When I run the code run_peg_insertion.py I get an error message: "Process finished with exit code 139 (interrupted by signal 11:SIGSEGV)"

[lejal]

issue.zip
When I run the modified run_peg_insertion.py I receive the following error message::

"GUIWebsocketServer will start serving a WebSocket server on ws://localhost:8070
Web GUI serving on http://localhost:8080
Initial state: tensor([-1.6006, -1.5067, -1.9741, -1.2572, 1.5951, -0.0311, 0.0000, 0.0000,
0.0000, 0.0000, 0.0000, 0.0000])
Target Position: tensor([0.0300, 0.0100, 0.0000])
Process finished with exit code 139 (interrupted by signal 11:SIGSEGV)".

I have modified code to use a different robot hand definition (ur5.urdf) and run it in the Nimble Physics environment, then the code now works as expected.
(The code with additional files is attached - issue.zip.)