Illegal instruction (core dumped) when trying to run mbse-dynamic-simulation

[BIT-glimmer]

Hello Professor,
Thank you for sharing this awesome repository. I followed this repository after reading the paper "multibody dynamic system as bayesian networks: applications to robust state estimation of mechanism". I am wondering whether this idea could be used for model predictive control or parameter identification. So I decided to get a hands-on study of this repository.
After I successfully built and installed this repository on Ubuntu 20.02and tried to execute it by
"./mbse-dynamic-simulation"
I got this error
"Illegal instruction (core dumped)"
Clearly, it's not helpful. So I tried to debug it using gdb, then i got this
"Program received signal SIGILL, Illegal instruction.
0x00007ffff7026bac in gtsam::Rot2::fromCosSin(double, double) () from /lib/x86_64-linux-gnu/libgtsam.so.4"Program received signal SIGILL, Illegal instruction.
0x00007ffff7026bac in gtsam::Rot2::fromCosSin(double, double) () from /lib/x86_64-linux-gnu/libgtsam.so.4

Btw, when i try to execute "make test_legacy # To run unit tests", I got this error
"
[ 2%] Built target gtest
[ 53%] Built target mbse
[ 57%] Built target test_factor-vel-constraints-icoords-jacobian
Illegal instruction (core dumped)
make[3]: *** [libmbse/tests/CMakeFiles/run_tests_factor-vel-constraints-icoords-jacobian.dir/build.make:57: libmbse/tests/CMakeFiles/run_tests_factor-vel-constraints-icoords-jacobian] Error 132
make[2]: *** [CMakeFiles/Makefile2:931: libmbse/tests/CMakeFiles/run_tests_factor-vel-constraints-icoords-jacobian.dir/all] Error 2
make[1]: *** [CMakeFiles/Makefile2:571: libmbse/tests/CMakeFiles/test_legacy.dir/rule] Error 2
make: *** [Makefile:318: test_legacy] Error 2
"
Could u please help me out or give me some indications?