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  1. #0  __GI_raise (sig=sig@entry=6) at ../sysdeps/unix/sysv/linux/raise.c:51
  2. #1  0x00007f2a78408801 in __GI_abort () at abort.c:79
  3. #2  0x00007f2a78ead957 in ?? () from /usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libstdc++.so.6
  4. #3  0x00007f2a78eb3ab6 in ?? () from /usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libstdc++.so.6
  5. #4  0x00007f2a78eb3af1 in std::terminate() () from /usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libstdc++.so.6
  6. #5  0x00007f2a78eb3d24 in __cxa_throw () from /usr/lib/gcc/x86_64-linux-gnu/7/../../../x86_64-linux-gnu/libstdc++.so.6
  7. #6  0x0000559467f7db0e in drake::geometry::QueryObject<double>::ThrowIfDefault (this=0x55946c125b40)
  8.     at bazel-out/k8-dbg/bin/external/drake/geometry/_virtual_includes/scene_graph/drake/geometry/query_object.h:337
  9. #7  0x0000559467f7d88e in drake::geometry::QueryObject<double>::ComputeSignedDistancePairwiseClosestPoints (this=0x55946c125b40)
  10.     at external/drake/geometry/query_object.cc:46
  11. #8  0x000055946772f8f8 in drake::multibody::MinimumDistanceConstraint::DoEvalGeneric<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> > >(Eigen::Ref<Eigen::Matrix<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, -1, 1, 0, -1, 1> const, 0, Eigen::internal::conditional<Eigen::Matrix<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, -1, 1, 0, -1, 1> const::IsVectorAtCompileTime, Eigen::InnerStride<1>, Eigen::OuterStride<-1> >::type> const&, Eigen::Matrix<Eigen::AutoDiffScalar<Eigen::Matrix<double, -1, 1, 0, -1, 1> >, -1, 1, 0, -1, 1>*) const (this=0x55946c089110, x=..., y=0x7ffff81550c0)
  12.     at external/drake/multibody/inverse_kinematics/minimum_distance_constraint.cc:147
  13. #9  0x000055946772e4b3 in drake::multibody::MinimumDistanceConstraint::DoEval (this=0x55946c089110, x=..., y=0x7ffff81550c0)
  14.     at external/drake/multibody/inverse_kinematics/minimum_distance_constraint.cc:189
  15. #10 0x00005594677022e5 in drake::solvers::EvaluatorBase::Eval (this=0x55946c089110, x=..., y=0x7ffff81550c0)
  16.     at bazel-out/k8-dbg/bin/external/drake/solvers/_virtual_includes/evaluator_base/drake/solvers/evaluator_base.h:59
  17. #11 0x0000559467bcd73a in drake::solvers::(anonymous namespace)::EvaluateSingleNonlinearConstraint<drake::solvers::Constraint> (
  18.     constraint=..., this_x=..., ty=0x7ffff81550c0) at external/drake/solvers/snopt_solver.cc:352
  19. #12 0x0000559467bca861 in drake::solvers::(anonymous namespace)::EvaluateNonlinearConstraints<drake::solvers::Constraint> (
  20.     prog=..., constraint_list=std::vector of length 1, capacity 1 = {...}, F=0x55946c0d2a50, G=0x55946c0d2b30,
  21.     constraint_index=0x7ffff8155160, grad_index=0x7ffff8155138, xvec=...) at external/drake/solvers/snopt_solver.cc:396
  22. #13 0x0000559467bc6eb2 in drake::solvers::(anonymous namespace)::snopt_userfun (Status=0x7ffff81558dc, n=0x7ffff8157d8c,
  23.     x=0x55946c0d29e8, needF=0x7ffff8155364, neF=0x7ffff81558d4, F=0x55946c0d2a50, needG=0x7ffff8155360, neG=0x7ffff81558e0,
  24.     G=0x55946c0d2b30,
  25.     cu=0x7f2a7516a220 "SNOPTA  -1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111-1111111"..., lencu=0x559468d1cd38,
  26.     iu=0x7ffff8158360, leniu=0x7ffff8157e90, ru=0x0, lenru=0x7ffff8157ea0) at external/drake/solvers/snopt_solver.cc:534
  27. #14 0x0000559467c705d6 in s0fga1_ () at /usr/include/c++/6/bits/stl_construct.h:75
  28. #15 0x0000559467c7134d in s0fga_ () at /usr/include/c++/6/bits/stl_construct.h:75
  29. #16 0x0000559467c5ba60 in s8firstcall_ () at /usr/include/c++/6/bits/stl_construct.h:75
  30. #17 0x0000559467c5dee8 in s8solve_ () at /usr/include/c++/6/bits/stl_construct.h:75
  31. #18 0x0000559467c67cad in snkera_ () at /usr/include/c++/6/bits/stl_construct.h:75
  32. #19 0x0000559467bdfe0b in f_snkera () at /usr/include/c++/6/bits/stl_construct.h:75
  33. #20 0x0000559467bcd5f5 in (anonymous namespace)::SnoptImpl<false>::snkera<int> (start=0, name=0x7ffff81583c0 "drake_problem",
  34.     nf=14, n=13, objadd=0, objrow=1,
  35.     usrfun=0x559467bc6d07 <drake::solvers::(anonymous namespace)::snopt_userfun(int*, int*, double*, int*, int*, double*, int*, int*, double*, char*, int*, int*, int*, double*, int*)>, snLog=0x0, snLog2=0x0, sqLog=0x0, snSTOP=0x0, iAfun=0x55946ba28e60,
  36.     jAvar=0x55946ba28ea0, neA=12, A=0x55946ba10660, iGfun=0x55946ba10560, jGvar=0x55946ba105d0, neG=26, xlow=0x55946c19f020,
  37.     xupp=0x55946ba297c0, flow=0x55946ba2a0f0, fupp=0x55946ba2a170, x=0x55946c19ef20, xstate=0x55946ba28e20,
  38.     xmul=0x55946ba11030, f=0x55946bc36940, fstate=0x55946ba28ee0, fmul=0x55946ba2a1f0, inform=0x7ffff8158488,
  39.     ns=0x7ffff8157fb4, ninf=0x7ffff8157fb8, sinf=0x7ffff8158018, miniw=0x7ffff8157fbc, minrw=0x7ffff8157fc0, iu=0x7ffff8158360,
  40.     leniu=2, ru=0x0, lenru=0, iw=0x55946c054850, leniw=21940, rw=0x55946c0cf5e0, lenrw=12366)
  41.     at external/drake/solvers/snopt_solver.cc:158
  42. #21 0x0000559467bc91f8 in drake::solvers::(anonymous namespace)::SolveWithGivenOptions (prog=..., x_init=...,
  43.     snopt_options_string=std::unordered_map with 0 elements, snopt_options_int=std::unordered_map with 2 elements = {...},
  44.     snopt_options_double=std::unordered_map with 2 elements = {...}, snopt_status=0x7ffff8158488, objective=0x7ffff8158490,
  45.     x_val=..., solver_details=0x55946c19f180) at external/drake/solvers/snopt_solver.cc:1006
  46. #22 0x0000559467bc99af in drake::solvers::SnoptSolver::DoSolve (this=0x55946c1a0900, prog=..., initial_guess=...,
  47.     merged_options=..., result=0x7ffff8158c10) at external/drake/solvers/snopt_solver.cc:1070
  48. #23 0x0000559467bda290 in drake::solvers::SolverBase::Solve (this=0x55946c1a0900, prog=..., initial_guess=...,
  49.     solver_options=..., result=0x7ffff8158c10) at external/drake/solvers/solver_base.cc:52
  50. #24 0x0000559467a752a4 in drake::solvers::Solve (prog=..., initial_guess=..., solver_options=...)
  51.     at external/drake/solvers/solve.cc:17
  52. #25 0x0000559467a7547d in drake::solvers::Solve (prog=...) at external/drake/solvers/solve.cc:29
  53.  
  54. [my app beyond this point]
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