hx_robot_info bad data size

Hello,

I have modified the provided MPL.xml and MPL_left.xml, to mold a model with both hands in it ( i have attached the file, although it loads fine in the model). My objective is to have both hands in the model and control them using matlab. However when i run the command hx_robot_info, or hx_read_sensors i get error from mjhx "bad data size".
mjhx('info') runs fine and provides me with the following:
mjhx('info'), and some others work too, but i cannot control the hand.

Thanks, and happy new year!

 

Found out my only problem is that the number of joints is limited to 32. Right now I am trying to remake the mex file with a limit of joints/motor/sensor/imu of 100 ( such as to allow for two hands). I get the LNK2019 Error, I don't think its reading the .lib file properly or if something is missing.

C:\Users\Armand\source\repos\mj_mex_wrapper\mj_mex_wrapper\apicpp>nmake

Microsoft (R) Program Maintenance Utility Version 14.12.25834.0
Copyright (C) Microsoft Corporation. All rights reserved.

cl /O2 /MT /EHsc mjhx.cpp mjhaptix_user.lib
Microsoft (R) C/C++ Optimizing Compiler Version 19.12.25834 for x64
Copyright (C) Microsoft Corporation. All rights reserved.

mjhx.cpp
mjhx.cpp(51): warning C4477: 'sprintf' : format string '%d' requires an argument
of type 'int', but variadic argument 2 has type '::size_t'
mjhx.cpp(51): note: consider using '%zd' in the format string
mjhx.cpp(65): warning C4477: 'sprintf' : format string '%d' requires an argument
of type 'int', but variadic argument 6 has type 'const mwSize'
mjhx.cpp(65): note: consider using '%zd' in the format string
mjhx.cpp(65): warning C4477: 'sprintf' : format string '%d' requires an argument
of type 'int', but variadic argument 7 has type 'const mwSize'
mjhx.cpp(65): note: consider using '%zd' in the format string
Microsoft (R) Incremental Linker Version 14.12.25834.0
Copyright (C) Microsoft Corporation. All rights reserved.

/out:mjhx.exe
mjhx.obj
mjhaptix_user.lib
mjhx.obj : error LNK2019: unresolved external symbol mxGetNumberOfDimensions_730
referenced in function "void __cdecl checkNumeric(struct mxArray_tag const *,ch
ar const *,int,int)" (?checkNumeric@@YAXPEBUmxArray_tag@@PEBDHH@Z)
mjhx.obj : error LNK2019: unresolved external symbol mxGetDimensions_730 referen
ced in function "void __cdecl checkNumeric(struct mxArray_tag const *,char const
*,int,int)" (?checkNumeric@@YAXPEBUmxArray_tag@@PEBDHH@Z)
mjhx.obj : error LNK2019: unresolved external symbol mxGetClassID referenced in
function "void __cdecl checkNumeric(struct mxArray_tag const *,char const *,int,
int)" (?checkNumeric@@YAXPEBUmxArray_tag@@PEBDHH@Z)
mjhx.obj : error LNK2019: unresolved external symbol mxGetPr referenced in funct
ion "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const (* const)[2],int
,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$CBHHPEBD@Z)
mjhx.obj : error LNK2019: unresolved external symbol mxGetScalar referenced in f
unction mexFunction
mjhx.obj : error LNK2019: unresolved external symbol mxGetFieldNumber referenced
in function "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const (* cons
t)[2],int,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$CBHHPEBD@
Z)
mjhx.obj : error LNK2019: unresolved external symbol mxGetField_730 referenced i
n function "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const (* const)
[2],int,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$CBHHPEBD@Z)

mjhx.obj : error LNK2019: unresolved external symbol mxSetField_730 referenced i
n function "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const (* const)
[2],int,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$CBHHPEBD@Z)

mjhx.obj : error LNK2019: unresolved external symbol mxCreateDoubleMatrix_730 re
ferenced in function "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const
(* const)[2],int,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$C
BHHPEBD@Z)
mjhx.obj : error LNK2019: unresolved external symbol mxCreateDoubleScalar refere
nced in function "struct mxArray_tag * __cdecl hxreadsensors(void)" (?hxreadsens
ors@@YAPEAUmxArray_tag@@XZ)
mjhx.obj : error LNK2019: unresolved external symbol mxGetString_730 referenced
in function mexFunction
mjhx.obj : error LNK2019: unresolved external symbol mxCreateString referenced i
n function mexFunction
mjhx.obj : error LNK2019: unresolved external symbol mxCreateStructMatrix_730 re
ferenced in function "struct mxArray_tag * __cdecl getactuator(void)" (?getactua
tor@@YAPEAUmxArray_tag@@XZ)
mjhx.obj : error LNK2019: unresolved external symbol mexErrMsgTxt referenced in
function "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const (* const)[2
],int,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$CBHHPEBD@Z)
mjhx.obj : error LNK2019: unresolved external symbol mexPrintf referenced in fun
ction "void __cdecl mjc2mx2<int,2>(struct mxArray_tag *,int const (* const)[2],i
nt,char const *)" (??$mjc2mx2@H$01@@YAXPEAUmxArray_tag@@QEAY01$$CBHHPEBD@Z)
mjhx.obj : error LNK2019: unresolved external symbol mexLock referenced in funct
ion mexFunction
mjhx.obj : error LNK2019: unresolved external symbol mexUnlock referenced in fun
ction "void __cdecl exitFunction(void)" (?exitFunction@@YAXXZ)
mjhx.obj : error LNK2019: unresolved external symbol mexAtExit referenced in fun
ction mexFunction
mjhx.exe : fatal error LNK1120: 18 unresolved externals
NMAKE : fatal error U1077: '"C:\Program Files (x86)\Microsoft Visual Studio\2017
\Community\VC\Tools\MSVC\14.12.25827\bin\HostX64\x64\cl.EXE"' : return code '0x2
'
Stop.

C:\Users\Armand\source\repos\mj_mex_wrapper\mj_mex_wrapper\apicpp>



The search for truth and knowledge continues...

 

I created a new mex file by running on matlab commandline "mex mjhx.cpp mjhaptix_user.lib" and it completes successfully ( in haptix.h I changed the defined max number of joints and motors). However I still get the error of "bad data size" when I run "hx_robot_info".