传进去的 betas 维度是 20（previously seen size 20） 但当前 SMPL-X 模型文件里的 shapedirs（shape components）维度是 26（operand 1 ... size 26） #6
Description
Traceback (most recent call last):
File "/home/ubuntu/video2robot/scripts/convert_to_robot.py", line 195, in
main()
File "/home/ubuntu/video2robot/scripts/convert_to_robot.py", line 131, in main
retargeter.retarget(
File "/home/ubuntu/video2robot/video2robot/robot/retargeter.py", line 119, in retarget
smplx_data, body_model, smplx_output, human_height = self._load_smplx_file(
File "/home/ubuntu/video2robot/third_party/GMR/general_motion_retargeting/utils/smpl.py", line 41, in load_smplx_file
smplx_output = body_model(
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1775, in _wrapped_call_impl
return self._call_impl(*args, **kwargs)
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/torch/nn/modules/module.py", line 1786, in _call_impl
return forward_call(*args, **kwargs)
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/smplx/body_models.py", line 1243, in forward
vertices, joints = lbs(shape_components, full_pose, self.v_template,
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/smplx/lbs.py", line 209, in lbs
v_shaped = v_template + blend_shapes(betas, shapedirs)
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/smplx/lbs.py", line 295, in blend_shapes
blend_shape = torch.einsum('bl,mkl->bmk', [betas, shape_disps])
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/torch/functional.py", line 368, in einsum
return einsum(equation, *_operands)
File "/home/ubuntu/miniconda3/envs/gmr/lib/python3.10/site-packages/torch/functional.py", line 373, in einsum
return _VF.einsum(equation, operands) # type: ignore[attr-defined]
RuntimeError: einsum(): subscript l has size 26 for operand 1 which does not broadcast with previously seen size 20
ERROR conda.cli.main_run:execute(127): conda run python /home/ubuntu/video2robot/scripts/convert_to_robot.py --project /home/ubuntu/video2robot/data/video_025 --robot unitree_g1 --all-tracks failed. (See above for error)
Traceback (most recent call last):
File "/home/ubuntu/video2robot/scripts/run_pipeline.py", line 323, in
main()
File "/home/ubuntu/video2robot/scripts/run_pipeline.py", line 296, in main
run_robot_retargeting(
File "/home/ubuntu/video2robot/scripts/run_pipeline.py", line 172, in run_robot_retargeting
run_in_conda(gmr_env, argv, cwd=PROJECT_ROOT)
File "/home/ubuntu/video2robot/video2robot/utils.py", line 98, in run_in_conda
raise RuntimeError(msg)