GcsTrajectoryOptimization::GetGraphvizString Crash

regions.pickle

tmp.py

import numpy as np
import pickle
from pydrake.all import GcsTrajectoryOptimization, GraphOfConvexSetsOptions, Point

start = np.array([2.72861773, -1.63614893, -2.24210693, -1.09417266, -2.47138911, -1.08448094, -2.02794058, -1.38])
goal = np.array([2.74726035, -0.8637625, -1.89093302, -0.78100625, -2.54191325, -1.20940114, -0.99160079, -1.04])

with open("regions.pickle", "rb") as f:
	regions = pickle.load(f)

print(len(regions))

order = 1
continuity = 0

gcs = GcsTrajectoryOptimization(8)
if continuity > 0:
	gcs.AddPathContinuityConstraints(continuity)

main_graph = gcs.AddRegions(regions, order, h_min=0.1, h_max=100, name="")
start_graph = gcs.AddRegions([Point(start)], 0)
goal_graph = gcs.AddRegions([Point(goal)], 0)
gcs.AddEdges(start_graph, main_graph)
gcs.AddEdges(main_graph, goal_graph)

gcs.AddPathLengthCost()
# gcs.AddVelocityBounds(-np.ones(8), np.ones(8))

s = gcs.GetGraphvizString()

options = GraphOfConvexSetsOptions()
options.max_rounding_trials = 1000
options.max_rounded_paths = 100
options.convex_relaxation = True

traj, result = gcs.SolvePath(start_graph, goal_graph, options)

s = gcs.GetGraphvizString(result, show_slack=False)

print(result.is_success())