pybullet build time: Aug 16 2022 23:30:29 starting thread 0 started testThreads thread 0 with threadHandle 0000000000000834 argc=2 argv[0] = --unused argv[1] = --start_demo_name=Physics Server ExampleBrowserThreadFunc started Version = 4.6.0 NVIDIA 512.78 Vendor = NVIDIA Corporation Renderer = NVIDIA GeForce RTX 3060 Laptop GPU/PCIe/SSE2 b3Printf: Selected demo: Physics Server starting thread 0 started MotionThreads thread 0 with threadHandle 0000000000000A9C MotionThreadFunc thread started processing base processing root merge root_dammy_ori into root! relink left_hip_rx from root_dammy_ori to root! relink right_hip_rx from root_dammy_ori to root! relink spine_2_limb from root_dammy_ori to root! processing left_hip_rx processing left_hip_ry processing left_hip_rz merge left_knee_limb into left_hip_rz! relink left_knee_rx from left_knee_limb to left_hip_rz! processing left_knee_rx processing left_knee_ry processing left_knee_rz merge left_ankle_limb into left_knee_rz! relink left_ankle_rx from left_ankle_limb to left_knee_rz! processing left_ankle_rx processing left_ankle_ry processing left_ankle_rz merge left_foot_limb into left_ankle_rz! relink left_foot_rx from left_foot_limb to left_ankle_rz! processing left_foot_rx processing left_foot_ry processing left_foot_rz merge left_toe into left_foot_rz! relink left_heel from left_toe to left_foot_rz! merge left_heel into left_foot_rz! processing right_hip_rx processing right_hip_ry processing right_hip_rz merge right_knee_limb into right_hip_rz! relink right_knee_rx from right_knee_limb to right_hip_rz! processing right_knee_rx processing right_knee_ry processing right_knee_rz merge right_ankle_limb into right_knee_rz! relink right_ankle_rx from right_ankle_limb to right_knee_rz! processing right_ankle_rx processing right_ankle_ry processing right_ankle_rz merge right_foot_limb into right_ankle_rz! relink right_foot_rx from right_foot_limb to right_ankle_rz! processing right_foot_rx processing right_foot_ry processing right_foot_rz merge right_toe into right_foot_rz! relink right_heel from right_toe to right_foot_rz! merge right_heel into right_foot_rz! merge spine_2_limb into root! relink spine_2_rx from spine_2_limb to root! processing spine_2_rx processing spine_2_ry processing spine_2_rz merge spine_3_limb into spine_2_rz! relink spine_3_rx from spine_3_limb to spine_2_rz! processing spine_3_rx processing spine_3_ry processing spine_3_rz merge spine_4_limb into spine_3_rz! relink spine_4_rx from spine_4_limb to spine_3_rz! processing spine_4_rx processing spine_4_ry processing spine_4_rz merge neck_limb into spine_4_rz! relink neck_rx from neck_limb to spine_4_rz! processing right_clavicle_rx processing right_clavicle_ry processing right_clavicle_rz merge right_shoulder_limb into right_clavicle_rz! relink right_shoulder_rx from right_shoulder_limb to right_clavicle_rz! processing right_shoulder_rx processing right_shoulder_ry processing right_shoulder_rz merge right_elbow_limb into right_shoulder_rz! relink right_elbow_rx from right_elbow_limb to right_shoulder_rz! processing right_elbow_rx processing right_elbow_ry processing right_elbow_rz merge right_lowarm_limb into right_elbow_rz! relink right_lowarm_rx from right_lowarm_limb to right_elbow_rz! processing right_lowarm_rx processing right_lowarm_ry processing right_lowarm_rz merge right_hand_limb into right_lowarm_rz! relink right_hand_rx from right_hand_limb to right_lowarm_rz! processing right_hand_rx processing right_hand_ry processing right_hand_rz processing left_clavicle_rx processing left_clavicle_ry processing left_clavicle_rz merge left_shoulder_limb into left_clavicle_rz! relink left_shoulder_rx from left_shoulder_limb to left_clavicle_rz! processing left_shoulder_rx processing left_shoulder_ry processing left_shoulder_rz merge left_elbow_limb into left_shoulder_rz! relink left_elbow_rx from left_elbow_limb to left_shoulder_rz! processing left_elbow_rx processing left_elbow_ry processing left_elbow_rz merge left_lowarm_limb into left_elbow_rz! relink left_lowarm_rx from left_lowarm_limb to left_elbow_rz! processing left_lowarm_rx processing left_lowarm_ry processing left_lowarm_rz merge left_hand_limb into left_lowarm_rz! relink left_hand_rx from left_hand_limb to left_lowarm_rz! processing left_hand_rx processing left_hand_ry processing left_hand_rz processing neck_rx processing neck_ry processing neck_rz merge head_limb into neck_rz! relink head_rx from head_limb to neck_rz! During handling of the above exception, another exception occurred: Traceback (most recent call last): File "D:\MoveDesktop\pip_rbdl\PIP\evaluate.py", line 209, in evaluate(net, paths.dipimu_dir, pose_evaluator=reduced_pose_evaluator, evaluate_pose=True, evaluate_zmp=True, flush_cache=True) File "D:\MoveDesktop\pip_rbdl\PIP\evaluate.py", line 143, in evaluate run_pipeline(net, data_dir, missing_ids) File "D:\MoveDesktop\pip_rbdl\PIP\evaluate.py", line 119, in run_pipeline torch.save(net.predict(accs[i], rots[i], init_poses[i]), os.path.join(output_dir, '%d.pt' % i)) File "D:\miniconda3\envs\py39\lib\site-packages\torch\autograd\grad_mode.py", line 27, in decorate_context return func(*args, **kwargs) File "D:\MoveDesktop\pip_rbdl\PIP\net.py", line 96, in predict p, t = self.dynamics_optimizer.optimize_frame(p, v, c, a) File "D:\MoveDesktop\pip_rbdl\PIP\dynamics.py", line 227, in optimize_frame x = solve_qp(P_, q_, G_, h_, A_, b_, solver='cvxopt', initvals=init) File "D:\miniconda3\envs\py39\lib\site-packages\qpsolvers\solve_qp.py", line 132, in solve_qp return solve_function[solver](P, q, G, h, A, b, **kwargs) File "D:\miniconda3\envs\py39\lib\site-packages\qpsolvers\solvers\cvxopt_.py", line 125, in cvxopt_solve_qp sol = qp(*args, solver=solver, initvals=initvals, **kwargs) File "D:\miniconda3\envs\py39\lib\site-packages\cvxopt\coneprog.py", line 4485, in qp return coneqp(P, q, G, h, None, A, b, initvals, kktsolver = kktsolver, options = options) File "D:\miniconda3\envs\py39\lib\site-packages\cvxopt\coneprog.py", line 2067, in coneqp raise ValueError("Rank(A) < p or Rank([P; A; G]) < n") ValueError: Rank(A) < p or Rank([P; A; G]) < n numActiveThreads = 0 stopping threads Thread with taskId 0 with handle 0000000000000A9C exiting Thread TERMINATED finished numActiveThreads = 0 btShutDownExampleBrowser stopping threads Thread with taskId 0 with handle 0000000000000834 exiting Thread TERMINATED