Created
October 13, 2018 23:22
-
-
Save rejuvyesh/a69f0add3179aa9b40deb8fab2f4e5e6 to your computer and use it in GitHub Desktop.
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| using MuJoCo | |
| modelfile = "test/humanoid.xml" | |
| pm = mj_loadXML(modelfile) # Raw C pointer to mjModel | |
| pd = mj_makeData(pm) # Raw C pointer to mjData | |
| m, d = mj.mapmujoco(pm, pd) # wrap with our jlModel, jlData types | |
| # we can manipulate data in the raw C structs now | |
| nq = mj.get(m, :nq) | |
| mj.set(m, :nq, -20.0) | |
| @assert mj.get(m, :nq) == -20.0 | |
| mj_resetData(m, d) | |
| #= | |
| unknown function (ip: 0x7efe45a8dc3f) | |
| unknown function (ip: 0x7efe2530f066) | |
| mj_resetData at /home/jayeshkg/.julia/dev/MuJoCo/src/mujoco_c.jl:275 | |
| jl_fptr_trampoline at /buildworker/worker/package_linux64/build/src/gf.c:1831 | |
| jl_apply_generic at /buildworker/worker/package_linux64/build/src/gf.c:2184 | |
| do_call at /buildworker/worker/package_linux64/build/src/interpreter.c:324 | |
| eval_value at /buildworker/worker/package_linux64/build/src/interpreter.c:430 | |
| eval_stmt_value at /buildworker/worker/package_linux64/build/src/interpreter.c:363 [inlined] | |
| eval_body at /buildworker/worker/package_linux64/build/src/interpreter.c:682 | |
| jl_interpret_toplevel_thunk_callback at /buildworker/worker/package_linux64/build/src/interpreter.c:795 | |
| unknown function (ip: 0xfffffffffffffffe) | |
| unknown function (ip: 0x7efe35ff79df) | |
| unknown function (ip: 0xffffffffffffffff) | |
| jl_interpret_toplevel_thunk at /buildworker/worker/package_linux64/build/src/interpreter.c:804 | |
| jl_toplevel_eval_flex at /buildworker/worker/package_linux64/build/src/toplevel.c:813 | |
| jl_parse_eval_all at /buildworker/worker/package_linux64/build/src/ast.c:838 | |
| jl_load at /buildworker/worker/package_linux64/build/src/toplevel.c:847 | |
| include at ./boot.jl:317 [inlined] | |
| include_relative at ./loading.jl:1041 | |
| include at ./sysimg.jl:29 | |
| jl_apply_generic at /buildworker/worker/package_linux64/build/src/gf.c:2184 | |
| exec_options at ./client.jl:229 | |
| _start at ./client.jl:421 | |
| jl_apply_generic at /buildworker/worker/package_linux64/build/src/gf.c:2184 | |
| unknown function (ip: 0x401ae8) | |
| unknown function (ip: 0x401513) | |
| __libc_start_main at /build/glibc-OTsEL5/glibc-2.27/csu/../csu/libc-start.c:310 | |
| unknown function (ip: 0x4015b4) | |
| Allocations: 8452922 (Pool: 8450575; Big: 2347); GC: 18 | |
| zsh: segmentation fault (core dumped) julia test/segfault.jl | |
| =# |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
:nqis the number of joint positions, so telling the model that there are -20 will cause the program to mess up: it doesn't know how many joints to allocate for the mjData struct.Only some fields can be changed online in mjModel (such as mjOptions), while most fields in mjData can be changed. Some are still read-only, however.