaw_pos, dim: 1
Sensor_index: 3, name: left_knee_pos, dim: 1
Sensor_index: 4, name: left_ankle_pitch_pos, dim: 1
Sensor_index: 5, name: left_ankle_roll_pos, dim: 1
Sensor_index: 6, name: right_hip_pitch_pos, dim: 1
Sensor_index: 7, name: right_hip_roll_pos, dim: 1
Sensor_index: 8, name: right_hip_yaw_pos, dim: 1
Sensor_index: 9, name: right_knee_pos, dim: 1
Sensor_index: 10, name: right_ankle_pitch_pos, dim: 1
Sensor_index: 11, name: right_ankle_roll_pos, dim: 1
Sensor_index: 12, name: waist_yaw_pos, dim: 1
Sensor_index: 13, name: waist_roll_pos, dim: 1
Sensor_index: 14, name: waist_pitch_pos, dim: 1
Sensor_index: 15, name: left_shoulder_pitch_pos, dim: 1
Sensor_index: 16, name: left_shoulder_roll_pos, dim: 1
Sensor_index: 17, name: left_shoulder_yaw_pos, dim: 1
Sensor_index: 18, name: left_elbow_pos, dim: 1
Sensor_index: 19, name: left_wrist_roll_pos, dim: 1
Sensor_index: 20, name: left_wrist_pitch_pos, dim: 1
Sensor_index: 21, name: left_wrist_yaw_pos, dim: 1
Sensor_index: 22, name: right_shoulder_pitch_pos, dim: 1
Sensor_index: 23, name: right_shoulder_roll_pos, dim: 1
Sensor_index: 24, name: right_shoulder_yaw_pos, dim: 1
Sensor_index: 25, name: right_elbow_pos, dim: 1
Sensor_index: 26, name: right_wrist_roll_pos, dim: 1
Sensor_index: 27, name: right_wrist_pitch_pos, dim: 1
Sensor_index: 28, name: right_wrist_yaw_pos, dim: 1
Sensor_index: 29, name: left_hip_pitch_vel, dim: 1
Sensor_index: 30, name: left_hip_roll_vel, dim: 1
Sensor_index: 31, name: left_hip_yaw_vel, dim: 1
Sensor_index: 32, name: left_knee_vel, dim: 1
Sensor_index: 33, name: left_ankle_pitch_vel, dim: 1
Sensor_index: 34, name: left_ankle_roll_vel, dim: 1
Sensor_index: 35, name: right_hip_pitch_vel, dim: 1
Sensor_index: 36, name: right_hip_roll_vel, dim: 1
Sensor_index: 37, name: right_hip_yaw_vel, dim: 1
Sensor_index: 38, name: right_knee_vel, dim: 1
Sensor_index: 39, name: right_ankle_pitch_vel, dim: 1
Sensor_index: 40, name: right_ankle_roll_vel, dim: 1
Sensor_index: 41, name: waist_yaw_vel, dim: 1
Sensor_index: 42, name: waist_roll_vel, dim: 1
Sensor_index: 43, name: waist_pitch_vel, dim: 1
Sensor_index: 44, name: left_shoulder_pitch_vel, dim: 1
Sensor_index: 45, name: left_shoulder_roll_vel, dim: 1
Sensor_index: 46, name: left_shoulder_yaw_vel, dim: 1
Sensor_index: 47, name: left_elbow_vel, dim: 1
Sensor_index: 48, name: left_wrist_roll_vel, dim: 1
Sensor_index: 49, name: left_wrist_pitch_vel, dim: 1
Sensor_index: 50, name: left_wrist_yaw_vel, dim: 1
Sensor_index: 51, name: right_shoulder_pitch_vel, dim: 1
Sensor_index: 52, name: right_shoulder_roll_vel, dim: 1
Sensor_index: 53, name: right_shoulder_yaw_vel, dim: 1
Sensor_index: 54, name: right_elbow_vel, dim: 1
Sensor_index: 55, name: right_wrist_roll_vel, dim: 1
Sensor_index: 56, name: right_wrist_pitch_vel, dim: 1
Sensor_index: 57, name: right_wrist_yaw_vel, dim: 1
Sensor_index: 58, name: left_hip_pitch_torque, dim: 1
Sensor_index: 59, name: left_hip_roll_torque, dim: 1
Sensor_index: 60, name: left_hip_yaw_torque, dim: 1
Sensor_index: 61, name: left_knee_torque, dim: 1
Sensor_index: 62, name: left_ankle_pitch_torque, dim: 1
Sensor_index: 63, name: left_ankle_roll_torque, dim: 1
Sensor_index: 64, name: right_hip_pitch_torque, dim: 1
Sensor_index: 65, name: right_hip_roll_torque, dim: 1
Sensor_index: 66, name: right_hip_yaw_torque, dim: 1
Sensor_index: 67, name: right_knee_torque, dim: 1
Sensor_index: 68, name: right_ankle_pitch_torque, dim: 1
Sensor_index: 69, name: right_ankle_roll_torque, dim: 1
Sensor_index: 70, name: waist_yaw_torque, dim: 1
Sensor_index: 71, name: waist_roll_torque, dim: 1
Sensor_index: 72, name: waist_pitch_torque, dim: 1
Sensor_index: 73, name: left_shoulder_pitch_torque, dim: 1
Sensor_index: 74, name: left_shoulder_roll_torque, dim: 1
Sensor_index: 75, name: left_shoulder_yaw_torque, dim: 1
Sensor_index: 76, name: left_elbow_torque, dim: 1
Sensor_index: 77, name: left_wrist_roll_torque, dim: 1
Sensor_index: 78, name: left_wrist_pitch_torque, dim: 1
Sensor_index: 79, name: left_wrist_yaw_torque, dim: 1
Sensor_index: 80, name: right_shoulder_pitch_torque, dim: 1
Sensor_index: 81, name: right_shoulder_roll_torque, dim: 1
Sensor_index: 82, name: right_shoulder_yaw_torque, dim: 1
Sensor_index: 83, name: right_elbow_torque, dim: 1
Sensor_index: 84, name: right_wrist_roll_torque, dim: 1
Sensor_index: 85, name: right_wrist_pitch_torque, dim: 1
Sensor_index: 86, name: right_wrist_yaw_torque, dim: 1
Sensor_index: 87, name: imu_quat, dim: 4
Sensor_index: 91, name: imu_gyro, dim: 3
Sensor_index: 94, name: imu_acc, dim: 3
Sensor_index: 97, name: frame_pos, dim: 3
Sensor_index: 100, name: frame_vel, dim: 3
Sensor_index: 103, name: secondary_imu_quat, dim: 4
Sensor_index: 107, name: secondary_imu_gyro, dim: 3
Sensor_index: 110, name: secondary_imu_acc, dim: 3
Error: Joystick open failed.
Segmentation fault (core dumped)
(env_isaaclab) chek@chek-System-Product-Name:~/unitree_mujoco/simulate/build$ ./unitree_mujoco
MuJoCo version 3.3.6
Mujoco data is prepared
<<------------- Link ------------->>
Link_index: 0, name: world
Link_index: 1, name: pelvis
Link_index: 2, name: left_hip_pitch_link
Link_index: 3, name: left_hip_roll_link
Link_index: 4, name: left_hip_yaw_link
Link_index: 5, name: left_knee_link
Link_index: 6, name: left_ankle_pitch_link
Link_index: 7, name: left_ankle_roll_link
Link_index: 8, name: right_hip_pitch_link
Link_index: 9, name: right_hip_roll_link
Link_index: 10, name: right_hip_yaw_link
Link_index: 11, name: right_knee_link
Link_index: 12, name: right_ankle_pitch_link
Link_index: 13, name: right_ankle_roll_link
Link_index: 14, name: waist_yaw_link
Link_index: 15, name: waist_roll_link
Link_index: 16, name: torso_link
Link_index: 17, name: left_shoulder_pitch_link
Link_index: 18, name: left_shoulder_roll_link
Link_index: 19, name: left_shoulder_yaw_link
Link_index: 20, name: left_elbow_link
Link_index: 21, name: left_wrist_roll_link
Link_index: 22, name: left_wrist_pitch_link
Link_index: 23, name: left_wrist_yaw_link
Link_index: 24, name: right_shoulder_pitch_link
Link_index: 25, name: right_shoulder_roll_link
Link_index: 26, name: right_shoulder_yaw_link
Link_index: 27, name: right_elbow_link
Link_index: 28, name: right_wrist_roll_link
Link_index: 29, name: right_wrist_pitch_link
Link_index: 30, name: right_wrist_yaw_link
<<------------- Joint ------------->>
Joint_index: 0, name: floating_base_joint
Joint_index: 1, name: left_hip_pitch_joint
Joint_index: 2, name: left_hip_roll_joint
Joint_index: 3, name: left_hip_yaw_joint
Joint_index: 4, name: left_knee_joint
Joint_index: 5, name: left_ankle_pitch_joint
Joint_index: 6, name: left_ankle_roll_joint
Joint_index: 7, name: right_hip_pitch_joint
Joint_index: 8, name: right_hip_roll_joint
Joint_index: 9, name: right_hip_yaw_joint
Joint_index: 10, name: right_knee_joint
Joint_index: 11, name: right_ankle_pitch_joint
Joint_index: 12, name: right_ankle_roll_joint
Joint_index: 13, name: waist_yaw_joint
Joint_index: 14, name: waist_roll_joint
Joint_index: 15, name: waist_pitch_joint
Joint_index: 16, name: left_shoulder_pitch_joint
Joint_index: 17, name: left_shoulder_roll_joint
Joint_index: 18, name: left_shoulder_yaw_joint
Joint_index: 19, name: left_elbow_joint
Joint_index: 20, name: left_wrist_roll_joint
Joint_index: 21, name: left_wrist_pitch_joint
Joint_index: 22, name: left_wrist_yaw_joint
Joint_index: 23, name: right_shoulder_pitch_joint
Joint_index: 24, name: right_shoulder_roll_joint
Joint_index: 25, name: right_shoulder_yaw_joint
Joint_index: 26, name: right_elbow_joint
Joint_index: 27, name: right_wrist_roll_joint
Joint_index: 28, name: right_wrist_pitch_joint
Joint_index: 29, name: right_wrist_yaw_joint
<<------------- Actuator ------------->>
Actuator_index: 0, name: left_hip_pitch
Actuator_index: 1, name: left_hip_roll
Actuator_index: 2, name: left_hip_yaw
Actuator_index: 3, name: left_knee
Actuator_index: 4, name: left_ankle_pitch
Actuator_index: 5, name: left_ankle_roll
Actuator_index: 6, name: right_hip_pitch
Actuator_index: 7, name: right_hip_roll
Actuator_index: 8, name: right_hip_yaw
Actuator_index: 9, name: right_knee
Actuator_index: 10, name: right_ankle_pitch
Actuator_index: 11, name: right_ankle_roll
Actuator_index: 12, name: waist_yaw
Actuator_index: 13, name: waist_roll
Actuator_index: 14, name: waist_pitch
Actuator_index: 15, name: left_shoulder_pitch
Actuator_index: 16, name: left_shoulder_roll
Actuator_index: 17, name: left_shoulder_yaw
Actuator_index: 18, name: left_elbow
Actuator_index: 19, name: left_wrist_roll
Actuator_index: 20, name: left_wrist_pitch
Actuator_index: 21, name: left_wrist_yaw
Actuator_index: 22, name: right_shoulder_pitch
Actuator_index: 23, name: right_shoulder_roll
Actuator_index: 24, name: right_shoulder_yaw
Actuator_index: 25, name: right_elbow
Actuator_index: 26, name: right_wrist_roll
Actuator_index: 27, name: right_wrist_pitch
Actuator_index: 28, name: right_wrist_yaw
<<------------- Sensor ------------->>
Sensor_index: 0, name: left_hip_pitch_pos, dim: 1
Sensor_index: 1, name: left_hip_roll_pos, dim: 1
Sensor_index: 2, name: left_hip_yaw_pos, dim: 1
Sensor_index: 3, name: left_knee_pos, dim: 1
Sensor_index: 4, name: left_ankle_pitch_pos, dim: 1
Sensor_index: 5, name: left_ankle_roll_pos, dim: 1
Sensor_index: 6, name: right_hip_pitch_pos, dim: 1
Sensor_index: 7, name: right_hip_roll_pos, dim: 1
Sensor_index: 8, name: right_hip_yaw_pos, dim: 1
Sensor_index: 9, name: right_knee_pos, dim: 1
Sensor_index: 10, name: right_ankle_pitch_pos, dim: 1
Sensor_index: 11, name: right_ankle_roll_pos, dim: 1
Sensor_index: 12, name: waist_yaw_pos, dim: 1
Sensor_index: 13, name: waist_roll_pos, dim: 1
Sensor_index: 14, name: waist_pitch_pos, dim: 1
Sensor_index: 15, name: left_shoulder_pitch_pos, dim: 1
Sensor_index: 16, name: left_shoulder_roll_pos, dim: 1
Sensor_index: 17, name: left_shoulder_yaw_pos, dim: 1
Sensor_index: 18, name: left_elbow_pos, dim: 1
Sensor_index: 19, name: left_wrist_roll_pos, dim: 1
Sensor_index: 20, name: left_wrist_pitch_pos, dim: 1
Sensor_index: 21, name: left_wrist_yaw_pos, dim: 1
Sensor_index: 22, name: right_shoulder_pitch_pos, dim: 1
Sensor_index: 23, name: right_shoulder_roll_pos, dim: 1
Sensor_index: 24, name: right_shoulder_yaw_pos, dim: 1
Sensor_index: 25, name: right_elbow_pos, dim: 1
Sensor_index: 26, name: right_wrist_roll_pos, dim: 1
Sensor_index: 27, name: right_wrist_pitch_pos, dim: 1
Sensor_index: 28, name: right_wrist_yaw_pos, dim: 1
Sensor_index: 29, name: left_hip_pitch_vel, dim: 1
Sensor_index: 30, name: left_hip_roll_vel, dim: 1
Sensor_index: 31, name: left_hip_yaw_vel, dim: 1
Sensor_index: 32, name: left_knee_vel, dim: 1
Sensor_index: 33, name: left_ankle_pitch_vel, dim: 1
Sensor_index: 34, name: left_ankle_roll_vel, dim: 1
Sensor_index: 35, name: right_hip_pitch_vel, dim: 1
Sensor_index: 36, name: right_hip_roll_vel, dim: 1
Sensor_index: 37, name: right_hip_yaw_vel, dim: 1
Sensor_index: 38, name: right_knee_vel, dim: 1
Sensor_index: 39, name: right_ankle_pitch_vel, dim: 1
Sensor_index: 40, name: right_ankle_roll_vel, dim: 1
Sensor_index: 41, name: waist_yaw_vel, dim: 1
Sensor_index: 42, name: waist_roll_vel, dim: 1
Sensor_index: 43, name: waist_pitch_vel, dim: 1
Sensor_index: 44, name: left_shoulder_pitch_vel, dim: 1
Sensor_index: 45, name: left_shoulder_roll_vel, dim: 1
Sensor_index: 46, name: left_shoulder_yaw_vel, dim: 1
Sensor_index: 47, name: left_elbow_vel, dim: 1
Sensor_index: 48, name: left_wrist_roll_vel, dim: 1
Sensor_index: 49, name: left_wrist_pitch_vel, dim: 1
Sensor_index: 50, name: left_wrist_yaw_vel, dim: 1
Sensor_index: 51, name: right_shoulder_pitch_vel, dim: 1
Sensor_index: 52, name: right_shoulder_roll_vel, dim: 1
Sensor_index: 53, name: right_shoulder_yaw_vel, dim: 1
Sensor_index: 54, name: right_elbow_vel, dim: 1
Sensor_index: 55, name: right_wrist_roll_vel, dim: 1
Sensor_index: 56, name: right_wrist_pitch_vel, dim: 1
Sensor_index: 57, name: right_wrist_yaw_vel, dim: 1
Sensor_index: 58, name: left_hip_pitch_torque, dim: 1
Sensor_index: 59, name: left_hip_roll_torque, dim: 1
Sensor_index: 60, name: left_hip_yaw_torque, dim: 1
Sensor_index: 61, name: left_knee_torque, dim: 1
Sensor_index: 62, name: left_ankle_pitch_torque, dim: 1
Sensor_index: 63, name: left_ankle_roll_torque, dim: 1
Sensor_index: 64, name: right_hip_pitch_torque, dim: 1
Sensor_index: 65, name: right_hip_roll_torque, dim: 1
Sensor_index: 66, name: right_hip_yaw_torque, dim: 1
Sensor_index: 67, name: right_knee_torque, dim: 1
Sensor_index: 68, name: right_ankle_pitch_torque, dim: 1
Sensor_index: 69, name: right_ankle_roll_torque, dim: 1
Sensor_index: 70, name: waist_yaw_torque, dim: 1
Sensor_index: 71, name: waist_roll_torque, dim: 1
Sensor_index: 72, name: waist_pitch_torque, dim: 1
Sensor_index: 73, name: left_shoulder_pitch_torque, dim: 1
Sensor_index: 74, name: left_shoulder_roll_torque, dim: 1
Sensor_index: 75, name: left_shoulder_yaw_torque, dim: 1
Sensor_index: 76, name: left_elbow_torque, dim: 1
Sensor_index: 77, name: left_wrist_roll_torque, dim: 1
Sensor_index: 78, name: left_wrist_pitch_torque, dim: 1
Sensor_index: 79, name: left_wrist_yaw_torque, dim: 1
Sensor_index: 80, name: right_shoulder_pitch_torque, dim: 1
Sensor_index: 81, name: right_shoulder_roll_torque, dim: 1
Sensor_index: 82, name: right_shoulder_yaw_torque, dim: 1
Sensor_index: 83, name: right_elbow_torque, dim: 1
Sensor_index: 84, name: right_wrist_roll_torque, dim: 1
Sensor_index: 85, name: right_wrist_pitch_torque, dim: 1
Sensor_index: 86, name: right_wrist_yaw_torque, dim: 1
Sensor_index: 87, name: imu_quat, dim: 4
Sensor_index: 91, name: imu_gyro, dim: 3
Sensor_index: 94, name: imu_acc, dim: 3
Sensor_index: 97, name: frame_pos, dim: 3
Sensor_index: 100, name: frame_vel, dim: 3
Sensor_index: 103, name: secondary_imu_quat, dim: 4
Sensor_index: 107, name: secondary_imu_gyro, dim: 3
Sensor_index: 110, name: secondary_imu_acc, dim: 3
Error: Joystick open failed.
Segmentation fault (core dumped)