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You seem to be using the pr2.urdf from pr2_description. I cannot reproduce the crashes you are reporting either with your file, or the one from the package.
Does the Setup Assistant crash with other urdfs as well?
At the point where the Setup Assistant is loading the urdf, it starts to make proper use of your OpenGL subsystem. If anything is not ok there, it might lead to crashes such as your seeing. This is especially true if you are running Ubuntu/ROS in a VM.
In any case, make sure you have the correct (and up-to-date) drivers installed (check output of glxinfo, look at OpenGL vendor/renderer/version strings).
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