Merge branch 'master' into 3D-NN-walkers-example

CMakeLists.txt

@@ -1,11 +1,11 @@
 cmake_minimum_required(VERSION 2.4.3)
 set(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS true)
-
+cmake_policy(SET CMP0017 NEW)
 #this line has to appear before 'PROJECT' in order to be able to disable incremental linking
 SET(MSVC_INCREMENTAL_DEFAULT ON)
 
 PROJECT(BULLET_PHYSICS)
-SET(BULLET_VERSION 2.85)
+FILE (STRINGS "VERSION" BULLET_VERSION)
 
 IF(COMMAND cmake_policy)
    cmake_policy(SET CMP0003 NEW)
@@ -85,15 +85,60 @@ IF(MSVC)
 	  ADD_DEFINITIONS(-D_WIN64)
 	ELSE()
 	  OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option"	ON)
+	  option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
+
 	  IF (USE_MSVC_SSE)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE")
 	  ENDIF()
+	  IF (USE_MSVC_SSE2)
+		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /arch:SSE2")
+	  ENDIF()
+
 	ENDIF()
+
+	option(USE_MSVC_AVX "Compile your program with AVX instructions"  OFF)
+
+	IF(USE_MSVC_AVX)
+		add_definitions(/arch:AVX)
+	ENDIF()
+
 	OPTION(USE_MSVC_FAST_FLOATINGPOINT "Use MSVC /fp:fast option"	ON)
 	IF (USE_MSVC_FAST_FLOATINGPOINT)
 		  SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /fp:fast")
   ENDIF()
 
+	OPTION(USE_MSVC_STRING_POOLING "Use MSVC /GF string pooling option"	ON)
+	IF (USE_MSVC_STRING_POOLING)
+		SET(CMAKE_C_FLAGS "/GF ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/GF ${CMAKE_CXX_FLAGS}")
+	ENDIF()
+
+	OPTION(USE_MSVC_FUNCTION_LEVEL_LINKING "Use MSVC /Gy function level linking option"	ON)
+	IF(USE_MSVC_FUNCTION_LEVEL_LINKING)
+		SET(CMAKE_C_FLAGS "/Gy ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/Gy ${CMAKE_CXX_FLAGS}")
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:REF")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:REF")
+	ENDIF(USE_MSVC_FUNCTION_LEVEL_LINKING)
+
+	OPTION(USE_MSVC_EXEPTIONS "Use MSVC C++ exceptions option"	OFF)
+
+
+
+	OPTION(USE_MSVC_COMDAT_FOLDING "Use MSVC /OPT:ICF COMDAT folding option"	ON)
+
+	IF(USE_MSVC_COMDAT_FOLDING)
+		set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /OPT:ICF")
+		set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} /OPT:ICF")
+	ENDIF()
+
+	OPTION(USE_MSVC_DISABLE_RTTI "Use MSVC /GR- disabled RTTI flags option"	ON)
+	IF(USE_MSVC_DISABLE_RTTI)
+	  STRING(REGEX REPLACE "/GR" "" CMAKE_CXX_FLAGS ${CMAKE_CXX_FLAGS}) # Disable RTTI
+		SET(CMAKE_C_FLAGS "/GR- ${CMAKE_C_FLAGS}")
+		SET(CMAKE_CXX_FLAGS "/GR- ${CMAKE_CXX_FLAGS}")
+	ENDIF(USE_MSVC_DISABLE_RTTI)
+
 	SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /wd4244 /wd4267")
 ENDIF(MSVC)
 
@@ -209,18 +254,39 @@ ENDIF()
 
 OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
 
-OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
+# Optional Python configuration
+# builds pybullet automatically if all the requirements are met
+SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
+SET(Python_ADDITIONAL_VERSIONS 2.7 2.7.3 3 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
+SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
+SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
+OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.3" OFF)
+IF(EXACT_PYTHON_VERSION)
+  set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
+ENDIF(EXACT_PYTHON_VERSION)
+# first find the python interpreter
+FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
+# python library should exactly match that of the interpreter
+FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
+SET(DEFAULT_BUILD_PYBULLET OFF)
+IF(PYTHONLIBS_FOUND)
+	SET(DEFAULT_BUILD_PYBULLET ON)
+ENDIF(PYTHONLIBS_FOUND)
+OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
+
+OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
+OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
 
 
 IF(BUILD_PYBULLET)
 
-	FIND_PACKAGE(PythonLibs)
+	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" ON)
-
-	OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
 	OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
+	OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
+
+	OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" OFF)
 
 	IF(BUILD_PYBULLET_NUMPY)
-		set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_LIST_DIR}/build3/cmake)
 		#include(FindNumPy)
 		FIND_PACKAGE(NumPy)
 		if (PYTHON_NUMPY_FOUND)
@@ -230,13 +296,25 @@ IF(BUILD_PYBULLET)
 			message("NumPy not found")
 		endif()
 	ENDIF()
-	OPTION(BUILD_PYBULLET "Set when you want to build pybullet (experimental Python bindings for Bullet)" OFF)
 
 	IF(WIN32)
 		SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Shared Libs" FORCE)
 	ELSE(WIN32)
 		SET(BUILD_SHARED_LIBS ON CACHE BOOL "Shared Libs" FORCE)
 	ENDIF(WIN32)
+
+	IF(APPLE)
+		OPTION(BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK "Set when you want to use the Python Framework on Mac" ON)
+		IF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
+			add_definitions(-DB3_NO_PYTHON_FRAMEWORK)
+		ENDIF(NOT BUILD_PYBULLET_MAC_USE_PYTHON_FRAMEWORK)
+		OPTION(BUILD_PYBULLET_SHOW_PY_VERSION "Set when you want to show the PY_MAJOR_VERSION and PY_MAJOR_VERSION using #pragme message." OFF)
+		IF(BUILD_PYBULLET_SHOW_PY_VERSION)
+			add_definitions(-DB3_DUMP_PYTHON_VERSION)
+		ENDIF()
+
+	ENDIF(APPLE)
+
 ENDIF(BUILD_PYBULLET)
 
 IF(BUILD_BULLET3)

Extras/CMakeLists.txt

@@ -1,4 +1,4 @@
-SUBDIRS( Serialize ConvexDecomposition HACD GIMPACTUtils )
+SUBDIRS( obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
 
 IF(BUILD_BULLET3)
 	SUBDIRS( InverseDynamics)

Extras/ConvexDecomposition/ConvexBuilder.cpp

@@ -12,9 +12,9 @@ unsigned int MAXDEPTH = 8 ;
 float CONCAVE_PERCENT = 1.0f ;
 float MERGE_PERCENT   = 2.0f ;
 
-CHull::CHull(const ConvexResult &result)
+CHull::CHull(const ConvexDecomposition::ConvexResult &result)
 {
-	mResult = new ConvexResult(result);
+	mResult = new ConvexDecomposition::ConvexResult(result);
 	mVolume = computeMeshVolume( result.mHullVertices, result.mHullTcount, result.mHullIndices );
 
 	mDiagonal = getBoundingRegion( result.mHullVcount, result.mHullVertices, sizeof(float)*3, mMin, mMax );
@@ -81,7 +81,7 @@ bool ConvexBuilder::isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
 	return dcount == 3;
 }
 
-void ConvexBuilder::getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices)
+void ConvexBuilder::getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLookup vc,UintVector &indices)
 {
 	unsigned int *src = cr.mHullIndices;
 
@@ -154,19 +154,19 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
 		return 0;
 	}
 
-	HullResult hresult;
+	ConvexDecomposition::HullResult hresult;
-	HullLibrary hl;
+	ConvexDecomposition::HullLibrary hl;
-	HullDesc   desc;
+	ConvexDecomposition::HullDesc   desc;
 
-	desc.SetHullFlag(QF_TRIANGLES);
+	desc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
 
 	desc.mVcount       = vcount;
 	desc.mVertices     = vertices;
 	desc.mVertexStride = sizeof(float)*3;
 
-	HullError hret = hl.CreateConvexHull(desc,hresult);
+	ConvexDecomposition::HullError hret = hl.CreateConvexHull(desc,hresult);
 
-	if ( hret == QE_OK )
+	if ( hret == ConvexDecomposition::QE_OK )
 	{
 
 		float combineVolume  = computeMeshVolume( hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices );
@@ -175,7 +175,7 @@ CHull * ConvexBuilder::canMerge(CHull *a,CHull *b)
 		float percent = (sumVolume*100) / combineVolume;
 		if ( percent >= (100.0f-MERGE_PERCENT) )
 		{
-			ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
+			ConvexDecomposition::ConvexResult cr(hresult.mNumOutputVertices, hresult.mOutputVertices, hresult.mNumFaces, hresult.mIndices);
 			ret = new CHull(cr);
 		}
 	}
@@ -259,7 +259,7 @@ bool ConvexBuilder::combineHulls(void)
 	return combine;
 }
 
-unsigned int ConvexBuilder::process(const DecompDesc &desc)
+unsigned int ConvexBuilder::process(const ConvexDecomposition::DecompDesc &desc)
 {
 
 	unsigned int ret = 0;
@@ -282,13 +282,13 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
 		// before we hand it back to the application, we need to regenerate the hull based on the
 		// limits given by the user.
 
-		const ConvexResult &c = *cr->mResult; // the high resolution hull...
+		const ConvexDecomposition::ConvexResult &c = *cr->mResult; // the high resolution hull...
 
-		HullResult result;
+		ConvexDecomposition::HullResult result;
-		HullLibrary hl;
+		ConvexDecomposition::HullLibrary hl;
-		HullDesc   hdesc;
+		ConvexDecomposition::HullDesc   hdesc;
 
-		hdesc.SetHullFlag(QF_TRIANGLES);
+		hdesc.SetHullFlag(ConvexDecomposition::QF_TRIANGLES);
 
 		hdesc.mVcount       = c.mHullVcount;
 		hdesc.mVertices     = c.mHullVertices;
@@ -298,14 +298,14 @@ unsigned int ConvexBuilder::process(const DecompDesc &desc)
 		if ( desc.mSkinWidth  )
 		{
 			hdesc.mSkinWidth = desc.mSkinWidth;
-			hdesc.SetHullFlag(QF_SKIN_WIDTH); // do skin width computation.
+			hdesc.SetHullFlag(ConvexDecomposition::QF_SKIN_WIDTH); // do skin width computation.
 		}
 
-		HullError ret = hl.CreateConvexHull(hdesc,result);
+		ConvexDecomposition::HullError ret = hl.CreateConvexHull(hdesc,result);
 
-		if ( ret == QE_OK )
+		if ( ret == ConvexDecomposition::QE_OK )
 		{
-			ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
+			ConvexDecomposition::ConvexResult r(result.mNumOutputVertices, result.mOutputVertices, result.mNumFaces, result.mIndices);
 
 			r.mHullVolume = computeMeshVolume( result.mOutputVertices, result.mNumFaces, result.mIndices ); // the volume of the hull.
 
@@ -358,7 +358,7 @@ void ConvexBuilder::ConvexDebugBound(const float *bmin,const float *bmax,unsigne
 	mCallback->ConvexDebugBound(bmin,bmax,color);
 }
 
-void ConvexBuilder::ConvexDecompResult(ConvexResult &result)
+void ConvexBuilder::ConvexDecompResult(ConvexDecomposition::ConvexResult &result)
 {
 	CHull *ch = new CHull(result);
 	mChulls.push_back(ch);

Extras/ConvexDecomposition/ConvexBuilder.h

@@ -40,13 +40,11 @@ THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include "vlookup.h"
 #include "LinearMath/btAlignedObjectArray.h"
 
-using namespace ConvexDecomposition;
-
 
 class CHull
 {
 public:
-	CHull(const ConvexResult &result);
+	CHull(const ConvexDecomposition::ConvexResult &result);
 
 	~CHull(void);
 
@@ -56,7 +54,7 @@ public:
 	float          mMax[3];
 	float          mVolume;
 	float          mDiagonal; // long edge..
-	ConvexResult  *mResult;
+	ConvexDecomposition::ConvexResult  *mResult;
 };
 
 // Usage: std::sort( list.begin(), list.end(), StringSortRef() );
@@ -75,23 +73,23 @@ typedef btAlignedObjectArray< CHull * > CHullVector;
 
 
 
-class ConvexBuilder : public ConvexDecompInterface
+class ConvexBuilder : public ConvexDecomposition::ConvexDecompInterface
 {
 public:
-	ConvexBuilder(ConvexDecompInterface *callback);
+	ConvexBuilder(ConvexDecomposition::ConvexDecompInterface *callback);
 
 	virtual ~ConvexBuilder(void);
 
 	bool isDuplicate(unsigned int i1,unsigned int i2,unsigned int i3,
 		unsigned int ci1,unsigned int ci2,unsigned int ci3);
 
-	void getMesh(const ConvexResult &cr,VertexLookup vc,UintVector &indices);
+	void getMesh(const ConvexDecomposition::ConvexResult &cr,VertexLookup vc,UintVector &indices);
 
 	CHull * canMerge(CHull *a,CHull *b);
 
 	bool combineHulls(void);
 
-	unsigned int process(const DecompDesc &desc);
+	unsigned int process(const ConvexDecomposition::DecompDesc &desc);
 
 	virtual void ConvexDebugTri(const float *p1,const float *p2,const float *p3,unsigned int color);
 
@@ -100,7 +98,7 @@ public:
 
 	virtual void ConvexDebugBound(const float *bmin,const float *bmax,unsigned int color);
 
-	virtual void ConvexDecompResult(ConvexResult &result);
+	virtual void ConvexDecompResult(ConvexDecomposition::ConvexResult &result);
 
 	void sortChulls(CHullVector &hulls);
 

Extras/ConvexDecomposition/concavity.cpp

@@ -705,6 +705,7 @@ float computeConcavity(unsigned int vcount,
 			}
 		}
 
+#if 0
 	  if ( ftris.size()  && 0 )
 	  {
 
@@ -725,17 +726,17 @@ float computeConcavity(unsigned int vcount,
 
         do
         {
-          found = false;
+			  found = false;
-          CTriVector::iterator i;
+			  CTriVector::iterator i;
-          for (i=ftris.begin(); i!=ftris.end(); ++i)
+			  for (i=ftris.begin(); i!=ftris.end(); ++i)
-          {
+			  {
-            CTri &t = (*i);
+				CTri &t = (*i);
-            if ( isFeatureTri(t,flist,maxc,callback,color) )
+				if ( isFeatureTri(t,flist,maxc,callback,color) )
-            {
+				{
-              found = true;
+				  found = true;
-              totalarea+=t.area();
+				  totalarea+=t.area();
-            }
+				}
-  				}
+			  }
         } while ( found );
 
 
@@ -759,6 +760,7 @@ float computeConcavity(unsigned int vcount,
             }
           }
         }
+		  
       }
 
       unsigned int color = getDebugColor();
@@ -786,7 +788,7 @@ float computeConcavity(unsigned int vcount,
 
 	  hl.ReleaseResult(result);
   }
-
+#endif
 
 	return cret;
 }

Extras/InverseDynamics/IDRandomUtil.cpp

@@ -63,7 +63,7 @@ vec3 randomAxis() {
         axis(1) = randomFloat(-1.0, 1.0);
         axis(2) = randomFloat(-1.0, 1.0);
 
-        length = std::sqrt(std::pow(axis(0), 2) + std::pow(axis(1), 2) + std::pow(axis(2), 2));
+        length = BT_ID_SQRT(BT_ID_POW(axis(0), 2) + BT_ID_POW(axis(1), 2) + BT_ID_POW(axis(2), 2));
     } while (length < 0.01);
 
     return axis / length;

Extras/InverseDynamics/invdyn_bullet_comparison.cpp

@@ -172,7 +172,7 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
                 printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
                        dot_u(i + dot_u_offset), joint_accel[i] - dot_u(i));
             }
-            *acc_error += std::pow(joint_accel[i] - dot_u(i + dot_u_offset), 2);
+            *acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + dot_u_offset), 2);
         }
     } else {
         vec3 base_dot_omega;
@@ -196,14 +196,14 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
                 printf("bt::base_dot_omega(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_dot_omega(i),
                        i, dot_u[i], base_dot_omega(i) - dot_u[i]);
             }
-            *acc_error += std::pow(base_dot_omega(i) - dot_u(i), 2);
+            *acc_error += BT_ID_POW(base_dot_omega(i) - dot_u(i), 2);
         }
         for (int i = 0; i < 3; i++) {
             if (verbose) {
                 printf("bt::base_ddot_com(%d)= %e dot_u[%d]= %e, diff= %e\n", i, base_ddot_com(i),
                        i, dot_u[i + 3], base_ddot_com(i) - dot_u[i + 3]);
             }
-            *acc_error += std::pow(base_ddot_com(i) - dot_u(i + 3), 2);
+            *acc_error += BT_ID_POW(base_ddot_com(i) - dot_u(i + 3), 2);
         }
 
         for (int i = 0; i < btmb->getNumDofs(); i++) {
@@ -211,7 +211,7 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
                 printf("bt:ddot_q[%d]= %f, id:ddot_q= %e, diff= %e\n", i, joint_accel[i],
                        dot_u(i + 6), joint_accel[i] - dot_u(i + 6));
             }
-            *acc_error += std::pow(joint_accel[i] - dot_u(i + 6), 2);
+            *acc_error += BT_ID_POW(joint_accel[i] - dot_u(i + 6), 2);
         }
     }
     *acc_error = std::sqrt(*acc_error);
@@ -288,12 +288,12 @@ int compareInverseAndForwardDynamics(vecx &q, vecx &u, vecx &dot_u, btVector3 &g
                    diff_basis(1, 2), diff_basis(2, 0), diff_basis(2, 1), diff_basis(2, 2));
         }
         double total_pos_err =
-            std::sqrt(std::pow(diff_com(0), 2) + std::pow(diff_com(1), 2) +
+            BT_ID_SQRT(BT_ID_POW(diff_com(0), 2) + BT_ID_POW(diff_com(1), 2) +
-                      std::pow(diff_com(2), 2) + std::pow(diff_basis(0, 0), 2) +
+                       BT_ID_POW(diff_com(2), 2) + BT_ID_POW(diff_basis(0, 0), 2) +
-                      std::pow(diff_basis(0, 1), 2) + std::pow(diff_basis(0, 2), 2) +
+                       BT_ID_POW(diff_basis(0, 1), 2) + BT_ID_POW(diff_basis(0, 2), 2) +
-                      std::pow(diff_basis(1, 0), 2) + std::pow(diff_basis(1, 1), 2) +
+                       BT_ID_POW(diff_basis(1, 0), 2) + BT_ID_POW(diff_basis(1, 1), 2) +
-                      std::pow(diff_basis(1, 2), 2) + std::pow(diff_basis(2, 0), 2) +
+                       BT_ID_POW(diff_basis(1, 2), 2) + BT_ID_POW(diff_basis(2, 0), 2) +
-                      std::pow(diff_basis(2, 1), 2) + std::pow(diff_basis(2, 2), 2));
+                       BT_ID_POW(diff_basis(2, 1), 2) + BT_ID_POW(diff_basis(2, 2), 2));
         if (verbose) {
             printf("======kin-pos-err: %e\n", total_pos_err);
         }

Extras/Serialize/BulletFileLoader/autogenerated/bullet.h

@@ -1368,6 +1368,10 @@ typedef struct bInvalidHandle {
         double m_jointTorque[6];
         double m_jointDamping;
         double m_jointFriction;
+        double m_jointLowerLimit;
+        double m_jointUpperLimit;
+        double m_jointMaxForce;
+        double m_jointMaxVelocity;
         char *m_linkName;
         char *m_jointName;
         btCollisionObjectDoubleData *m_linkCollider;
@@ -1395,6 +1399,10 @@ typedef struct bInvalidHandle {
         int m_posVarCount;
         float m_jointDamping;
         float m_jointFriction;
+        float m_jointLowerLimit;
+        float m_jointUpperLimit;
+        float m_jointMaxForce;
+        float m_jointMaxVelocity;
         char *m_linkName;
         char *m_jointName;
         btCollisionObjectFloatData *m_linkCollider;

Extras/Serialize/BulletFileLoader/bDNA.cpp

@@ -349,7 +349,8 @@ static int name_is_array(char* name, int* dim1, int* dim2) {
 void bDNA::init(char *data, int len, bool swap)
 {
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;
+	//long nr=0;
 	intPtr = (int*)data;
 
 	/*

Extras/Serialize/BulletFileLoader/bFile.cpp

@@ -75,7 +75,8 @@ bFile::bFile(const char *filename, const char headerString[7])
 		fseek(fp, 0L, SEEK_SET);
 
 		mFileBuffer = (char*)malloc(mFileLen+1);
-		fread(mFileBuffer, mFileLen, 1, fp);
+		size_t bytesRead;
+		bytesRead = fread(mFileBuffer, mFileLen, 1, fp);
 
 		fclose(fp);
 
@@ -411,7 +412,7 @@ void bFile::swapDNA(char* ptr)
 
 //	void bDNA::init(char *data, int len, bool swap)
 	int *intPtr=0;short *shtPtr=0;
-	char *cp = 0;int dataLen =0;long nr=0;
+	char *cp = 0;int dataLen =0;
 	intPtr = (int*)data;
 
 	/*
@@ -573,7 +574,7 @@ void bFile::writeFile(const char* fileName)
 void bFile::preSwap()
 {
 
-	const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
+	//const bool brokenDNA = (mFlags&FD_BROKEN_DNA)!=0;
 	//FD_ENDIAN_SWAP
 	//byte 8 determines the endianness of the file, little (v) versus big (V)
 	int littleEndian= 1;
@@ -1285,7 +1286,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						}
 						//skip the *
 						printf("<%s type=\"pointer\"> ",&memName[1]);
-						printf("%d ", array[a]);
+						printf("%p ", array[a]);
 						printf("</%s>\n",&memName[1]);
 					}
 
@@ -1303,7 +1304,7 @@ int bFile::resolvePointersStructRecursive(char *strcPtr, int dna_nr, int verbose
 						printf("  ");
 					}
 					printf("<%s type=\"pointer\"> ",&memName[1]);
-					printf("%d ", ptr);
+					printf("%p ", ptr);
 					printf("</%s>\n",&memName[1]);
 				}
 				ptr = findLibPointer(ptr);
@@ -1484,7 +1485,7 @@ void bFile::resolvePointers(int verboseMode)
 				char* oldType = fileDna->getType(oldStruct[0]);
 				
 				if (verboseMode & FD_VERBOSE_EXPORT_XML)
-					printf(" <%s pointer=%d>\n",oldType,dataChunk.oldPtr);
+					printf(" <%s pointer=%p>\n",oldType,dataChunk.oldPtr);
 
 				resolvePointersChunk(dataChunk, verboseMode);
 

Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp

@@ -307,8 +307,6 @@ bool	btBulletWorldImporter::convertAllObjects(  bParse::btBulletFile* bulletFile
 	for (i=0;i<bulletFile2->m_constraints.size();i++)
 	{
 		btTypedConstraintData2* constraintData = (btTypedConstraintData2*)bulletFile2->m_constraints[i];
-		btTypedConstraintFloatData* singleC = (btTypedConstraintFloatData*)bulletFile2->m_constraints[i];
-		btTypedConstraintDoubleData* doubleC = (btTypedConstraintDoubleData*)bulletFile2->m_constraints[i];
 
 		btCollisionObject** colAptr = m_bodyMap.find(constraintData->m_rbA);
 		btCollisionObject** colBptr = m_bodyMap.find(constraintData->m_rbB);

Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp

@@ -468,13 +468,10 @@ btCollisionShape* btWorldImporter::convertCollisionShape(  btCollisionShapeData*
 				btCompoundShapeData* compoundData = (btCompoundShapeData*)shapeData;
 				btCompoundShape* compoundShape = createCompoundShape();
 
-				btCompoundShapeChildData* childShapeDataArray = &compoundData->m_childShapePtr[0];
-				
 			
 				btAlignedObjectArray<btCollisionShape*> childShapes;
 				for (int i=0;i<compoundData->m_numChildShapes;i++)
 				{
-					btCompoundShapeChildData* ptr = &compoundData->m_childShapePtr[i];
 					
 					btCollisionShapeData* cd = compoundData->m_childShapePtr[i].m_childShape;
 
@@ -997,11 +994,11 @@ void	btWorldImporter::convertConstraintFloat(btTypedConstraintFloatData* constra
 						dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]!=0);
 						dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
-						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
+						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],(dofData->m_linearSpringDampingLimited[i]!=0));
 					}
 					for (i=0;i<3;i++)
 					{
-						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
+						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],(dofData->m_angularSpringStiffnessLimited[i]!=0));
 						dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
 						dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
@@ -1327,14 +1324,14 @@ void	btWorldImporter::convertConstraintDouble(btTypedConstraintDoubleData* const
 						dof->setStiffness(i,dofData->m_linearSpringStiffness.m_floats[i],dofData->m_linearSpringStiffnessLimited[i]);
 						dof->setEquilibriumPoint(i,dofData->m_linearEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i,dofData->m_linearEnableSpring[i]!=0);
-						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],dofData->m_linearSpringDampingLimited[i]);
+						dof->setDamping(i,dofData->m_linearSpringDamping.m_floats[i],(dofData->m_linearSpringDampingLimited[i]!=0));
 					}
 					for (i=0;i<3;i++)
 					{
-						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],dofData->m_angularSpringStiffnessLimited[i]);
+						dof->setStiffness(i+3,dofData->m_angularSpringStiffness.m_floats[i],(dofData->m_angularSpringStiffnessLimited[i]!=0));
 						dof->setEquilibriumPoint(i+3,dofData->m_angularEquilibriumPoint.m_floats[i]);
 						dof->enableSpring(i+3,dofData->m_angularEnableSpring[i]!=0);
-						dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],dofData->m_angularSpringDampingLimited[i]);
+						dof->setDamping(i+3,dofData->m_angularSpringDamping.m_floats[i],(dofData->m_angularSpringDampingLimited[i]!=0));
 					}
 
 				}

Extras/Serialize/BulletXmlWorldImporter/btBulletXmlWorldImporter.cpp

@@ -18,6 +18,16 @@ subject to the following restrictions:
 #include "btBulletDynamicsCommon.h"
 #include "string_split.h"
 
+struct MyLocalCaster
+{
+	void* m_ptr;
+	int m_int;
+	MyLocalCaster()
+	:m_ptr(0)
+	{
+	}
+};
+
 
 btBulletXmlWorldImporter::btBulletXmlWorldImporter(btDynamicsWorld* world)
 	:btWorldImporter(world),
@@ -32,7 +42,7 @@ btBulletXmlWorldImporter::~btBulletXmlWorldImporter()
 
 }
 
-
+#if 0
 static int get_double_attribute_by_name(const TiXmlElement* pElement, const char* attribName,double* value)
 {
 	if ( !pElement ) 
@@ -48,7 +58,7 @@ static int get_double_attribute_by_name(const TiXmlElement* pElement, const char
 	}
 	return 0;
 }
-
+#endif
 
 static int get_int_attribute_by_name(const TiXmlElement* pElement, const char* attribName,int* value)
 {
@@ -130,7 +140,9 @@ void btBulletXmlWorldImporter::deSerializeVector3FloatData(TiXmlNode* pParent,bt
 		if (node)\
 		{\
 			const char* txt = (node)->ToElement()->GetText();\
-			(targetdata).argname= (pointertype) (int) atof(txt);\
+			MyLocalCaster cast;\
+			cast.m_int = (int) atof(txt);\
+			(targetdata).argname= (pointertype)cast.m_ptr;\
 		}\
 	}
 
@@ -216,8 +228,8 @@ void btBulletXmlWorldImporter::deSerializeCollisionShapeData(TiXmlNode* pParent,
 
 void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btConvexHullShapeData* convexHullData = (btConvexHullShapeData*)btAlignedAlloc(sizeof(btConvexHullShapeData), 16);
 
@@ -233,18 +245,33 @@ void btBulletXmlWorldImporter::deSerializeConvexHullShapeData(TiXmlNode* pParent
 	SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_localScaling)
 	SET_VECTOR4_VALUE(xmlConvexInt,&convexHullData->m_convexInternalShapeData,m_implicitShapeDimensions)
 
+	//convexHullData->m_unscaledPointsFloatPtr
+	//#define SET_POINTER_VALUE(xmlnode, targetdata, argname, pointertype)
+
+	{
+		TiXmlNode* node = pParent->FirstChild("m_unscaledPointsFloatPtr");
+		btAssert(node);
+		if (node)
+		{
+			const char* txt = (node)->ToElement()->GetText();
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			(*convexHullData).m_unscaledPointsFloatPtr= (btVector3FloatData*) cast.m_ptr;
+		}
+	}
+	
 	SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsFloatPtr,btVector3FloatData*);
 	SET_POINTER_VALUE(pParent,*convexHullData,m_unscaledPointsDoublePtr,btVector3DoubleData*);
 	SET_INT_VALUE(pParent,convexHullData,m_numUnscaledPoints);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)convexHullData);
-	m_pointerLookup.insert((void*)ptr,convexHullData);
+	m_pointerLookup.insert(cast.m_ptr,convexHullData);
 }
 
 void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	int numChildren = 0;
 	btAlignedObjectArray<btCompoundShapeChildData>* compoundChildArrayPtr = new btAlignedObjectArray<btCompoundShapeChildData>;
@@ -262,7 +289,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 			SET_MATRIX33_VALUE(transNode,&compoundChildArrayPtr->at(i).m_transform,m_basis)
 
 			const char* txt = (colShapeNode)->ToElement()->GetText();
-			compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) (int) atof(txt);
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			compoundChildArrayPtr->at(i).m_childShape = (btCollisionShapeData*) cast.m_ptr;
 			
 			btAssert(childTypeNode->ToElement());
 			if (childTypeNode->ToElement())
@@ -292,15 +321,15 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeChildData(TiXmlNode* pPar
 	{
 		m_compoundShapeChildDataArrays.push_back(compoundChildArrayPtr);
 		btCompoundShapeChildData* cd = &compoundChildArrayPtr->at(0);
-		m_pointerLookup.insert((void*)ptr,cd);
+		m_pointerLookup.insert(cast.m_ptr,cd);
 	}
 	
 }
 
 void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btCompoundShapeData* compoundData = (btCompoundShapeData*) btAlignedAlloc(sizeof(btCompoundShapeData),16); 
 
@@ -319,7 +348,9 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 		while (node)
 		{
 			const char* txt = (node)->ToElement()->GetText();
-			compoundData->m_childShapePtr = (btCompoundShapeChildData*) (int) atof(txt);
+			MyLocalCaster cast;
+			cast.m_int = (int) atof(txt);
+			compoundData->m_childShapePtr = (btCompoundShapeChildData*) cast.m_ptr;
 			node = node->NextSibling("m_childShapePtr");
 		}
 		//SET_POINTER_VALUE(xmlColShape, *compoundData,m_childShapePtr,btCompoundShapeChildData*);
@@ -328,14 +359,14 @@ void btBulletXmlWorldImporter::deSerializeCompoundShapeData(TiXmlNode* pParent)
 	SET_FLOAT_VALUE(pParent, compoundData,m_collisionMargin);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)compoundData);
-	m_pointerLookup.insert((void*)ptr,compoundData);
+	m_pointerLookup.insert(cast.m_ptr,compoundData);
 
 }
 
 void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParent)
 {
-	int ptr;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 
 	btStaticPlaneShapeData* planeData = (btStaticPlaneShapeData*) btAlignedAlloc(sizeof(btStaticPlaneShapeData),16);
 
@@ -348,7 +379,7 @@ void btBulletXmlWorldImporter::deSerializeStaticPlaneShapeData(TiXmlNode* pParen
 	SET_FLOAT_VALUE(pParent, planeData,m_planeConstant);
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)planeData);
-	m_pointerLookup.insert((void*)ptr,planeData);
+	m_pointerLookup.insert(cast.m_ptr,planeData);
 
 }
 
@@ -364,8 +395,8 @@ void btBulletXmlWorldImporter::deSerializeDynamicsWorldData(TiXmlNode* pParent)
 
 void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 
 	btConvexInternalShapeData* convexShape = (btConvexInternalShapeData*) btAlignedAlloc(sizeof(btConvexInternalShapeData),16);
@@ -382,7 +413,7 @@ void btBulletXmlWorldImporter::deSerializeConvexInternalShapeData(TiXmlNode* pPa
 	SET_VECTOR4_VALUE(pParent,convexShape,m_implicitShapeDimensions)
 
 	m_collisionShapeData.push_back((btCollisionShapeData*)convexShape);
-	m_pointerLookup.insert((void*)ptr,convexShape);
+	m_pointerLookup.insert(cast.m_ptr,convexShape);
 
 }
 
@@ -404,8 +435,8 @@ enum btTypedConstraintType
 
 void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr);
+	get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int);
 	
 	btGeneric6DofConstraintData2* dof6Data = (btGeneric6DofConstraintData2*)btAlignedAlloc(sizeof(btGeneric6DofConstraintData2),16);
 
@@ -439,13 +470,14 @@ void btBulletXmlWorldImporter::deSerializeGeneric6DofConstraintData(TiXmlNode* p
 	SET_INT_VALUE(pParent, dof6Data,m_useOffsetForConstraintFrame);
 	
 	m_constraintData.push_back((btTypedConstraintData2*)dof6Data);
-	m_pointerLookup.insert((void*)ptr,dof6Data);
+	m_pointerLookup.insert(cast.m_ptr,dof6Data);
 }
 
 void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 {
-	int ptr=0;
+	MyLocalCaster cast;
-	if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&ptr))
+	
+	if (!get_int_attribute_by_name(pParent->ToElement(),"pointer",&cast.m_int))
 	{
 		m_fileOk = false;
 		return;
@@ -506,7 +538,7 @@ void btBulletXmlWorldImporter::deSerializeRigidBodyFloatData(TiXmlNode* pParent)
 
 
 	m_rigidBodyData.push_back(rbData);
-	m_pointerLookup.insert((void*)ptr,rbData);
+	m_pointerLookup.insert(cast.m_ptr,rbData);
 	
 //	rbData->m_collisionObjectData.m_collisionShape = (void*) (int)atof(txt);
 }
@@ -641,8 +673,8 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 //			printf("child Name=%s\n", pChild->Value());
 			if (!strcmp(pChild->Value(),"btVector3FloatData"))
 			{
-				int ptr;
+				MyLocalCaster cast;
-				get_int_attribute_by_name(pChild->ToElement(),"pointer",&ptr);
+				get_int_attribute_by_name(pChild->ToElement(),"pointer",&cast.m_int);
 				
 				btAlignedObjectArray<btVector3FloatData> v;
 				deSerializeVector3FloatData(pChild,v);
@@ -651,7 +683,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 				for (int i=0;i<numVectors;i++)
 					vectors[i] = v[i];
 				m_floatVertexArrays.push_back(vectors);
-				m_pointerLookup.insert((void*)ptr,vectors);
+				m_pointerLookup.insert(cast.m_ptr,vectors);
 				continue;
 			}
 
@@ -790,7 +822,7 @@ void btBulletXmlWorldImporter::auto_serialize_root_level_children(TiXmlNode* pPa
 	for (int i=0;i<m_constraintData.size();i++)
 	{
 		btTypedConstraintData2* tcd = m_constraintData[i];
-		bool isDoublePrecision = false;
+//		bool isDoublePrecision = false;
 		btRigidBody* rbA = 0;
 		btRigidBody* rbB = 0;
 		{

Extras/Serialize/HeaderGenerator/apiGen.cpp

@@ -20,12 +20,13 @@
 #include "bDNA.h"
 #include "bBlenderFile.h"
 #include "btBulletFile.h"
+#include "LinearMath/btSerializer.h"
 #include "bCommon.h"
 #include <map>
 #include <vector>
 #include <string.h>
 
-bool isBulletFile = false;
+bool isBulletFile = true;
 
 using namespace bParse;
 typedef std::string bString;
@@ -216,10 +217,12 @@ int main(int argc,char** argv)
 	using namespace bParse;
 	dump = fopen("dump.py", "w");
 
+
 	if (!dump) return 0;
 	fprintf(dump, "%s\n", data);
 
 
+#if 0
 	char* filename = "../../../../data/r2d2_multibody.bullet";
 	
 	if (argc==2)
@@ -269,9 +272,12 @@ int main(int argc,char** argv)
 		bBlenderFile	f(memBuf,len);
 		swap = (f.getFlags() & FD_ENDIAN_SWAP)!=0;
 	}
-
+#else
-	
+	isBulletFile = true;
-	
+	bool swap = false;
+	char* memBuf = sBulletDNAstr;
+	int len = sBulletDNAlen;
+#endif
 
 
 	char *blenderData = memBuf;

Extras/Serialize/HeaderGenerator/bulletGenerate.py

@@ -1,6 +1,9 @@
+import sys
+sys.path.append(".")
 import dump
 
 
+
 header = """/* Copyright (C) 2011 Erwin Coumans & Charlie C
 *
 * This software is provided 'as-is', without any express or implied

Extras/Serialize/makesdna/CMakeLists.txt

@@ -23,15 +23,29 @@ SET (INC_FILES
 SET(SRC makesdna.cpp)
 ADD_EXECUTABLE(makesdna ${SRC} ${INC_FILES})
 
-# Output BulletDNA.c
+IF (CMAKE_CL_64)
-ADD_CUSTOM_COMMAND(
+	# Output BulletDNA.c
-	OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
+	ADD_CUSTOM_COMMAND(
-	COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
+		OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp
-	DEPENDS makesdna
+		COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
-)
+		DEPENDS makesdna
+	)
+SET(SRC  ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer64.cpp)
+
+ELSE()
+	# Output BulletDNA.c
+	ADD_CUSTOM_COMMAND(
+		OUTPUT ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp
+		COMMAND ${CMAKE_CFG_INTDIR}/makesdna ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp ${BULLET_PHYSICS_SOURCE_DIR}/Extras/Serialize/CommonSerialize/
+		DEPENDS makesdna
+	)
+SET(SRC  ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
+
+ENDIF()
 
 # Build bf_dna library
-SET(SRC  ${BULLET_PHYSICS_SOURCE_DIR}/src/LinearMath/btSerializer.cpp)
+
+
 ADD_LIBRARY(BulletDNA ${SRC} ${INC_FILES})
 
 MESSAGE(STATUS "Configuring makesdna")

Extras/obj2sdf/CMakeLists.txt

@@ -0,0 +1,20 @@
+
+SET(includes
+  .
+	${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
+	${BULLET_PHYSICS_SOURCE_DIR}/src
+)
+
+LINK_LIBRARIES(
+	 Bullet3Common
+)
+
+INCLUDE_DIRECTORIES(${includes})
+
+ADD_EXECUTABLE(App_obj2sdf 
+		obj2sdf.cpp
+		../../examples/Utils/b3ResourcePath.cpp
+		../../examples/Utils/b3ResourcePath.h
+		../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+)
+

Extras/obj2sdf/obj2sdf.cpp

@@ -0,0 +1,178 @@
+/// obj2sdf will load a Wavefront .obj file that may contain many parts/materials
+/// it will split into separate obj files for each part/material and
+/// create an sdf file with visuals/collisions pointing to the new obj files
+/// this will make it easier to load complex obj files into pybullet
+/// see for example export in data/kitchens/fathirmutfak.sdf
+
+#include <string.h>
+#include <stdio.h>
+#include <assert.h>
+#define ASSERT_EQ(a,b) assert((a)==(b));
+#include"Wavefront/tiny_obj_loader.h"
+#include <vector>
+#include "Bullet3Common/b3FileUtils.h"
+#include "../Utils/b3ResourcePath.h"
+#include "Bullet3Common/b3CommandLineArgs.h"
+
+#define MAX_PATH_LEN 1024
+
+int main(int argc, char* argv[])
+{
+
+	b3CommandLineArgs args(argc,argv);
+	char* fileName;
+	args.GetCmdLineArgument("fileName",fileName);
+
+	printf("fileName = %s\n", fileName);
+	if (fileName==0)
+	{
+		printf("Please use --fileName=\"pathToObj\".");
+		exit(0);
+	}
+	char fileNameWithPath[MAX_PATH_LEN];
+	bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
+	char materialPrefixPath[MAX_PATH_LEN];
+	b3FileUtils::extractPath(fileNameWithPath,materialPrefixPath,MAX_PATH_LEN);
+
+	std::vector<tinyobj::shape_t> shapes;
+	std::string err = tinyobj::LoadObj(shapes, fileNameWithPath, materialPrefixPath);
+	
+	char sdfFileName[MAX_PATH_LEN];
+	sprintf(sdfFileName,"%s%s.sdf",materialPrefixPath,"newsdf");
+	FILE* sdfFile = fopen(sdfFileName,"w");
+	if (sdfFile==0)
+	{
+		printf("Fatal error: cannot create sdf file %s\n",sdfFileName);
+		exit(0);
+	}
+
+	fprintf(sdfFile, "<sdf version='1.6'>\n\t<world name='default'>\n\t<gravity>0 0 -9.8</gravity>\n");
+
+	for (int s=0;s<(int)shapes.size();s++)
+	{
+		tinyobj::shape_t& shape = shapes[s];
+
+		if (shape.name.length())
+		{
+			printf("object name = %s\n", shape.name.c_str());
+		}
+
+		char objFileName[MAX_PATH_LEN];
+		sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
+		FILE* f = fopen(objFileName,"w");
+		if (f==0)
+		{
+			printf("Fatal error: cannot create part obj file %s\n",objFileName);
+			exit(0);
+		}
+		fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
+		fprintf(f,"mtllib bedroom.mtl\n");
+
+		int faceCount = shape.mesh.indices.size();
+		int vertexCount = shape.mesh.positions.size();
+		tinyobj::material_t mat = shape.material;
+		if (shape.name.length())
+		{
+			const char* objName = shape.name.c_str();
+			printf("mat.name = %s\n", objName);
+			fprintf(f,"#object %s\n\n",objName);
+		}
+		for (int v=0;v<vertexCount/3;v++)
+		{
+			fprintf(f,"v %f %f %f\n",shape.mesh.positions[v*3+0],shape.mesh.positions[v*3+1],shape.mesh.positions[v*3+2]);
+		}
+		
+		if (mat.name.length())
+		{
+			fprintf(f,"usemtl %s\n",mat.name.c_str());
+		} else
+		{
+			fprintf(f,"usemtl wire_028089177\n");
+		}
+
+		fprintf(f,"\n");
+		int numNormals = int(shape.mesh.normals.size());
+
+		for (int vn = 0;vn<numNormals/3;vn++)
+		{
+			fprintf(f,"vn %f %f %f\n",shape.mesh.normals[vn*3+0],shape.mesh.normals[vn*3+1],shape.mesh.normals[vn*3+2]);
+		}
+
+		fprintf(f,"\n");
+		int numTexCoords = int(shape.mesh.texcoords.size());
+		for (int vt = 0;vt<numTexCoords/2;vt++)
+		{
+			fprintf(f,"vt %f %f\n",shape.mesh.texcoords[vt*2+0],shape.mesh.texcoords[vt*2+1]);
+		}
+
+		fprintf(f,"s off\n");
+
+		for (int face=0;face<faceCount;face+=3)
+		{
+			if (face<0 && face>=int(shape.mesh.indices.size()))
+			{
+				continue;
+			}
+			fprintf(f,"f %d/%d/%d %d/%d/%d %d/%d/%d\n", 
+				shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,
+				shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,
+				shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1);
+		}
+		fclose(f);
+
+		float kdRed=mat.diffuse[0];
+		float kdGreen=mat.diffuse[1];
+		float kdBlue=mat.diffuse[2];
+
+		char objSdfPartFileName[MAX_PATH_LEN];
+		sprintf(objSdfPartFileName,"part%d.obj",s);
+		fprintf(sdfFile,"\t\t<model name='%s'>\n"
+     "\t\t\t<static>1</static>\n"
+      "\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
+      "\t\t\t<link name='link_d%d'>\n"
+        "\t\t\t<inertial>\n"
+          "\t\t\t<mass>0</mass>\n"
+          "\t\t\t<inertia>\n"
+            "\t\t\t<ixx>0.166667</ixx>\n"
+            "\t\t\t<ixy>0</ixy>\n"
+            "\t\t\t<ixz>0</ixz>\n"
+            "\t\t\t<iyy>0.166667</iyy>\n"
+            "\t\t\t<iyz>0</iyz>\n"
+            "\t\t\t<izz>0.166667</izz>\n"
+          "\t\t\t</inertia>\n"
+       "\t\t\t</inertial>\n"
+        "\t\t\t<collision name='collision_%d'>\n"
+         "\t\t\t<geometry>\n"
+            "\t\t\t<mesh>\n"
+           "\t\t\t<scale>1 1 1</scale>\n"
+           "\t\t\t\t<uri>%s</uri>\n"
+         "\t\t\t</mesh>\n"
+          "\t\t\t</geometry>\n"
+      "\t\t\t  </collision>\n"
+       "\t\t\t<visual name='visual'>\n"
+         "\t\t\t\t<geometry>\n"
+         "\t\t\t\t<mesh>\n"
+           "\t\t\t\t\t<scale>1 1 1</scale>\n"
+           "\t\t\t\t\t<uri>%s</uri>\n"
+         "\t\t\t\t</mesh>\n"
+       "\t\t\t\t</geometry>\n"
+			"\t\t\t<material>\n"
+          "\t\t\t\t<ambient>1 0 0 1</ambient>\n"
+          "\t\t\t\t<diffuse>%f %f %f 1</diffuse>\n"
+          "\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
+          "\t\t\t\t<emissive>0 0 0 0</emissive>\n"
+        "\t\t\t </material>\n"
+       "\t\t\t </visual>\n"
+     "\t\t\t </link>\n"
+    "\t\t\t</model>\n",objSdfPartFileName,s,s,
+			objSdfPartFileName,objSdfPartFileName, 
+			kdRed, kdGreen, kdBlue);
+
+
+	}
+	fprintf(sdfFile,"\t</world>\n</sdf>\n");
+
+	fclose(sdfFile);
+	
+	return 0;
+}

Extras/obj2sdf/premake4.lua

@@ -0,0 +1,18 @@
+project ("App_obj2sdf")
+
+		language "C++"
+		kind "ConsoleApp"
+
+		includedirs {"../../src",
+		"../../examples/ThirdPartyLibs"}
+	
+	
+	links{"Bullet3Common"}
+
+
+		files {
+		"obj2sdf.cpp",
+			"../../examples/Utils/b3ResourcePath.cpp",
+			"../../examples/Utils/b3ResourcePath.h",
+			"../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp",
+	}

Extras/premake4.lua

@@ -6,4 +6,4 @@ include "InverseDynamics"
 include "Serialize/BulletFileLoader"
 include "Serialize/BulletWorldImporter"
 include "Serialize/BulletXmlWorldImporter"
-
+include "obj2sdf"

MANIFEST.in

@@ -0,0 +1,16 @@
+include MANIFEST.in *.txt
+recursive-include examples *.h
+recursive-include examples *.hpp
+recursive-include Extras *.h
+recursive-include Extras *.hpp
+recursive-include src *.h
+recursive-include src *.hpp
+include examples/ThirdPartyLibs/enet/unix.c
+include examples/OpenGLWindow/X11OpenGLWindow.cpp
+include examples/ThirdPartyLibs/Glew/glew.c
+include examples/ThirdPartyLibs/enet/win32.c
+include examples/OpenGLWindow/Win32Window.cpp
+include examples/OpenGLWindow/Win32OpenGLWindow.cpp
+include examples/ThirdPartyLibs/Glew/glew.c
+include examples/OpenGLWindow/MacOpenGLWindow.cpp
+include examples/OpenGLWindow/MacOpenGLWindowObjC.m

README.md

@@ -49,36 +49,48 @@ All source code files are licensed under the permissive zlib license
 
 **Windows**
 
-Click on build_visual_studio.bat and open build3/vs2010/0MySolution.sln
+Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln
+When asked, convert the projects to a newer version of Visual Studio.
+If you installed Python in the C:\ root directory, the batch file should find it automatically.
+Otherwise, edit this batch file to choose where Python include/lib directories are located.
 
 **Windows Virtual Reality sandbox for HTC Vive and Oculus Rift**
 
-Click on build_visual_studio_vr_pybullet_double.bat and open build3/vs2010/0MySolution.sln
-Edit this batch file to choose where Python include/lib directories are located.
 Build and run the App_SharedMemoryPhysics_VR project, preferably in Release/optimized build.
 You can connect from Python pybullet to the sandbox using:
 
 ```
 import pybullet as p
-p.connect(p.SHARED_MEMORY)
+p.connect(p.SHARED_MEMORY) #or (p.TCP, "localhost", 6667) or (p.UDP, "192.168.86.10",1234)
 ```
 
 **Linux and Mac OSX gnu make**
 
+Make sure cmake is installed (sudo apt-get install cmake, brew install cmake, or https://cmake.org)
+
 In a terminal type:
 
-	cd build3
+	./build_cmake_pybullet_double.sh
 
+This script will invoke cmake and build in the build_cmake directory. You can find pybullet in Bullet/examples/pybullet.
+The BulletExampleBrowser binary will be in Bullet/examples/ExampleBrowser.
+
+You can also build Bullet using premake. There are premake executables in the build3 folder.
 Depending on your system (Linux 32bit, 64bit or Mac OSX) use one of the following lines
-
+Using premake:
-	./premake4_linux gmake
+```
-	./premake4_linux64 gmake
+	cd build3
-	./premake4_osx gmake
+	./premake4_linux gmake --double
-
+	./premake4_linux64 gmake --double
+	./premake4_osx gmake --double --enable_pybullet
+```
 Then
-
+```
 	cd gmake
 	make
+```
+
+Note that on Linux, you need to use cmake to build pybullet, since the compiler has issues of mixing shared and static libraries.
 
 **Mac OSX Xcode**
 	

VERSION

@@ -1 +1 @@
-2.85
+2.87

_clang-format

@@ -0,0 +1,91 @@
+---
+Language:        Cpp
+# BasedOnStyle:  Google
+AccessModifierOffset: -1
+AlignAfterOpenBracket: Align
+AlignConsecutiveAssignments: false
+AlignConsecutiveDeclarations: false
+AlignEscapedNewlinesLeft: true
+AlignOperands:   true
+AlignTrailingComments: true
+AllowAllParametersOfDeclarationOnNextLine: true
+AllowShortBlocksOnASingleLine: false
+AllowShortCaseLabelsOnASingleLine: false
+AllowShortFunctionsOnASingleLine: All
+AllowShortIfStatementsOnASingleLine: true
+AllowShortLoopsOnASingleLine: true
+AlwaysBreakAfterDefinitionReturnType: None
+AlwaysBreakAfterReturnType: None
+AlwaysBreakBeforeMultilineStrings: true
+AlwaysBreakTemplateDeclarations: true
+BinPackArguments: true
+BinPackParameters: true
+BraceWrapping:   
+  AfterClass:      false
+  AfterControlStatement: false
+  AfterEnum:       false
+  AfterFunction:   false
+  AfterNamespace:  false
+  AfterObjCDeclaration: false
+  AfterStruct:     false
+  AfterUnion:      false
+  BeforeCatch:     false
+  BeforeElse:      false
+  IndentBraces:    false
+BreakBeforeBinaryOperators: None
+BreakBeforeBraces: Allman
+BreakBeforeTernaryOperators: true
+BreakConstructorInitializersBeforeComma: false
+ColumnLimit:     0
+CommentPragmas:  '^ IWYU pragma:'
+ConstructorInitializerAllOnOneLineOrOnePerLine: true
+ConstructorInitializerIndentWidth: 4
+ContinuationIndentWidth: 4
+Cpp11BracedListStyle: true
+DerivePointerAlignment: true
+DisableFormat:   false
+ExperimentalAutoDetectBinPacking: false
+ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
+IncludeCategories: 
+  - Regex:           '^<.*\.h>'
+    Priority:        1
+  - Regex:           '^<.*'
+    Priority:        2
+  - Regex:           '.*'
+    Priority:        3
+IndentCaseLabels: true
+IndentWidth:     4
+IndentWrappedFunctionNames: false
+KeepEmptyLinesAtTheStartOfBlocks: false
+MacroBlockBegin: ''
+MacroBlockEnd:   ''
+MaxEmptyLinesToKeep: 1
+NamespaceIndentation: None
+ObjCBlockIndentWidth: 2
+ObjCSpaceAfterProperty: false
+ObjCSpaceBeforeProtocolList: false
+PenaltyBreakBeforeFirstCallParameter: 1
+PenaltyBreakComment: 300
+PenaltyBreakFirstLessLess: 120
+PenaltyBreakString: 1000
+PenaltyExcessCharacter: 1000000
+PenaltyReturnTypeOnItsOwnLine: 200
+PointerAlignment: Left
+ReflowComments:  false
+SortIncludes:    false
+SpaceAfterCStyleCast: false
+SpaceBeforeAssignmentOperators: true
+SpaceBeforeParens: ControlStatements
+SpaceInEmptyParentheses: false
+SpacesBeforeTrailingComments: 2
+SpacesInAngles:  false
+SpacesInContainerLiterals: true
+SpacesInCStyleCastParentheses: false
+SpacesInParentheses: false
+SpacesInSquareBrackets: false
+AccessModifierOffset: -4
+Standard:        Auto
+TabWidth:        4
+UseTab:          ForContinuationAndIndentation
+...
+

build3/cmake/FindLibPython.py

@@ -0,0 +1,25 @@
+# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
+# same as CMake (BSD). My adaptations are in part based
+# https://github.com/qgis/QGIS/tree/master/cmake which has the following
+# copyright note:
+
+# FindLibPython.py
+# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+import sys
+import distutils.sysconfig
+
+print("exec_prefix:%s" % sys.exec_prefix)
+print("major_version:%s" % str(sys.version_info[0]))
+print("minor_version:%s" % str(sys.version_info[1]))
+print("patch_version:%s" % str(sys.version_info[2]))
+print("short_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:2])))
+print("long_version:%s" % '.'.join(map(lambda x:str(x), sys.version_info[0:3])))
+print("py_inc_dir:%s" % distutils.sysconfig.get_python_inc())
+print("site_packages_dir:%s" % distutils.sysconfig.get_python_lib(plat_specific=1))
+for e in distutils.sysconfig.get_config_vars ('LIBDIR'):
+    if e != None:
+        print("py_lib_dir:%s" % e)
+        break

build3/cmake/FindNumPy.cmake

@@ -1,41 +1,59 @@
-# Find the Python NumPy package
+# - Find the NumPy libraries
-# PYTHON_NUMPY_INCLUDE_DIR
+# This module finds if NumPy is installed, and sets the following variables
-# PYTHON_NUMPY_FOUND
+# indicating where it is.
-# will be set by this script
+#
+# TODO: Update to provide the libraries and paths for linking npymath lib.
+#
+#  PYTHON_NUMPY_FOUND               - was NumPy found
+#  PYTHON_NUMPY_VERSION             - the version of NumPy found as a string
+#  PYTHON_NUMPY_VERSION_MAJOR       - the major version number of NumPy
+#  PYTHON_NUMPY_VERSION_MINOR       - the minor version number of NumPy
+#  PYTHON_NUMPY_VERSION_PATCH       - the patch version number of NumPy
+#  PYTHON_NUMPY_VERSION_DECIMAL     - e.g. version 1.6.1 is 10601
+#  PYTHON_NUMPY_INCLUDE_DIR         - path to the NumPy include files
 
-cmake_minimum_required(VERSION 2.6)
+unset(PYTHON_NUMPY_VERSION)
+unset(PYTHON_NUMPY_INCLUDE_DIR)
 
-if(NOT PYTHON_EXECUTABLE)
+if(PYTHONINTERP_FOUND)
-  if(NumPy_FIND_QUIETLY)
+  execute_process(COMMAND "${PYTHON_EXECUTABLE}" "-c"
-    find_package(PythonInterp QUIET)
+    "import numpy as n; print(n.__version__); print(n.get_include());"
-  else()
+    RESULT_VARIABLE __result
-    find_package(PythonInterp)
+    OUTPUT_VARIABLE __output
-    set(__numpy_out 1)
+    OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+  if(__result MATCHES 0)
+    string(REGEX REPLACE ";" "\\\\;" __values ${__output})
+    string(REGEX REPLACE "\r?\n" ";"    __values ${__values})
+    list(GET __values 0 PYTHON_NUMPY_VERSION)
+    list(GET __values 1 PYTHON_NUMPY_INCLUDE_DIR)
+
+    string(REGEX MATCH "^([0-9])+\\.([0-9])+\\.([0-9])+" __ver_check "${PYTHON_NUMPY_VERSION}")
+    if(NOT "${__ver_check}" STREQUAL "")
+      set(PYTHON_NUMPY_VERSION_MAJOR ${CMAKE_MATCH_1})
+      set(PYTHON_NUMPY_VERSION_MINOR ${CMAKE_MATCH_2})
+      set(PYTHON_NUMPY_VERSION_PATCH ${CMAKE_MATCH_3})
+      math(EXPR PYTHON_NUMPY_VERSION_DECIMAL
+        "(${PYTHON_NUMPY_VERSION_MAJOR} * 10000) + (${PYTHON_NUMPY_VERSION_MINOR} * 100) + ${PYTHON_NUMPY_VERSION_PATCH}")
+      string(REGEX REPLACE "\\\\" "/"  PYTHON_NUMPY_INCLUDE_DIR ${PYTHON_NUMPY_INCLUDE_DIR})
+    else()
+     unset(PYTHON_NUMPY_VERSION)
+     unset(PYTHON_NUMPY_INCLUDE_DIR)
+     message(STATUS "Requested NumPy version and include path, but got instead:\n${__output}\n")
+    endif()
   endif()
+else()
+  message(STATUS "To find NumPy Python interpretor is required to be found.")
 endif()
 
-if (PYTHON_EXECUTABLE)
-  # Find out the include path
-  execute_process(
-    COMMAND "${PYTHON_EXECUTABLE}" -c
-            "from __future__ import print_function\ntry: import numpy; print(numpy.get_include(), end='')\nexcept:pass\n"
-            OUTPUT_VARIABLE __numpy_path)
-  # And the version
-  execute_process(
-    COMMAND "${PYTHON_EXECUTABLE}" -c
-            "from __future__ import print_function\ntry: import numpy; print(numpy.__version__, end='')\nexcept:pass\n"
-    OUTPUT_VARIABLE __numpy_version)
-elseif(__numpy_out)
-  message(STATUS "Python executable not found.")
-endif(PYTHON_EXECUTABLE)
-
-find_path(PYTHON_NUMPY_INCLUDE_DIR numpy/arrayobject.h
-  HINTS "${__numpy_path}" "${PYTHON_INCLUDE_PATH}" NO_DEFAULT_PATH)
-
-if(PYTHON_NUMPY_INCLUDE_DIR)
-  set(PYTHON_NUMPY_FOUND 1 CACHE INTERNAL "Python numpy found")
-endif(PYTHON_NUMPY_INCLUDE_DIR)
-
 include(FindPackageHandleStandardArgs)
-find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR
+find_package_handle_standard_args(NumPy REQUIRED_VARS PYTHON_NUMPY_INCLUDE_DIR PYTHON_NUMPY_VERSION
-                                        VERSION_VAR __numpy_version)
+                                        VERSION_VAR   PYTHON_NUMPY_VERSION)
+
+if(NUMPY_FOUND)
+  set(PYTHON_NUMPY_FOUND TRUE)
+  message(STATUS "NumPy ver. ${PYTHON_NUMPY_VERSION} found (include: ${PYTHON_NUMPY_INCLUDE_DIR})")
+endif()
+
+# caffe_clear_vars(__result __output __error_value __values __ver_check __error_value)
+

build3/cmake/FindPythonLibs.cmake

@@ -0,0 +1,353 @@
+# - Find python libraries
+# This module finds if Python is installed and determines where the
+# include files and libraries are. It also determines what the name of
+# the library is. This code sets the following variables:
+#
+#  PYTHONLIBS_FOUND           - have the Python libs been found
+#  PYTHON_LIBRARIES           - path to the python library
+#  PYTHON_INCLUDE_PATH        - path to where Python.h is found (deprecated)
+#  PYTHON_INCLUDE_DIRS        - path to where Python.h is found
+#  PYTHON_DEBUG_LIBRARIES     - path to the debug library (deprecated)
+#  PYTHONLIBS_VERSION_STRING  - version of the Python libs found (since CMake 2.8.8)
+#
+# The Python_ADDITIONAL_VERSIONS variable can be used to specify a list of
+# version numbers that should be taken into account when searching for Python.
+# You need to set this variable before calling find_package(PythonLibs).
+#
+# If you'd like to specify the installation of Python to use, you should modify
+# the following cache variables:
+#  PYTHON_LIBRARY             - path to the python library
+#  PYTHON_INCLUDE_DIR         - path to where Python.h is found
+
+#=============================================================================
+# Copyright 2001-2009 Kitware, Inc.
+#
+# Distributed under the OSI-approved BSD License (the "License");
+# see accompanying file Copyright.txt for details.
+#
+# This software is distributed WITHOUT ANY WARRANTY; without even the
+# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+# See the License for more information.
+#=============================================================================
+# (To distribute this file outside of CMake, substitute the full
+#  License text for the above reference.)
+
+# Note by Nikolaus Demmel 28.03.2014: My contributions are licensend under the
+# same as CMake (BSD). My adaptations are in part based
+# https://github.com/qgis/QGIS/tree/master/cmake which has the following
+# copyright note:
+
+# Copyright (c) 2007, Simon Edwards <simon@simonzone.com>
+# Redistribution and use is allowed according to the terms of the BSD license.
+# For details see the accompanying COPYING-CMAKE-SCRIPTS file.
+
+
+if(NOT DEFINED PYTHON_INCLUDE_DIR)
+  if(DEFINED PYTHON_INCLUDE_PATH)
+    # For backward compatibility, repect PYTHON_INCLUDE_PATH.
+    set(PYTHON_INCLUDE_DIR "${PYTHON_INCLUDE_PATH}" CACHE PATH
+      "Path to where Python.h is found" FORCE)
+  else()
+    set(PYTHON_INCLUDE_DIR "" CACHE PATH
+      "Path to where Python.h is found" FORCE)
+  endif()
+endif()
+
+if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
+  if(EXISTS "${PYTHON_INCLUDE_DIR}/patchlevel.h")
+    file(STRINGS "${PYTHON_INCLUDE_DIR}/patchlevel.h" _PYTHON_VERSION_STR
+      REGEX "^#define[ \t]+PY_VERSION[ \t]+\"[^\"]+\"")
+    string(REGEX REPLACE "^#define[ \t]+PY_VERSION[ \t]+\"([^\"]+)\".*" "\\1"
+      PYTHONLIBS_VERSION_STRING "${_PYTHON_VERSION_STR}")
+    unset(_PYTHON_VERSION_STR)
+  endif()
+else()
+  set(_PYTHON1_VERSIONS 1.6 1.5)
+  set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
+  set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0)
+
+  unset(_PYTHON_FIND_OTHER_VERSIONS)
+  if(PythonLibs_FIND_VERSION)
+    if(PythonLibs_FIND_VERSION_COUNT GREATER 1)
+      set(_PYTHON_FIND_MAJ_MIN "${PythonLibs_FIND_VERSION_MAJOR}.${PythonLibs_FIND_VERSION_MINOR}")
+      if(NOT PythonLibs_FIND_VERSION_EXACT)
+        foreach(_PYTHON_V ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
+          if(NOT _PYTHON_V VERSION_LESS _PYTHON_FIND_MAJ_MIN)
+            if(NOT _PYTHON_V STREQUAL PythonLibs_FIND_VERSION)
+              list(APPEND _PYTHON_FIND_OTHER_VERSIONS ${_PYTHON_V})
+            endif()
+          endif()
+        endforeach()
+      endif()
+      unset(_PYTHON_FIND_MAJ_MIN)
+    else()
+      set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON${PythonLibs_FIND_VERSION_MAJOR}_VERSIONS})
+    endif()
+  else()
+    # add an empty version to check the `python` executable first in case no version is requested
+    set(_PYTHON_FIND_OTHER_VERSIONS ${_PYTHON3_VERSIONS} ${_PYTHON2_VERSIONS} ${_PYTHON1_VERSIONS})
+  endif()
+
+  unset(_PYTHON1_VERSIONS)
+  unset(_PYTHON2_VERSIONS)
+  unset(_PYTHON3_VERSIONS)
+
+  # Set up the versions we know about, in the order we will search. Always add
+  # the user supplied additional versions to the front.
+  # If FindPythonInterp has already found the major and minor version,
+  # insert that version between the user supplied versions and the stock
+  # version list.
+  # If no specific version is requested or suggested by PythonInterp, always look
+  # for "python" executable first
+  set(_PYTHON_VERSIONS ${PythonLibs_FIND_VERSION} ${PythonLibs_ADDITIONAL_VERSIONS} )
+  if(DEFINED PYTHON_VERSION_MAJOR AND DEFINED PYTHON_VERSION_MINOR)
+    list(APPEND _PYTHON_VERSIONS ${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR})
+  endif()
+  if (NOT _PYTHON_VERSIONS)
+    set(_PYTHON_VERSIONS ";") # empty entry at the front makeing sure we search for "python" first
+  endif()
+  list(APPEND _PYTHON_VERSIONS ${_PYTHON_FIND_OTHER_VERSIONS})
+
+  unset(_PYTHON_FIND_OTHER_VERSIONS)
+
+  message(STATUS "Looking for versions: ${_PYTHON_VERSIONS}")
+
+  FIND_FILE(_FIND_LIB_PYTHON_PY FindLibPython.py PATHS ${CMAKE_MODULE_PATH} ${CMAKE_ROOT}/Modules)
+
+  if(NOT _FIND_LIB_PYTHON_PY)
+    message(FATAL_ERROR "Could not find required file 'FindLibPython.py'")
+  endif()
+
+  unset(PYTHONLIBS_VERSION_STRING)
+  foreach(_CURRENT_VERSION IN LISTS _PYTHON_VERSIONS)
+
+    STRING(REGEX REPLACE "^([0-9]+).*$"          "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
+    STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
+
+    set(_PYTHON_NAMES python)
+
+    if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
+      list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
+      if (_CURRENT_VERSION MATCHES "^[0-9]+\\.[0-9].*$")
+        list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}.${_VERSION_MINOR}")
+      endif()
+    endif()
+
+    message(STATUS "Looking for python version '${_CURRENT_VERSION}' by checking executables: ${_PYTHON_NAMES}.")
+
+    foreach(_CURRENT_PYTHON_NAME IN LISTS _PYTHON_NAMES)
+
+      unset(_PYTHON_EXECUTABLE CACHE)
+      find_program(_PYTHON_EXECUTABLE ${_CURRENT_PYTHON_NAME}
+        PATHS [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath])
+
+      if(_PYTHON_EXECUTABLE)
+
+        EXECUTE_PROCESS(
+          COMMAND ${_PYTHON_EXECUTABLE} "${_FIND_LIB_PYTHON_PY}"
+          OUTPUT_VARIABLE _PYTHON_CONFIG
+          RESULT_VARIABLE _PYTHON_CONFIG_RESULT
+          ERROR_QUIET)
+
+        if(NOT ${_PYTHON_CONFIG_RESULT} AND (NOT ${_PYTHON_CONFIG} STREQUAL ""))
+          STRING(REGEX REPLACE ".*\nmajor_version:([0-9]+).*$" "\\1" _PYTHON_MAJOR_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nminor_version:([0-9]+).*$" "\\1" _PYTHON_MINOR_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npatch_version:([0-9]+).*$" "\\1" _PYTHON_PATCH_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nshort_version:([^\n]+).*$" "\\1" _PYTHON_SHORT_VERSION ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nlong_version:([^\n]+).*$"  "\\1" _PYTHON_LONG_VERSION  ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npy_inc_dir:([^\n]+).*$"    "\\1" _PYTHON_INCLUDE_DIR   ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\npy_lib_dir:([^\n]+).*$"    "\\1" _PYTHON_LIBRARY_DIR   ${_PYTHON_CONFIG})
+          STRING(REGEX REPLACE ".*\nexec_prefix:(^\n+).*$"     "\\1" _PYTHON_PREFIX        ${_PYTHON_CONFIG})
+
+          if ("${_CURRENT_VERSION}" STREQUAL ""                         OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_MAJOR_VERSION}" OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_SHORT_VERSION}" OR
+              "${_CURRENT_VERSION}" STREQUAL "${_PYTHON_LONG_VERSION}")
+
+            message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with suitable version ${_PYTHON_LONG_VERSION}")
+
+            if(NOT EXISTS "${PYTHON_INCLUDE_DIR}")
+              set(PYTHON_INCLUDE_DIR "${_PYTHON_INCLUDE_DIR}")
+            endif()
+
+            if(NOT EXISTS "${PYTHON_LIBRARY}")
+              set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
+              set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT})
+              FIND_LIBRARY(PYTHON_LIBRARY
+                NAMES ${_PYTHON_LIBRARY_NAMES}
+                PATH_SUFFIXES
+                python${_PYTHON_SHORT_VERSION}/config
+                python${_PYTHON_SHORT_VERSION_NO_DOT}/config
+                PATHS
+                ${_PYTHON_LIBRARY_DIR}
+                ${_PYTHON_PREFIX}/lib $
+                {_PYTHON_PREFIX}/libs
+                NO_DEFAULT_PATH)
+
+              if(WIN32)
+                find_library(PYTHON_DEBUG_LIBRARY
+                  NAMES python${_PYTHON_SHORT_VERSION_NO_DOT}_d python
+                  PATHS
+                  [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
+                  [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs/Debug
+                  [HKEY_LOCAL_MACHINE\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
+                  [HKEY_CURRENT_USER\\SOFTWARE\\Python\\PythonCore\\${_CURRENT_VERSION}\\InstallPath]/libs
+                  )
+              endif()
+            endif()
+
+            set(PYTHONLIBS_VERSION_STRING ${_PYTHON_LONG_VERSION})
+            if(_PYTHON_PATCH_VERSION STREQUAL "0")
+              # it's called "Python 2.7", not "2.7.0"
+              string(REGEX REPLACE "\\.0$" "" PYTHONLIBS_VERSION_STRING "${PYTHONLIBS_VERSION_STRING}")
+            endif()
+
+            break()
+          else()
+            message(STATUS "Found executable ${_PYTHON_EXECUTABLE} with UNsuitable version ${_PYTHON_LONG_VERSION}")
+          endif() # version ok
+        else()
+          message(WARNING "Found executable ${_PYTHON_EXECUTABLE}, but could not extract version info.")
+        endif() # could extract config
+      endif() # found executable
+    endforeach() # python names
+    if (PYTHONLIBS_VERSION_STRING)
+      break()
+    endif()
+  endforeach() # python versions
+endif()
+
+unset(_PYTHON_NAMES)
+unset(_PYTHON_VERSIONS)
+unset(_PYTHON_EXECUTABLE CACHE)
+unset(_PYTHON_MAJOR_VERSION)
+unset(_PYTHON_MINOR_VERSION)
+unset(_PYTHON_PATCH_VERSION)
+unset(_PYTHON_SHORT_VERSION)
+unset(_PYTHON_LONG_VERSION)
+unset(_PYTHON_LIBRARY_DIR)
+unset(_PYTHON_INCLUDE_DIR)
+unset(_PYTHON_PREFIX)
+unset(_PYTHON_SHORT_VERSION_NO_DOT)
+unset(_PYTHON_LIBRARY_NAMES)
+
+
+# For backward compatibility, set PYTHON_INCLUDE_PATH.
+set(PYTHON_INCLUDE_PATH "${PYTHON_INCLUDE_DIR}")
+
+mark_as_advanced(
+  PYTHON_DEBUG_LIBRARY
+  PYTHON_LIBRARY
+  PYTHON_INCLUDE_DIR
+)
+
+# We use PYTHON_INCLUDE_DIR, PYTHON_LIBRARY and PYTHON_DEBUG_LIBRARY for the
+# cache entries because they are meant to specify the location of a single
+# library. We now set the variables listed by the documentation for this
+# module.
+set(PYTHON_INCLUDE_DIRS "${PYTHON_INCLUDE_DIR}")
+set(PYTHON_DEBUG_LIBRARIES "${PYTHON_DEBUG_LIBRARY}")
+
+# These variables have been historically named in this module different from
+# what SELECT_LIBRARY_CONFIGURATIONS() expects.
+set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
+set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
+include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
+SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
+# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
+# Unset this, this prefix doesn't match the module prefix, they are different
+# for historical reasons.
+unset(PYTHON_FOUND)
+
+# include(${CMAKE_CURRENT_LIST_DIR}/FindPackageHandleStandardArgs.cmake)
+include(FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS(PythonLibs
+                                  REQUIRED_VARS PYTHON_LIBRARIES PYTHON_INCLUDE_DIRS
+                                  VERSION_VAR PYTHONLIBS_VERSION_STRING)
+
+# PYTHON_ADD_MODULE(<name> src1 src2 ... srcN) is used to build modules for python.
+# PYTHON_WRITE_MODULES_HEADER(<filename>) writes a header file you can include
+# in your sources to initialize the static python modules
+function(PYTHON_ADD_MODULE _NAME )
+  get_property(_TARGET_SUPPORTS_SHARED_LIBS
+    GLOBAL PROPERTY TARGET_SUPPORTS_SHARED_LIBS)
+  option(PYTHON_ENABLE_MODULE_${_NAME} "Add module ${_NAME}" TRUE)
+  option(PYTHON_MODULE_${_NAME}_BUILD_SHARED
+    "Add module ${_NAME} shared" ${_TARGET_SUPPORTS_SHARED_LIBS})
+
+  # Mark these options as advanced
+  mark_as_advanced(PYTHON_ENABLE_MODULE_${_NAME}
+    PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+
+  if(PYTHON_ENABLE_MODULE_${_NAME})
+    if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+      set(PY_MODULE_TYPE MODULE)
+    else()
+      set(PY_MODULE_TYPE STATIC)
+      set_property(GLOBAL  APPEND  PROPERTY  PY_STATIC_MODULES_LIST ${_NAME})
+    endif()
+
+    set_property(GLOBAL  APPEND  PROPERTY  PY_MODULES_LIST ${_NAME})
+    add_library(${_NAME} ${PY_MODULE_TYPE} ${ARGN})
+#    target_link_libraries(${_NAME} ${PYTHON_LIBRARIES})
+
+    if(PYTHON_MODULE_${_NAME}_BUILD_SHARED)
+      set_target_properties(${_NAME} PROPERTIES PREFIX "${PYTHON_MODULE_PREFIX}")
+      if(WIN32 AND NOT CYGWIN)
+        set_target_properties(${_NAME} PROPERTIES SUFFIX ".pyd")
+      endif()
+    endif()
+
+  endif()
+endfunction()
+
+function(PYTHON_WRITE_MODULES_HEADER _filename)
+
+  get_property(PY_STATIC_MODULES_LIST  GLOBAL  PROPERTY PY_STATIC_MODULES_LIST)
+
+  get_filename_component(_name "${_filename}" NAME)
+  string(REPLACE "." "_" _name "${_name}")
+  string(TOUPPER ${_name} _nameUpper)
+  set(_filename ${CMAKE_CURRENT_BINARY_DIR}/${_filename})
+
+  set(_filenameTmp "${_filename}.in")
+  file(WRITE ${_filenameTmp} "/*Created by cmake, do not edit, changes will be lost*/\n")
+  file(APPEND ${_filenameTmp}
+"#ifndef ${_nameUpper}
+#define ${_nameUpper}
+
+#include <Python.h>
+
+#ifdef __cplusplus
+extern \"C\" {
+#endif /* __cplusplus */
+
+")
+
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "extern void init${PYTHON_MODULE_PREFIX}${_currentModule}(void);\n\n")
+  endforeach()
+
+  file(APPEND ${_filenameTmp}
+"#ifdef __cplusplus
+}
+#endif /* __cplusplus */
+
+")
+
+
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "int ${_name}_${_currentModule}(void) \n{\n  static char name[]=\"${PYTHON_MODULE_PREFIX}${_currentModule}\"; return PyImport_AppendInittab(name, init${PYTHON_MODULE_PREFIX}${_currentModule});\n}\n\n")
+  endforeach()
+
+  file(APPEND ${_filenameTmp} "void ${_name}_LoadAllPythonModules(void)\n{\n")
+  foreach(_currentModule ${PY_STATIC_MODULES_LIST})
+    file(APPEND ${_filenameTmp} "  ${_name}_${_currentModule}();\n")
+  endforeach()
+  file(APPEND ${_filenameTmp} "}\n\n")
+  file(APPEND ${_filenameTmp} "#ifndef EXCLUDE_LOAD_ALL_FUNCTION\nvoid CMakeLoadAllPythonModules(void)\n{\n  ${_name}_LoadAllPythonModules();\n}\n#endif\n\n#endif\n")
+
+# with configure_file() cmake complains that you may not use a file created using file(WRITE) as input file for configure_file()
+  execute_process(COMMAND ${CMAKE_COMMAND} -E copy_if_different "${_filenameTmp}" "${_filename}" OUTPUT_QUIET ERROR_QUIET)
+
+endfunction()

build3/cmake/SelectLibraryConfigurations.cmake

@@ -0,0 +1,70 @@
+# Distributed under the OSI-approved BSD 3-Clause License.  See accompanying
+# file Copyright.txt or https://cmake.org/licensing for details.
+
+#.rst:
+# SelectLibraryConfigurations
+# ---------------------------
+#
+#
+#
+# select_library_configurations( basename )
+#
+# This macro takes a library base name as an argument, and will choose
+# good values for basename_LIBRARY, basename_LIBRARIES,
+# basename_LIBRARY_DEBUG, and basename_LIBRARY_RELEASE depending on what
+# has been found and set.  If only basename_LIBRARY_RELEASE is defined,
+# basename_LIBRARY will be set to the release value, and
+# basename_LIBRARY_DEBUG will be set to basename_LIBRARY_DEBUG-NOTFOUND.
+# If only basename_LIBRARY_DEBUG is defined, then basename_LIBRARY will
+# take the debug value, and basename_LIBRARY_RELEASE will be set to
+# basename_LIBRARY_RELEASE-NOTFOUND.
+#
+# If the generator supports configuration types, then basename_LIBRARY
+# and basename_LIBRARIES will be set with debug and optimized flags
+# specifying the library to be used for the given configuration.  If no
+# build type has been set or the generator in use does not support
+# configuration types, then basename_LIBRARY and basename_LIBRARIES will
+# take only the release value, or the debug value if the release one is
+# not set.
+
+# This macro was adapted from the FindQt4 CMake module and is maintained by Will
+# Dicharry <wdicharry@stellarscience.com>.
+
+macro( select_library_configurations basename )
+    if(NOT ${basename}_LIBRARY_RELEASE)
+        set(${basename}_LIBRARY_RELEASE "${basename}_LIBRARY_RELEASE-NOTFOUND" CACHE FILEPATH "Path to a library.")
+    endif()
+    if(NOT ${basename}_LIBRARY_DEBUG)
+        set(${basename}_LIBRARY_DEBUG "${basename}_LIBRARY_DEBUG-NOTFOUND" CACHE FILEPATH "Path to a library.")
+    endif()
+
+    if( ${basename}_LIBRARY_DEBUG AND ${basename}_LIBRARY_RELEASE AND
+           NOT ${basename}_LIBRARY_DEBUG STREQUAL ${basename}_LIBRARY_RELEASE AND
+           ( CMAKE_CONFIGURATION_TYPES OR CMAKE_BUILD_TYPE ) )
+        # if the generator supports configuration types or CMAKE_BUILD_TYPE
+        # is set, then set optimized and debug options.
+        set( ${basename}_LIBRARY "" )
+        foreach( _libname IN LISTS ${basename}_LIBRARY_RELEASE )
+            list( APPEND ${basename}_LIBRARY optimized "${_libname}" )
+        endforeach()
+        foreach( _libname IN LISTS ${basename}_LIBRARY_DEBUG )
+            list( APPEND ${basename}_LIBRARY debug "${_libname}" )
+        endforeach()
+    elseif( ${basename}_LIBRARY_RELEASE )
+        set( ${basename}_LIBRARY ${${basename}_LIBRARY_RELEASE} )
+    elseif( ${basename}_LIBRARY_DEBUG )
+        set( ${basename}_LIBRARY ${${basename}_LIBRARY_DEBUG} )
+    else()
+        set( ${basename}_LIBRARY "${basename}_LIBRARY-NOTFOUND")
+    endif()
+
+    set( ${basename}_LIBRARIES "${${basename}_LIBRARY}" )
+
+    if( ${basename}_LIBRARY )
+        set( ${basename}_FOUND TRUE )
+    endif()
+
+    mark_as_advanced( ${basename}_LIBRARY_RELEASE
+        ${basename}_LIBRARY_DEBUG
+    )
+endmacro()

build3/premake4.lua

@@ -71,10 +71,23 @@
 		description = "Don't build Extras"
 	}
 
+	newoption
+	{
+		trigger = "standalone-examples",
+		description = "Build standalone examples with reduced dependencies."
+	}
+
+	newoption
+	{
+		trigger = "no-clsocket",
+		description = "Disable clsocket and clsocket tests (used for optional TCP networking in pybullet and shared memory C-API)"
+	}
+
+
 	newoption
 	{
 		trigger = "no-enet",
-		description = "Disable enet and enet tests"
+		description = "Disable enet and enet tests (used for optional UDP networking in pybullet and shared memory C-API)"
 	}
 
 	newoption
@@ -145,11 +158,21 @@ end
 		description = "Double precision version of Bullet"
 	}
 	
+	newoption
+	{
+		trigger = "serial",
+		description = "Enable serial, for testing the VR glove in C++"
+	}
+	
+	newoption
+	{
+		trigger = "audio",
+		description = "Enable audio"
+	}
 	if _OPTIONS["double"] then
 		defines {"BT_USE_DOUBLE_PRECISION"}
 	end
 
-	
 	configurations {"Release", "Debug"}
 	configuration "Release"
 		flags { "Optimize", "EnableSSE2","StaticRuntime", "NoMinimalRebuild", "FloatFast"}
@@ -238,20 +261,22 @@ end
 	language "C++"
 
 
+	if _OPTIONS["audio"] then
+		include "../examples/TinyAudio"
+	end
+
+	if _OPTIONS["serial"] then
+		include "../examples/ThirdPartyLibs/serial"
+	end
+
 	if not _OPTIONS["no-demos"] then
 		include "../examples/ExampleBrowser"
+		include "../examples/RobotSimulator"
 		include "../examples/OpenGLWindow"
 		include "../examples/ThirdPartyLibs/Gwen"
-		include "../examples/SimpleOpenGL3"
-		include "../examples/TinyRenderer"
-
 		include "../examples/HelloWorld"
-		include "../examples/BasicDemo"
-		include "../examples/InverseDynamics"
-		include "../examples/ExtendedTutorials"
 		include "../examples/SharedMemory"
 		include "../examples/ThirdPartyLibs/BussIK"
-		include "../examples/MultiThreading"
 
 		if _OPTIONS["lua"] then
 		   include "../examples/ThirdPartyLibs/lua-5.2.3"
@@ -259,10 +284,19 @@ end
 		if _OPTIONS["enable_pybullet"] then
 		  include "../examples/pybullet"
 		end
+		include "../examples/SimpleOpenGL3"
+
+		if _OPTIONS["standalone-examples"] then
+			
+			include "../examples/TinyRenderer"
+			include "../examples/BasicDemo"
+			include "../examples/InverseDynamics"
+			include "../examples/ExtendedTutorials"
+			include "../examples/MultiThreading"
+		end
 
 		if not _OPTIONS["no-test"] then
 			include "../test/SharedMemory"
-			
 		end
 	end
 
@@ -270,13 +304,20 @@ end
 		include "../examples/ThirdPartyLibs/midi"
 	end
 	
+	if not _OPTIONS["no-clsocket"] then
+		defines {"BT_ENABLE_CLSOCKET"}
+		include "../examples/ThirdPartyLibs/clsocket"		
+		include "../test/clsocket"
+	end
+
 	if not _OPTIONS["no-enet"] then
+				defines {"BT_ENABLE_ENET"}
+
 				include "../examples/ThirdPartyLibs/enet"
 				include "../test/enet/nat_punchthrough/client"
 				include "../test/enet/nat_punchthrough/server"
 				include "../test/enet/chat/client"
 				include "../test/enet/chat/server"
-				defines {"BT_ENABLE_ENET"}
 	end
 
 	 if _OPTIONS["no-bullet3"] then

build3/vs2010_bullet2gpu.bat

@@ -1,6 +0,0 @@
-
-rem premake4 --with-pe  vs2010
-premake4  --bullet2gpu vs2010 
-
-mkdir vs2010\cache
-pause

build_and_run_cmake.sh

@@ -1,7 +0,0 @@
-#!/bin/sh
-rm CMakeCache.txt
-mkdir build_cmake
-cd build_cmake
-cmake -DBUILD_PYBULLET=OFF -DCMAKE_BUILD_TYPE=Release ..
-make -j12
-examples/ExampleBrowser/App_ExampleBrowser

build_and_run_cmake_pybullet_double.sh

@@ -1,6 +0,0 @@
-#!/bin/sh
-rm CMakeCache.txt
-mkdir build_cmake
-cd build_cmake
-cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
-make -j12

build_and_run_premake.sh

@@ -1,7 +0,0 @@
-#!/bin/sh
-cd build3
-./premake4_linux64 gmake
-./premake4_osx gmake
-cd gmake
-make -j12
-../../bin/App_BulletExampleBrowser_gmake_x64_release

build_cmake_pybullet_double.sh

@@ -0,0 +1,10 @@
+#!/bin/sh
+rm CMakeCache.txt
+mkdir build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=ON -DBUILD_PYBULLET_NUMPY=OFF -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release ..
+make -j12
+cd examples
+cd pybullet
+ln -s pybullet.dylib pybullet.so
+

build_cmake_pybullet_win32.bat

@@ -1,4 +0,0 @@
-mkdir cm
-cd cm
-cmake -DBUILD_PYBULLET=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib ..
-start .

build_visual_studio.bat

@@ -1,5 +0,0 @@
-
-
-cd build3
-premake4     --targetdir="../bin" vs2010
-start vs2010

build_visual_studio_vr_pybullet_double.bat

@@ -1,8 +1,9 @@
 IF NOT EXIST bin mkdir bin
 IF NOT EXIST bin\openvr_api.dll  copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
+IF NOT EXIST bin\openvr64pi.dll  copy examples\ThirdPartyLibs\openvr\bin\win64\openvr_api.dll bin\openvr64pi.dll
+
+#aargh, see https://github.com/ValveSoftware/openvr/issues/412
 
-#optionally, hardcode the python path or
-#SET myvar=c:\python-3.5.3
 
 #find a python version (hopefully just 1) and use this
 dir c:\python* /b /ad > tmp1234.txt
@@ -16,6 +17,9 @@ del tmp1234.txt
 
 cd build3
 
-premake4   --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
+#premake4  --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+
 start vs2010
 

build_visual_studio_vr_pybullet_double_cmake.bat

@@ -0,0 +1,4 @@
+mkdir build_cmake
+cd build_cmake
+cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib -G "Visual Studio 14 2015" ..
+start .

build_visual_studio_without_pybullet_vr.bat

@@ -0,0 +1,3 @@
+cd build3
+premake5     --targetdir="../bin" vs2010
+start vs2010

data/MPL/LICENSE.txt

@@ -0,0 +1,19 @@
+   <!--
+    This file and the .stl mesh files referenced from it have been derived by Roboti LLC from the model of the Modular Prosthetic Limb developed by The Johns Hopkins University / Applied Physics Laboratory. The modifications are as follows: the original meshes have been replaced with their convex hulls; the original URDF model has been converted to the MJCF format and a number of MJCF-specific fields have been added.
+
+    The Johns Hopkins University / Applied Physics Laboratory has given Roboti LLC permission to distribute the modified model under the following license:
+
+    =========================
+
+    (C) 2013 The Johns Hopkins University / Applied Physics Laboratory All Rights Reserved.
+
+    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+    ========================
+
+    The modifications made by Roboti LLC are also licensed under the Apache License version 2.0.
+    -->

data/MPL/MPL.xml

@@ -0,0 +1,473 @@
+<mujoco model="MPL">
+    <!--
+    This file and the .stl mesh files referenced from it have been derived by Roboti LLC from the model of the Modular Prosthetic Limb developed by The Johns Hopkins University / Applied Physics Laboratory. The modifications are as follows: the original meshes have been replaced with their convex hulls; the original URDF model has been converted to the MJCF format and a number of MJCF-specific fields have been added.
+
+    The Johns Hopkins University / Applied Physics Laboratory has given Roboti LLC permission to distribute the modified model under the following license:
+
+    =========================
+
+    (C) 2013 The Johns Hopkins University / Applied Physics Laboratory All Rights Reserved.
+
+    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+    ========================
+
+    The modifications made by Roboti LLC are also licensed under the Apache License version 2.0.
+    -->
+    
+    <compiler angle="radian" meshdir="mesh/" texturedir="texture/"/>
+    <option timestep="0.002" iterations="50" apirate="50"/>
+    <size njmax="600" nconmax="150" nstack="300000"/>
+
+    <default>
+		<default class="MPL"> 
+			<geom material="MatMesh" contype="1" conaffinity="1" condim="4" margin="0.001"/>
+        	<joint limited="true" damping="0.2" armature=".01"/>
+        	<site material="MatTouch" type="ellipsoid" group="3"/>
+            <position ctrllimited="true" kp="10"/>
+		</default>
+
+        <default class="IMU">
+	        <site material="MatIMU" type="box" group="4"/>
+        </default>
+        
+        <default class="free">
+            <joint type="free" damping="0" armature="0" limited="false"/>
+        </default>     
+    </default>
+
+    <statistic extent="1" center="0 -0.2 0.2"/>
+
+    <visual>
+        <quality shadowsize="2048"/>
+    	<map fogstart="6" fogend="10"/>
+    	<headlight diffuse=".6 .6 .6" specular="0 0 0"/>
+    </visual>
+
+    <asset>
+		<mesh name="index0" 	file="index0_collision.stl"/>
+		<mesh name="index1" 	file="index1_collision.stl"/>
+		<mesh name="index2" 	file="index2_collision.stl"/>
+		<mesh name="index3" 	file="index3_collision.stl"/>
+		<mesh name="middle0" 	file="middle0_collision.stl"/>
+		<mesh name="middle1" 	file="middle1_collision.stl"/>
+		<mesh name="middle2" 	file="middle2_collision.stl"/>
+		<mesh name="middle3" 	file="middle3_collision.stl"/>
+		<mesh name="palm" 		file="palm.stl"/>
+		<mesh name="pinky0" 	file="pinky0_collision.stl"/>
+		<mesh name="pinky1" 	file="pinky1_collision.stl"/>
+		<mesh name="pinky2" 	file="pinky2_collision.stl"/>
+		<mesh name="pinky3" 	file="pinky3_collision.stl"/>
+		<mesh name="ring0" 		file="ring0_collision.stl"/>
+		<mesh name="ring1" 		file="ring1_collision.stl"/>
+		<mesh name="ring2" 		file="ring2_collision.stl"/>
+		<mesh name="ring3" 		file="ring3_collision.stl"/>
+		<mesh name="thumb0" 	file="thumb0_collision.stl"/>
+		<mesh name="thumb1" 	file="thumb1_collision.stl"/>
+		<mesh name="thumb2" 	file="thumb2_collision.stl"/>
+		<mesh name="thumb3" 	file="thumb3_collision.stl"/>
+		<mesh name="wristx" 	file="wristx_collision.stl"/>
+		<mesh name="wristy" 	file="wristy_collision.stl"/>
+		<mesh name="wristz" 	file="wristz_collision.stl"/>
+        
+		<texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" 
+			width="100" height="100"/>
+		<texture name="groundplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3" 
+            width="100" height="100"/>
+		<texture name="skin" type="cube" file="skin.png"/>
+		<texture name="marble2d" type="2d" file="marble.png"/>
+		<texture name="marblecube" type="cube" file="marble.png"/>
+
+		<material name="groundplane" texture="groundplane" texrepeat="10 10"/>
+		<material name="table2d" texture="marble2d" reflectance="0.3" rgba=".8 .8 .8 1"/>
+		<material name="tablecube" texture="marblecube" rgba=".8 .8 .8 1"/>
+        <material name="MatTouch" rgba=".3 .9 .3 .3"/>
+        <material name="MatIMU" rgba=".1 .1 .9 1"/>
+        <material name="MatMesh" texture="skin"/>
+	</asset>
+
+    <contact>       
+        <exclude body1="wristz" body2="wristy"/>
+		<exclude body1="wristx" body2="thumb0"/>
+		<exclude body1="palm" body2="thumb1"/>
+        <exclude body1="palm" body2="index1"/>
+        <exclude body1="palm" body2="middle1"/>
+        <exclude body1="palm" body2="ring1"/>
+        <exclude body1="palm" body2="pinky1"/>
+    </contact>
+
+    <worldbody>
+
+      
+		<!-- ======= ROBOT ======= -->
+        <body childclass="MPL" name="forearm" pos="0 -0.35 0.2" axisangle="0 0 1 3.141592">
+            <geom type="cylinder" size="0.02 0.01" zaxis="0 1 0"/>
+            <body name="wristy" pos="0 0 0">
+                <inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662" mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005" />
+                <geom type="mesh" mesh="wristy"/>
+                <joint name="wrist_PRO" type="hinge" damping="0.4" pos="0 0 0" axis="0 1 0" range="-1.57 1.57"/>
+                <body name="wristx" pos="-3.36826e-005 -0.0476452 0.00203763">
+                    <inertial pos="0.00139174 -0.00975189 -0.00252668" quat="-0.0729226 0.705959 0.0352732 0.703605" mass="0.010691" diaginertia="5.04455e-006 4.25035e-006 3.25677e-006" />
+                    <joint name="wrist_UDEV" damping="0.4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.261 0.785"/>
+                    <geom type="mesh" mesh="wristx"/>
+                    <body name="wristz" pos="0.0001872 -0.03 -0.002094">
+                        <inertial pos="0.000579016 -0.00125952 0.000455968" quat="0.527723 0.475346 0.521597 0.472749" mass="0.00602247" diaginertia="1.58133e-006 1.43102e-006 1.26861e-006" />
+                        <joint name="wrist_FLEX" damping="0.4" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.04 1.04"/>
+                        <geom type="mesh" mesh="wristz"/>
+		  			
+		  			    <!-- ======= PALM  ======= -->
+                        <body name="palm" pos="0.025625 0 0">
+                            <inertial pos="-0.0217876 -0.0376147 0.00276997" quat="-0.146373 0.723094 0.0985561 0.66783" mass="0.119867" diaginertia="0.000123088 0.000100082 6.89467e-005" />
+                            <geom type="mesh" mesh="palm"/>
+                            <site name="palm_thumb" pos="-0.0052 -0.0438 -0.0182" size=".017 .03 .01"/>
+                            <site name="palm_pinky" pos="-0.0358 -0.0401 -0.0183" size=".017 .03 .01"/>
+                            <site name="palm_side" pos="-0.0604 -0.0329 -0.0048" size=".01 .03 .015"/>
+                            <site name="palm_back" pos="-0.0246 -0.0446 0.018" size=".03 .035 .015"/>
+                        
+                            <!-- ======= THUMB ======= -->
+                            <body name="thumb0" pos="0.00835752 -0.0206978 -0.010093" quat="0.990237 0.0412644 -0.0209178 -0.13149">
+                                <inertial pos="0.00863339 -0.000156884 -0.000945846" quat="0.408795 0.551643 0.541079 0.485602" mass="0.00336696" diaginertia="4.50769e-007 4.48758e-007 2.35017e-007" />
+                                <joint name="thumb_ABD" type="hinge" pos="0 0 0" axis="0 1 0" range="0 2.07"/>
+                                <geom type="mesh" mesh="thumb0"/>
+                                <body name="thumb1" pos="0.0209172 -0.00084 0.0014476">
+                                    <inertial pos="0.019024 0.000361131 -0.000186763" quat="0.5208 0.469572 0.484571 0.522934" mass="0.00596213" diaginertia="9.88001e-007 9.45125e-007 5.32989e-007" />
+                                    <joint name="thumb_MCP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
+                                    <geom type="mesh" mesh="thumb1"/>
+                                    <site name="thumb_proximal" pos="0.0173 -0.008 0.0009" size=".015 .0075 .01"/>
+                                    <body name="thumb2" pos="0.0335 0 -0.0007426">
+                                        <inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
+                                        <joint name="thumb_PIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
+                                        <geom type="mesh" mesh="thumb2"/>
+                                        <site name="thumb_medial" pos="0.0182 -0.008 0.0015" size=".015 .0075 .01"/>
+                                        <body name="thumb3" pos="0.0335 0 0.0010854">
+                                        	<inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
+                                            <joint name="thumb_DIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.819 1.28"/>
+                                            <geom type="mesh" mesh="thumb3"/>
+                                            <site name="thumb_distal" pos="0.0156 -0.007 0.0003" size=".015 .0075 .01" axisangle="0 0 1 0.2"/>
+                                            <site class="IMU" name="thumb_IMU" pos="0.0099 -0.00052 0" quat=".5 .5 .5 .5" size=".003 .003 .003"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+
+		  				    <!-- ======= INDEX ======= -->
+                            <body name="index0" pos="0.00986485 -0.0658 0.00101221" quat="0.996195 0 0.0871557 0">
+                                <inertial pos="-0.000142572 -0.00548494 0.000206145" quat="0.699132 0.714861 -0.000723869 0.013694" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
+                                <joint name="index_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
+                                <geom type="mesh" mesh="index0"/>
+                                <body name="index1" pos="6.26e-005 -0.018 0">
+                                    <inertial pos="0.000406487 -0.0213125 0.000655609" quat="0.698452 0.715642 -0.00415384 0.0023049" mass="0.00478235" diaginertia="8.18599e-007 7.95693e-007 3.06254e-007" />
+                                    <joint name="index_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                    <geom type="mesh" mesh="index1"/>
+                                    <site name="index_proximal" pos="0 -0.0235 -0.007" size=".009 .015 .0075"/>
+                                    <body name="index2" pos="0.001086 -0.0435 0.0005">
+                                        <inertial pos="-0.000841462 -0.012689 0.000572665" quat="0.734882 0.677481 -0.028511 0.0124827" mass="0.00344764" diaginertia="3.63962e-007 3.59059e-007 1.05304e-007" />
+                                        <joint name="index_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                        <geom type="mesh" mesh="index2"/>
+                                        <site name="index_medial" pos="0 -0.009 -0.0047" size=".0075 .01 .006"/>
+                                        <body name="index3" pos="-0.000635 -0.0245 0">
+                                            <inertial pos="4.32004e-005 -0.0125318 0.000903476" quat="0.516251 0.4829 -0.483241 0.516498" mass="0.00274415" diaginertia="1.19635e-007 1.09202e-007 7.77873e-008" />
+                                            <joint name="index_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                            <geom type="mesh" mesh="index3"/>
+                                            <site name="index_distal" pos="0 -0.0132 -0.0038" size=".0075 .01 .006"/>
+                                            <site class="IMU" name="index_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+		  				
+		  				    <!-- ======= MIDDLE ======= -->
+                            <body name="middle0" pos="-0.012814 -0.0779014 0.00544608" quat="-3.14 0.0436194 0 0">
+                                <inertial pos="-0.000142567 -0.00548493 0.000206162" quat="0.699131 0.714862 -0.000723874 0.013694" mass="0.00295579" diaginertia="4.22461e-007 4.02281e-007 1.93868e-007" />
+                                <!--<joint name="middle0" type="hinge" pos="0 0 0" range="-0.345 0" axis="0 0 -1" />-->
+                                <geom type="mesh" mesh="middle0"/>
+                                <body name="middle1" pos="6.26e-005 -0.018 0">
+                                    <inertial pos="0.000406411 -0.0213125 0.00065565" quat="0.698451 0.715642 -0.00415503 0.00230486" mass="0.00478229" diaginertia="8.18595e-007 7.9569e-007 3.06253e-007" />
+                                    <joint name="middle_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                    <geom type="mesh" mesh="middle1"/>
+                                    <site name="middle_proximal" pos="0 -0.025 -0.007" size=".009 .015 .0075"/>
+                                    <body name="middle2" pos="0.001086 -0.0435 0.0005">
+                                        <inertial pos="-0.000841444 -0.012689 0.00057266" quat="0.734883 0.677482 -0.0284727 0.0124412" mass="0.00344765" diaginertia="3.63962e-007 3.5906e-007 1.05304e-007" />
+                                        <joint name="middle_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.73"/>
+                                        <geom type="mesh" mesh="middle2"/>
+                                        <site name="middle_medial" pos="0 -0.0146 -0.0047" size=".0075 .01 .006"/>
+                                        <body name="middle3" pos="-0.000635 -0.0245 0">
+                                            <inertial pos="4.31236e-005 -0.0125318 0.000903446" quat="0.516263 0.482913 -0.483228 0.516487" mass="0.00274417" diaginertia="1.19635e-007 1.09202e-007 7.77884e-008" />
+                                            <joint name="middle_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                            <geom type="mesh" mesh="middle3"/>
+                                            <site name="middle_distal" pos="0 -0.0129 -0.0038" size=".0075 .01 .006"/>
+                                            <site class="IMU" name="middle_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/> 
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+		  				
+	  				        <!-- ======= RING ======= -->
+                            <body name="ring0" pos="-0.0354928 -0.0666999 0.00151221" quat="0.996195 0 -0.0871557 0">
+                                <inertial pos="-0.000142559 -0.00548494 0.000206147" quat="0.699132 0.714861 -0.000720946 0.013691" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
+                                <joint name="ring_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                                <geom type="mesh" mesh="ring0"/>
+                                <body name="ring1" pos="6.26e-005 -0.018 0">
+                                    <inertial pos="0.000406447 -0.0213125 0.00065563" quat="0.698451 0.715642 -0.00415675 0.00230715" mass="0.00478232" diaginertia="8.18597e-007 7.95692e-007 3.06254e-007" />
+                                    <joint name="ring_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                    <geom type="mesh" mesh="ring1"/>
+                                    <site name="ring_proximal" pos="0 -0.0259 -0.007" size=".009 .015 .0075"/>
+                                    <body name="ring2" pos="0.001086 -0.0435 0.0005">
+                                        <inertial pos="-0.000841518 -0.012689 0.000572674" quat="0.73488 0.677478 -0.0285773 0.0125557" mass="0.00344767" diaginertia="3.63963e-007 3.59061e-007 1.05305e-007" />
+                                        <joint name="ring_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                        <geom type="mesh" mesh="ring2"/>
+                                        <site name="ring_medial" pos="0 -0.0137 -0.0047" size=".0075 .01 .006"/>
+                                        <body name="ring3" pos="-0.000635 -0.0245 0">
+                                            <inertial pos="4.31973e-005 -0.0125318 0.000903457" quat="0.516255 0.482902 -0.483238 0.516495" mass="0.00274416" diaginertia="1.19635e-007 1.09202e-007 7.77877e-008" />
+                                            <joint name="ring_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                            <geom type="mesh" mesh="ring3"/>
+                                            <site name="ring_distal" pos="0 -0.0117 -0.0038" size=".0075 .01 .006"/>
+                                            <site class="IMU" name="ring_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+		  				
+		  				    <!-- ======= LITTLE ======= -->
+                            <body name="pinky0" pos="-0.0562459 -0.0554001 -0.00563858" quat="0.996195 0 -0.0871557 0">
+                                <inertial pos="-0.000142559 -0.00538484 0.000206147" quat="0.699132 0.714861 -0.000721037 0.0136911" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
+                                <joint name="pinky_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                                <geom type="mesh" mesh="pinky0"/>
+                                <body name="pinky1" pos="6.26e-005 -0.0178999 0">
+                                    <inertial pos="0.000458624 -0.0160478 0.000924735" quat="0.685529 0.72723 0.021252 -0.0270914" mass="0.0034099" diaginertia="4.03391e-007 3.84061e-007 2.19866e-007" />
+                                    <joint name="pinky_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                    <geom type="mesh" mesh="pinky1"/>
+                                    <site name="pinky_proximal" pos="0 -0.021 -0.0066" size=".009 .013 .0075"/>
+                                    <body name="pinky2" pos="0.000578 -0.033 0.0005">
+                                        <inertial pos="-0.000270832 -0.00914628 0.000738493" quat="0.746786 0.664476 -4.11065e-005 -0.0279675" mass="0.00250622" diaginertia="1.79089e-007 1.75934e-007 7.44543e-008" />
+                                        <joint name="pinky_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                        <geom type="mesh" mesh="pinky2"/>
+                                        <site name="pinky_medial" pos="0 -0.0117 -0.0047" size=".0075 .01 .006"/>
+                                        <body name="pinky3" pos="-4.78e-005 -0.0175 0">
+                                            <inertial pos="3.85026e-005 -0.0125047 0.000912295" quat="0.516037 0.484447 -0.483043 0.515448" mass="0.00273265" diaginertia="1.19141e-007 1.08629e-007 7.77271e-008" />
+                                            <joint name="pinky_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                            <geom type="mesh" mesh="pinky3"/>
+                                            <site name="pinky_distal" pos="0 -0.0121 -0.0038" size=".0075 .01 .006"/>
+                                            <site class="IMU" name="pinky_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                        </body>
+                                    </body>
+                                </body>
+                            </body>
+                        </body>
+                    </body>
+                </body>
+            </body>
+        </body>
+    </worldbody>
+	
+
+	<sensor>
+        <jointpos name="Sjp_wrist_PRO"	joint="wrist_PRO"/>
+    	<jointpos name="Sjp_wrist_UDEV" joint="wrist_UDEV"/>
+    	<jointpos name="Sjp_wrist_FLEX" joint="wrist_FLEX"/>
+        <jointpos name="Sjp_thumb_ABD"	joint="thumb_ABD"/>
+        <jointpos name="Sjp_thumb_MCP"  joint="thumb_MCP"/>
+        <jointpos name="Sjp_thumb_PIP"  joint="thumb_PIP"/>
+        <jointpos name="Sjp_thumb_DIP"  joint="thumb_DIP"/>
+    	<jointpos name="Sjp_index_ABD"  joint="index_ABD"/>
+    	<jointpos name="Sjp_index_MCP"  joint="index_MCP"/>
+    	<jointpos name="Sjp_index_PIP"  joint="index_PIP"/>
+    	<jointpos name="Sjp_index_DIP"  joint="index_DIP"/>
+    	<jointpos name="Sjp_middle_MCP" joint="middle_MCP"/>
+    	<jointpos name="Sjp_middle_PIP" joint="middle_PIP"/>
+    	<jointpos name="Sjp_middle_DIP"	joint="middle_DIP"/>
+    	<jointpos name="Sjp_ring_ABD"   joint="ring_ABD"/>
+    	<jointpos name="Sjp_ring_MCP"   joint="ring_MCP"/>
+    	<jointpos name="Sjp_ring_PIP"   joint="ring_PIP"/>
+    	<jointpos name="Sjp_ring_DIP"   joint="ring_DIP"/>
+    	<jointpos name="Sjp_pinky_ABD"  joint="pinky_ABD"/>
+    	<jointpos name="Sjp_pinky_MCP"  joint="pinky_MCP"/>
+    	<jointpos name="Sjp_pinky_PIP"  joint="pinky_PIP"/>
+    	<jointpos name="Sjp_pinky_DIP"  joint="pinky_DIP"/>
+
+		<jointvel name="Sjv_wrist_PRO"  joint="wrist_PRO"/>
+    	<jointvel name="Sjv_wrist_UDEV" joint="wrist_UDEV"/>
+    	<jointvel name="Sjv_wrist_FLEX" joint="wrist_FLEX"/>
+        <jointvel name="Sjv_thumb_ABD"  joint="thumb_ABD"/>
+        <jointvel name="Sjv_thumb_MCP"  joint="thumb_MCP"/>
+        <jointvel name="Sjv_thumb_PIP"  joint="thumb_PIP"/>
+        <jointvel name="Sjv_thumb_DIP"  joint="thumb_DIP"/>
+    	<jointvel name="Sjv_index_ABD"  joint="index_ABD"/>
+    	<jointvel name="Sjv_index_MCP"  joint="index_MCP"/>
+    	<jointvel name="Sjv_index_PIP"  joint="index_PIP"/>
+    	<jointvel name="Sjv_index_DIP"  joint="index_DIP"/>
+    	<jointvel name="Sjv_middle_MCP" joint="middle_MCP"/>
+    	<jointvel name="Sjv_middle_PIP" joint="middle_PIP"/>
+    	<jointvel name="Sjv_middle_DIP" joint="middle_DIP"/>
+    	<jointvel name="Sjv_ring_ABD"   joint="ring_ABD"/>
+    	<jointvel name="Sjv_ring_MCP"   joint="ring_MCP"/>
+    	<jointvel name="Sjv_ring_PIP"   joint="ring_PIP"/>
+    	<jointvel name="Sjv_ring_DIP"   joint="ring_DIP"/>
+    	<jointvel name="Sjv_pinky_ABD"  joint="pinky_ABD"/>
+    	<jointvel name="Sjv_pinky_MCP"  joint="pinky_MCP"/>
+    	<jointvel name="Sjv_pinky_PIP"  joint="pinky_PIP"/>
+    	<jointvel name="Sjv_pinky_DIP"  joint="pinky_DIP"/>
+		
+        <actuatorpos name="Sap_wrist_PRO" 	actuator="A_wrist_PRO" />
+    	<actuatorpos name="Sap_wrist_UDEV"	actuator="A_wrist_UDEV" />
+    	<actuatorpos name="Sap_wrist_FLEX"	actuator="A_wrist_FLEX" />
+        <actuatorpos name="Sap_thumb_ABD" 	actuator="A_thumb_ABD" />
+        <actuatorpos name="Sap_thumb_MCP" 	actuator="A_thumb_MCP" />
+        <actuatorpos name="Sap_thumb_PIP" 	actuator="A_thumb_PIP" />
+        <actuatorpos name="Sap_thumb_DIP" 	actuator="A_thumb_DIP" />
+        <actuatorpos name="Sap_index_ABD" 	actuator="A_index_ABD" />
+    	<actuatorpos name="Sap_index_MCP" 	actuator="A_index_MCP" />
+    	<actuatorpos name="Sap_middle_MCP"	actuator="A_middle_MCP"/>
+    	<actuatorpos name="Sap_ring_MCP"  	actuator="A_ring_MCP"  />
+        <actuatorpos name="Sap_pinky_ABD" 	actuator="A_pinky_ABD" />
+    	<actuatorpos name="Sap_pinky_MCP" 	actuator="A_pinky_MCP" />
+
+        <actuatorvel name="Sav_wrist_PRO" 	actuator="A_wrist_PRO" />
+        <actuatorvel name="Sav_wrist_UDEV"	actuator="A_wrist_UDEV"/>
+        <actuatorvel name="Sav_wrist_FLEX"	actuator="A_wrist_FLEX"/>
+        <actuatorvel name="Sav_thumb_ABD" 	actuator="A_thumb_ABD" />
+        <actuatorvel name="Sav_thumb_MCP" 	actuator="A_thumb_MCP" />
+        <actuatorvel name="Sav_thumb_PIP" 	actuator="A_thumb_PIP" />
+        <actuatorvel name="Sav_thumb_DIP" 	actuator="A_thumb_DIP" />
+        <actuatorvel name="Sav_index_ABD" 	actuator="A_index_ABD" />
+        <actuatorvel name="Sav_index_MCP" 	actuator="A_index_MCP" />
+        <actuatorvel name="Sav_middle_MCP"	actuator="A_middle_MCP"/>
+        <actuatorvel name="Sav_ring_MCP"  	actuator="A_ring_MCP"  />
+        <actuatorvel name="Sav_pinky_ABD" 	actuator="A_pinky_ABD" />
+        <actuatorvel name="Sav_pinky_MCP" 	actuator="A_pinky_MCP" />
+	
+        <actuatorfrc name="Saf_wrist_PRO" 	actuator="A_wrist_PRO"/>
+        <actuatorfrc name="Saf_wrist_UDEV" 	actuator="A_wrist_UDEV"/>
+        <actuatorfrc name="Saf_wrist_FLEX" 	actuator="A_wrist_FLEX"/>
+        <actuatorfrc name="Saf_thumb_ABD" 	actuator="A_thumb_ABD"/>
+        <actuatorfrc name="Saf_thumb_MCP" 	actuator="A_thumb_MCP"/>
+        <actuatorfrc name="Saf_thumb_PIP" 	actuator="A_thumb_PIP"/>
+        <actuatorfrc name="Saf_thumb_DIP" 	actuator="A_thumb_DIP"/>
+        <actuatorfrc name="Saf_index_ABD" 	actuator="A_index_ABD"/>
+        <actuatorfrc name="Saf_index_MCP" 	actuator="A_index_MCP"/>
+        <actuatorfrc name="Saf_middle_MCP" 	actuator="A_middle_MCP"/>
+        <actuatorfrc name="Saf_ring_MCP"  	actuator="A_ring_MCP"/>
+        <actuatorfrc name="Saf_pinky_ABD" 	actuator="A_pinky_ABD"/>
+        <actuatorfrc name="Saf_pinky_MCP" 	actuator="A_pinky_MCP"/>
+
+    	<accelerometer name="S_thumb_IMU" 	site="thumb_IMU"/>
+    	<accelerometer name="S_index_IMU" 	site="index_IMU"/>
+    	<accelerometer name="S_middle_IMU" 	site="middle_IMU"/>
+    	<accelerometer name="S_ring_IMU" 	site="ring_IMU"/>
+    	<accelerometer name="S_pinky_IMU" 	site="pinky_IMU"/>
+
+        <gyro                               site="thumb_IMU"/>
+        <gyro                               site="index_IMU"/>
+        <gyro                               site="middle_IMU"/>
+        <gyro                               site="ring_IMU"/>
+        <gyro                               site="pinky_IMU"/>
+
+    	<touch name="S_palm_thumb" 		site="palm_thumb"/>
+    	<touch name="S_palm_pinky" 		site="palm_pinky"/>
+    	<touch name="S_palm_side" 		site="palm_side"/>
+    	<touch name="S_palm_back" 		site="palm_back"/>
+    	<touch name="S_thumb_proximal" 	site="thumb_proximal"/>
+    	<touch name="S_thumb_medial" 	site="thumb_medial"/>
+    	<touch name="S_thumb_distal" 	site="thumb_distal"/>
+    	<touch name="S_index_proximal" 	site="index_proximal"/>
+    	<touch name="S_index_medial" 	site="index_medial"/>
+    	<touch name="S_index_distal" 	site="index_distal"/>
+    	<touch name="S_middle_proximal" site="middle_proximal"/>
+    	<touch name="S_middle_medial" 	site="middle_medial"/>
+    	<touch name="S_middle_distal" 	site="middle_distal"/>
+    	<touch name="S_ring_proximal" 	site="ring_proximal"/>
+    	<touch name="S_ring_medial" 	site="ring_medial"/>
+    	<touch name="S_ring_distal" 	site="ring_distal"/>
+    	<touch name="S_pinky_proximal" 	site="pinky_proximal"/>
+    	<touch name="S_pinky_medial" 	site="pinky_medial"/>
+    	<touch name="S_pinky_distal" 	site="pinky_distal"/>
+	</sensor>
+
+
+	<tendon>
+		<!--Index coupler tendons-->
+		<fixed name="T_index32_cpl" range="0 1">
+			<joint joint="index_DIP"  coef="0.00705"/>
+			<joint joint="index_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_index21_cpl" range="0 1">
+			<joint joint="index_PIP"  coef="0.010"/>
+			<joint joint="index_MCP"  coef="-0.010"/>
+		</fixed>
+		
+		<!--Middle coupler tendons-->
+		<fixed name="T_middle32_cpl">
+			<joint joint="middle_DIP"  coef="0.00705"/>
+			<joint joint="middle_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_middle21_cpl">
+			<joint joint="middle_PIP"  coef="0.010"/>
+			<joint joint="middle_MCP"  coef="-0.010"/>
+		</fixed>
+		
+		<!--Ring coupler tendons-->
+		<fixed name="T_ring32_cpl">
+			<joint joint="ring_DIP"  coef="0.00705"/>
+			<joint joint="ring_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_ring21_cpl">
+			<joint joint="ring_PIP"  coef="0.010"/>
+			<joint joint="ring_MCP"  coef="-0.010"/>
+		</fixed>
+		
+		<!--Little coupler tendons-->
+		<fixed name="T_pinky32_cpl">
+			<joint joint="pinky_DIP"  coef="0.00705"/>
+			<joint joint="pinky_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_pinky21_cpl">
+			<joint joint="pinky_PIP"  coef="0.010"/>
+			<joint joint="pinky_MCP"  coef="-0.010"/>
+		</fixed>
+		
+	</tendon>
+	
+	
+	<equality>
+        <weld body1="mocap" body2="forearm" solref="0.01 1" solimp=".9 .9 0.01"/>
+
+		<!-- DIP-PIP-MCP Couplings -->
+		<tendon name="E_index32_cpl" 	tendon1="T_index32_cpl"/>
+		<tendon name="E_index21_cpl" 	tendon1="T_index21_cpl"/>
+		<tendon name="E_middle32_cpl" 	tendon1="T_middle32_cpl"/>
+		<tendon name="E_middle21_cpl" 	tendon1="T_middle21_cpl"/>
+		<tendon name="E_ring32_cpl" 	tendon1="T_ring32_cpl"/>
+		<tendon name="E_ring21_cpl" 	tendon1="T_ring21_cpl"/>
+		<tendon name="E_pinky32_cpl" 	tendon1="T_pinky32_cpl"/>
+		<tendon name="E_pinky21_cpl" 	tendon1="T_pinky21_cpl"/>
+		
+		<!-- AD-AB Coupling -->
+		<joint name="ring_pinky_cpl" joint1="ring_ABD" joint2="pinky_ABD" polycoef="0 0.5 0 0 0"/>
+	</equality>
+	
+	
+	<actuator>
+		<!-- Wrist -->
+        <position name="A_wrist_PRO"  class="MPL" joint="wrist_PRO"  ctrlrange="-1.57 1.57"/>
+		<position name="A_wrist_UDEV" class="MPL" joint="wrist_UDEV" ctrlrange="-0.26 0.79"/>
+		<position name="A_wrist_FLEX" class="MPL" joint="wrist_FLEX" ctrlrange="-1 1"/>
+
+        <!-- Thumb -->
+        <position name="A_thumb_ABD"  class="MPL" joint="thumb_ABD"  ctrlrange="0 2.1"/>
+        <position name="A_thumb_MCP"  class="MPL" joint="thumb_MCP"  ctrlrange="0 1.0"/>
+        <position name="A_thumb_PIP"  class="MPL" joint="thumb_PIP"  ctrlrange="0 1.0"/>
+        <position name="A_thumb_DIP"  class="MPL" joint="thumb_DIP"  ctrlrange="-0.82 1.3"/>
+		
+		<!-- Fingers -->
+        <position name="A_index_ABD"  class="MPL" joint="index_ABD"  ctrlrange="0 0.34"/>
+		<position name="A_index_MCP"  class="MPL" joint="index_MCP"  ctrlrange="0 1.6"/>
+		<position name="A_middle_MCP" class="MPL" joint="middle_MCP" ctrlrange="0 1.6"/>
+		<position name="A_ring_MCP"   class="MPL" joint="ring_MCP" 	 ctrlrange="0 1.6"/>
+        <position name="A_pinky_ABD"  class="MPL" joint="pinky_ABD"  ctrlrange="0 0.34"/>
+		<position name="A_pinky_MCP"  class="MPL" joint="pinky_MCP"  ctrlrange="0 1.6"/>
+	</actuator>
+</mujoco>

data/MPL/mpl2.xml

@@ -0,0 +1,471 @@
+<mujoco model="MPL">
+    <!--
+    This file and the .stl mesh files referenced from it have been derived by Roboti LLC from the model of the Modular Prosthetic Limb developed by The Johns Hopkins University / Applied Physics Laboratory. The modifications are as follows: the original meshes have been replaced with their convex hulls; the original URDF model has been converted to the MJCF format and a number of MJCF-specific fields have been added.
+
+    The Johns Hopkins University / Applied Physics Laboratory has given Roboti LLC permission to distribute the modified model under the following license:
+
+    =========================
+
+    (C) 2013 The Johns Hopkins University / Applied Physics Laboratory All Rights Reserved.
+
+    Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
+
+    ========================
+
+    The modifications made by Roboti LLC are also licensed under the Apache License version 2.0.
+    -->
+    
+    <compiler angle="radian" meshdir="mesh/" texturedir="texture/"/>
+    <option timestep="0.002" iterations="50" apirate="50"/>
+    <size njmax="600" nconmax="150" nstack="300000"/>
+
+    <default>
+		<default class="MPL"> 
+			<geom material="MatMesh" contype="1" conaffinity="1" condim="4" friction="1 .5 0.5" margin="0.001"/>
+        	<joint limited="true" damping="0.2" armature=".01"/>
+        	<site material="MatTouch" type="ellipsoid" group="3"/>
+            <position ctrllimited="true" kp="10"/>
+		</default>
+
+        <default class="IMU">
+	        <site material="MatIMU" type="box" group="4"/>
+        </default>
+        
+        <default class="free">
+            <joint type="free" damping="0" armature="0" limited="false"/>
+        </default>     
+    </default>
+
+    <statistic extent="1" center="0 -0.2 0.2"/>
+
+    <visual>
+        <quality shadowsize="2048"/>
+    	<map fogstart="6" fogend="10"/>
+    	<headlight diffuse=".6 .6 .6" specular="0 0 0"/>
+    </visual>
+
+    <asset>
+		<mesh name="index0" 	file="index0_collision.stl"/>
+		<mesh name="index1" 	file="index1_collision.stl"/>
+		<mesh name="index2" 	file="index2_collision.stl"/>
+		<mesh name="index3" 	file="index3_collision.stl"/>
+		<mesh name="middle0" 	file="middle0_collision.stl"/>
+		<mesh name="middle1" 	file="middle1_collision.stl"/>
+		<mesh name="middle2" 	file="middle2_collision.stl"/>
+		<mesh name="middle3" 	file="middle3_collision.stl"/>
+		<mesh name="palm" 		file="palm_collision.stl"/>
+		<mesh name="pinky0" 	file="pinky0_collision.stl"/>
+		<mesh name="pinky1" 	file="pinky1_collision.stl"/>
+		<mesh name="pinky2" 	file="pinky2_collision.stl"/>
+		<mesh name="pinky3" 	file="pinky3_collision.stl"/>
+		<mesh name="ring0" 		file="ring0_collision.stl"/>
+		<mesh name="ring1" 		file="ring1_collision.stl"/>
+		<mesh name="ring2" 		file="ring2_collision.stl"/>
+		<mesh name="ring3" 		file="ring3_collision.stl"/>
+		<mesh name="thumb0" 	file="thumb0_collision.stl"/>
+		<mesh name="thumb1" 	file="thumb1_collision.stl"/>
+		<mesh name="thumb2" 	file="thumb2_collision.stl"/>
+		<mesh name="thumb3" 	file="thumb3_collision.stl"/>
+		<mesh name="wristx" 	file="wristx_collision.stl"/>
+		<mesh name="wristy" 	file="wristy_collision.stl"/>
+		<mesh name="wristz" 	file="wristz_collision.stl"/>
+        
+		<texture type="skybox" builtin="gradient" rgb1=".4 .6 .8" rgb2="0 0 0" 
+			width="100" height="100"/>
+		<texture name="groundplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 .2 .3" 
+            width="100" height="100"/>
+		<texture name="skin" type="cube" file="skin.png"/>
+		<texture name="marble2d" type="2d" file="marble.png"/>
+		<texture name="marblecube" type="cube" file="marble.png"/>
+
+		<material name="groundplane" texture="groundplane" texrepeat="10 10"/>
+		<material name="table2d" texture="marble2d" reflectance="0.3" rgba=".8 .8 .8 1"/>
+		<material name="tablecube" texture="marblecube" rgba=".8 .8 .8 1"/>
+        <material name="MatTouch" rgba=".3 .9 .3 .3"/>
+        <material name="MatIMU" rgba=".1 .1 .9 1"/>
+        <material name="MatMesh" texture="skin"/>
+	</asset>
+
+    <contact>       
+        <exclude body1="wristz" body2="wristy"/>
+		<exclude body1="wristx" body2="thumb0"/>
+		<exclude body1="palm" body2="thumb1"/>
+        <exclude body1="palm" body2="index1"/>
+        <exclude body1="palm" body2="middle1"/>
+        <exclude body1="palm" body2="ring1"/>
+        <exclude body1="palm" body2="pinky1"/>
+    </contact>
+
+    <worldbody>
+
+      
+		<!-- ======= ROBOT ======= -->
+          <body  childclass="MPL" name="wristy" pos="0 0 0">
+              <inertial pos="-7.08369e-005 -0.0217787 -0.000286168" quat="0.707488 0.00581744 -0.0107421 0.70662" mass="0.0272932" diaginertia="2.46813e-005 1.77029e-005 1.71079e-005" />
+              <geom type="mesh" mesh="wristy"/>
+              <joint type="free"/>
+              <body name="wristx" pos="-3.36826e-005 -0.0476452 0.00203763">
+                  <inertial pos="0.00139174 -0.00975189 -0.00252668" quat="-0.0729226 0.705959 0.0352732 0.703605" mass="0.010691" diaginertia="5.04455e-006 4.25035e-006 3.25677e-006" />
+                  <joint name="wrist_UDEV" damping="0.4" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.261 0.785"/>
+                  <geom type="mesh" mesh="wristx"/>
+                  <body name="wristz" pos="0.0001872 -0.03 -0.002094">
+                      <inertial pos="0.000579016 -0.00125952 0.000455968" quat="0.527723 0.475346 0.521597 0.472749" mass="0.00602247" diaginertia="1.58133e-006 1.43102e-006 1.26861e-006" />
+                      <joint name="wrist_FLEX" damping="0.4" type="hinge" pos="0 0 0" axis="1 0 0" range="-1.04 1.04"/>
+                      <geom type="mesh" mesh="wristz"/>
+	  			
+	  			    <!-- ======= PALM  ======= -->
+                      <body name="palm" pos="0.025625 0 0">
+                          <inertial pos="-0.0217876 -0.0376147 0.00276997" quat="-0.146373 0.723094 0.0985561 0.66783" mass="0.119867" diaginertia="0.000123088 0.000100082 6.89467e-005" />
+                          <geom type="mesh" mesh="palm"/>
+                          <site name="palm_thumb" pos="-0.0052 -0.0438 -0.0182" size=".017 .03 .01"/>
+                          <site name="palm_pinky" pos="-0.0358 -0.0401 -0.0183" size=".017 .03 .01"/>
+                          <site name="palm_side" pos="-0.0604 -0.0329 -0.0048" size=".01 .03 .015"/>
+                          <site name="palm_back" pos="-0.0246 -0.0446 0.018" size=".03 .035 .015"/>
+                      
+                          <!-- ======= THUMB ======= -->
+                          <body name="thumb0" pos="0.00835752 -0.0206978 -0.010093" quat="0.990237 0.0412644 -0.0209178 -0.13149">
+                              <inertial pos="0.00863339 -0.000156884 -0.000945846" quat="0.408795 0.551643 0.541079 0.485602" mass="0.00336696" diaginertia="4.50769e-007 4.48758e-007 2.35017e-007" />
+                              <joint name="thumb_ABD" type="hinge" pos="0 0 0" axis="0 1 0" range="0 2.07"/>
+                              <geom type="mesh" mesh="thumb0"/>
+                              <body name="thumb1" pos="0.0209172 -0.00084 0.0014476">
+                                  <inertial pos="0.019024 0.000361131 -0.000186763" quat="0.5208 0.469572 0.484571 0.522934" mass="0.00596213" diaginertia="9.88001e-007 9.45125e-007 5.32989e-007" />
+                                  <joint name="thumb_MCP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
+                                  <geom type="mesh" mesh="thumb1"/>
+                                  <site name="thumb_proximal" pos="0.0173 -0.008 0.0009" size=".015 .0075 .01"/>
+                                  <body name="thumb2" pos="0.0335 0 -0.0007426">
+                                      <inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
+                                      <joint name="thumb_PIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 1.03"/>
+                                      <geom type="mesh" mesh="thumb2"/>
+                                      <site name="thumb_medial" pos="0.0182 -0.008 0.0015" size=".015 .0075 .01"/>
+                                      <body name="thumb3" pos="0.0335 0 0.0010854">
+                                      	<inertial pos="0.0188965 0.000375725 0.00065381" quat="0.502274 0.484638 0.475673 0.535333" mass="0.00599792" diaginertia="9.96692e-007 9.64948e-007 5.14416e-007" />
+                                          <joint name="thumb_DIP" type="hinge" pos="0 0 0" axis="0 0 -1" range="-0.819 1.28"/>
+                                          <geom type="mesh" mesh="thumb3"/>
+                                          <site name="thumb_distal" pos="0.0156 -0.007 0.0003" size=".015 .0075 .01" axisangle="0 0 1 0.2"/>
+                                          <site class="IMU" name="thumb_IMU" pos="0.0099 -0.00052 0" quat=".5 .5 .5 .5" size=".003 .003 .003"/>
+                                      </body>
+                                  </body>
+                              </body>
+                          </body>
+
+	  				    <!-- ======= INDEX ======= -->
+                          <body name="index0" pos="0.00986485 -0.0658 0.00101221" quat="0.996195 0 0.0871557 0">
+                              <inertial pos="-0.000142572 -0.00548494 0.000206145" quat="0.699132 0.714861 -0.000723869 0.013694" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
+                              <joint name="index_ABD" type="hinge" pos="0 0 0" axis="0 0 1" range="0 0.345"/>
+                              <geom type="mesh" mesh="index0"/>
+                              <body name="index1" pos="6.26e-005 -0.018 0">
+                                  <inertial pos="0.000406487 -0.0213125 0.000655609" quat="0.698452 0.715642 -0.00415384 0.0023049" mass="0.00478235" diaginertia="8.18599e-007 7.95693e-007 3.06254e-007" />
+                                  <joint name="index_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                  <geom type="mesh" mesh="index1"/>
+                                  <site name="index_proximal" pos="0 -0.0235 -0.007" size=".009 .015 .0075"/>
+                                  <body name="index2" pos="0.001086 -0.0435 0.0005">
+                                      <inertial pos="-0.000841462 -0.012689 0.000572665" quat="0.734882 0.677481 -0.028511 0.0124827" mass="0.00344764" diaginertia="3.63962e-007 3.59059e-007 1.05304e-007" />
+                                      <joint name="index_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                      <geom type="mesh" mesh="index2"/>
+                                      <site name="index_medial" pos="0 -0.009 -0.0047" size=".0075 .01 .006"/>
+                                      <body name="index3" pos="-0.000635 -0.0245 0">
+                                          <inertial pos="4.32004e-005 -0.0125318 0.000903476" quat="0.516251 0.4829 -0.483241 0.516498" mass="0.00274415" diaginertia="1.19635e-007 1.09202e-007 7.77873e-008" />
+                                          <joint name="index_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                          <geom type="mesh" mesh="index3"/>
+                                          <site name="index_distal" pos="0 -0.0132 -0.0038" size=".0075 .01 .006"/>
+                                          <site class="IMU" name="index_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                      </body>
+                                  </body>
+                              </body>
+                          </body>
+	  				
+	  				    <!-- ======= MIDDLE ======= -->
+                          <body name="middle0" pos="-0.012814 -0.0779014 0.00544608" quat="-3.14 0.0436194 0 0">
+                              <inertial pos="-0.000142567 -0.00548493 0.000206162" quat="0.699131 0.714862 -0.000723874 0.013694" mass="0.00295579" diaginertia="4.22461e-007 4.02281e-007 1.93868e-007" />
+                              <!--<joint name="middle0" type="hinge" pos="0 0 0" range="-0.345 0" axis="0 0 -1" />-->
+                              <geom type="mesh" mesh="middle0"/>
+                              <body name="middle1" pos="6.26e-005 -0.018 0">
+                                  <inertial pos="0.000406411 -0.0213125 0.00065565" quat="0.698451 0.715642 -0.00415503 0.00230486" mass="0.00478229" diaginertia="8.18595e-007 7.9569e-007 3.06253e-007" />
+                                  <joint name="middle_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                  <geom type="mesh" mesh="middle1"/>
+                                  <site name="middle_proximal" pos="0 -0.025 -0.007" size=".009 .015 .0075"/>
+                                  <body name="middle2" pos="0.001086 -0.0435 0.0005">
+                                      <inertial pos="-0.000841444 -0.012689 0.00057266" quat="0.734883 0.677482 -0.0284727 0.0124412" mass="0.00344765" diaginertia="3.63962e-007 3.5906e-007 1.05304e-007" />
+                                      <joint name="middle_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.73"/>
+                                      <geom type="mesh" mesh="middle2"/>
+                                      <site name="middle_medial" pos="0 -0.0146 -0.0047" size=".0075 .01 .006"/>
+                                      <body name="middle3" pos="-0.000635 -0.0245 0">
+                                          <inertial pos="4.31236e-005 -0.0125318 0.000903446" quat="0.516263 0.482913 -0.483228 0.516487" mass="0.00274417" diaginertia="1.19635e-007 1.09202e-007 7.77884e-008" />
+                                          <joint name="middle_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                          <geom type="mesh" mesh="middle3"/>
+                                          <site name="middle_distal" pos="0 -0.0129 -0.0038" size=".0075 .01 .006"/>
+                                          <site class="IMU" name="middle_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/> 
+                                      </body>
+                                  </body>
+                              </body>
+                          </body>
+	  				
+  				        <!-- ======= RING ======= -->
+                          <body name="ring0" pos="-0.0354928 -0.0666999 0.00151221" quat="0.996195 0 -0.0871557 0">
+                              <inertial pos="-0.000142559 -0.00548494 0.000206147" quat="0.699132 0.714861 -0.000720946 0.013691" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
+                              <joint name="ring_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                              <geom type="mesh" mesh="ring0"/>
+                              <body name="ring1" pos="6.26e-005 -0.018 0">
+                                  <inertial pos="0.000406447 -0.0213125 0.00065563" quat="0.698451 0.715642 -0.00415675 0.00230715" mass="0.00478232" diaginertia="8.18597e-007 7.95692e-007 3.06254e-007" />
+                                  <joint name="ring_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                  <geom type="mesh" mesh="ring1"/>
+                                  <site name="ring_proximal" pos="0 -0.0259 -0.007" size=".009 .015 .0075"/>
+                                  <body name="ring2" pos="0.001086 -0.0435 0.0005">
+                                      <inertial pos="-0.000841518 -0.012689 0.000572674" quat="0.73488 0.677478 -0.0285773 0.0125557" mass="0.00344767" diaginertia="3.63963e-007 3.59061e-007 1.05305e-007" />
+                                      <joint name="ring_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                      <geom type="mesh" mesh="ring2"/>
+                                      <site name="ring_medial" pos="0 -0.0137 -0.0047" size=".0075 .01 .006"/>
+                                      <body name="ring3" pos="-0.000635 -0.0245 0">
+                                          <inertial pos="4.31973e-005 -0.0125318 0.000903457" quat="0.516255 0.482902 -0.483238 0.516495" mass="0.00274416" diaginertia="1.19635e-007 1.09202e-007 7.77877e-008" />
+                                          <joint name="ring_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                          <geom type="mesh" mesh="ring3"/>
+                                          <site name="ring_distal" pos="0 -0.0117 -0.0038" size=".0075 .01 .006"/>
+                                          <site class="IMU" name="ring_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                      </body>
+                                  </body>
+                              </body>
+                          </body>
+	  				
+	  				    <!-- ======= LITTLE ======= -->
+                          <body name="pinky0" pos="-0.0562459 -0.0554001 -0.00563858" quat="0.996195 0 -0.0871557 0">
+                              <inertial pos="-0.000142559 -0.00538484 0.000206147" quat="0.699132 0.714861 -0.000721037 0.0136911" mass="0.00295579" diaginertia="4.22462e-007 4.02281e-007 1.93868e-007" />
+                              <joint name="pinky_ABD" type="hinge" pos="0 0 0" axis="0 0 -1" range="0 0.345"/>
+                              <geom type="mesh" mesh="pinky0"/>
+                              <body name="pinky1" pos="6.26e-005 -0.0178999 0">
+                                  <inertial pos="0.000458624 -0.0160478 0.000924735" quat="0.685529 0.72723 0.021252 -0.0270914" mass="0.0034099" diaginertia="4.03391e-007 3.84061e-007 2.19866e-007" />
+                                  <joint name="pinky_MCP" type="hinge" pos="0 0 0" axis="1 0 0" range="-0.785 1.57"/>
+                                  <geom type="mesh" mesh="pinky1"/>
+                                  <site name="pinky_proximal" pos="0 -0.021 -0.0066" size=".009 .013 .0075"/>
+                                  <body name="pinky2" pos="0.000578 -0.033 0.0005">
+                                      <inertial pos="-0.000270832 -0.00914628 0.000738493" quat="0.746786 0.664476 -4.11065e-005 -0.0279675" mass="0.00250622" diaginertia="1.79089e-007 1.75934e-007 7.44543e-008" />
+                                      <joint name="pinky_PIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.72"/>
+                                      <geom type="mesh" mesh="pinky2"/>
+                                      <site name="pinky_medial" pos="0 -0.0117 -0.0047" size=".0075 .01 .006"/>
+                                      <body name="pinky3" pos="-4.78e-005 -0.0175 0">
+                                          <inertial pos="3.85026e-005 -0.0125047 0.000912295" quat="0.516037 0.484447 -0.483043 0.515448" mass="0.00273265" diaginertia="1.19141e-007 1.08629e-007 7.77271e-008" />
+                                          <joint name="pinky_DIP" type="hinge" pos="0 0 0" axis="1 0 0" range="0 1.38"/>
+                                          <geom type="mesh" mesh="pinky3"/>
+                                          <site name="pinky_distal" pos="0 -0.0121 -0.0038" size=".0075 .01 .006"/>
+                                          <site class="IMU" name="pinky_IMU" pos="0 -0.0093 0.00063" quat=".5 .5 -.5 .5" size=".003 .003 .003"/>
+                                      </body>
+                                  </body>
+                              </body>
+                          </body>
+                      </body>
+                  </body>
+              </body>
+          </body>
+    
+    </worldbody>
+	
+
+	<sensor>
+        <jointpos name="Sjp_wrist_PRO"	joint="wrist_PRO"/>
+    	<jointpos name="Sjp_wrist_UDEV" joint="wrist_UDEV"/>
+    	<jointpos name="Sjp_wrist_FLEX" joint="wrist_FLEX"/>
+        <jointpos name="Sjp_thumb_ABD"	joint="thumb_ABD"/>
+        <jointpos name="Sjp_thumb_MCP"  joint="thumb_MCP"/>
+        <jointpos name="Sjp_thumb_PIP"  joint="thumb_PIP"/>
+        <jointpos name="Sjp_thumb_DIP"  joint="thumb_DIP"/>
+    	<jointpos name="Sjp_index_ABD"  joint="index_ABD"/>
+    	<jointpos name="Sjp_index_MCP"  joint="index_MCP"/>
+    	<jointpos name="Sjp_index_PIP"  joint="index_PIP"/>
+    	<jointpos name="Sjp_index_DIP"  joint="index_DIP"/>
+    	<jointpos name="Sjp_middle_MCP" joint="middle_MCP"/>
+    	<jointpos name="Sjp_middle_PIP" joint="middle_PIP"/>
+    	<jointpos name="Sjp_middle_DIP"	joint="middle_DIP"/>
+    	<jointpos name="Sjp_ring_ABD"   joint="ring_ABD"/>
+    	<jointpos name="Sjp_ring_MCP"   joint="ring_MCP"/>
+    	<jointpos name="Sjp_ring_PIP"   joint="ring_PIP"/>
+    	<jointpos name="Sjp_ring_DIP"   joint="ring_DIP"/>
+    	<jointpos name="Sjp_pinky_ABD"  joint="pinky_ABD"/>
+    	<jointpos name="Sjp_pinky_MCP"  joint="pinky_MCP"/>
+    	<jointpos name="Sjp_pinky_PIP"  joint="pinky_PIP"/>
+    	<jointpos name="Sjp_pinky_DIP"  joint="pinky_DIP"/>
+
+		<jointvel name="Sjv_wrist_PRO"  joint="wrist_PRO"/>
+    	<jointvel name="Sjv_wrist_UDEV" joint="wrist_UDEV"/>
+    	<jointvel name="Sjv_wrist_FLEX" joint="wrist_FLEX"/>
+        <jointvel name="Sjv_thumb_ABD"  joint="thumb_ABD"/>
+        <jointvel name="Sjv_thumb_MCP"  joint="thumb_MCP"/>
+        <jointvel name="Sjv_thumb_PIP"  joint="thumb_PIP"/>
+        <jointvel name="Sjv_thumb_DIP"  joint="thumb_DIP"/>
+    	<jointvel name="Sjv_index_ABD"  joint="index_ABD"/>
+    	<jointvel name="Sjv_index_MCP"  joint="index_MCP"/>
+    	<jointvel name="Sjv_index_PIP"  joint="index_PIP"/>
+    	<jointvel name="Sjv_index_DIP"  joint="index_DIP"/>
+    	<jointvel name="Sjv_middle_MCP" joint="middle_MCP"/>
+    	<jointvel name="Sjv_middle_PIP" joint="middle_PIP"/>
+    	<jointvel name="Sjv_middle_DIP" joint="middle_DIP"/>
+    	<jointvel name="Sjv_ring_ABD"   joint="ring_ABD"/>
+    	<jointvel name="Sjv_ring_MCP"   joint="ring_MCP"/>
+    	<jointvel name="Sjv_ring_PIP"   joint="ring_PIP"/>
+    	<jointvel name="Sjv_ring_DIP"   joint="ring_DIP"/>
+    	<jointvel name="Sjv_pinky_ABD"  joint="pinky_ABD"/>
+    	<jointvel name="Sjv_pinky_MCP"  joint="pinky_MCP"/>
+    	<jointvel name="Sjv_pinky_PIP"  joint="pinky_PIP"/>
+    	<jointvel name="Sjv_pinky_DIP"  joint="pinky_DIP"/>
+		
+        <actuatorpos name="Sap_wrist_PRO" 	actuator="A_wrist_PRO" />
+    	<actuatorpos name="Sap_wrist_UDEV"	actuator="A_wrist_UDEV" />
+    	<actuatorpos name="Sap_wrist_FLEX"	actuator="A_wrist_FLEX" />
+        <actuatorpos name="Sap_thumb_ABD" 	actuator="A_thumb_ABD" />
+        <actuatorpos name="Sap_thumb_MCP" 	actuator="A_thumb_MCP" />
+        <actuatorpos name="Sap_thumb_PIP" 	actuator="A_thumb_PIP" />
+        <actuatorpos name="Sap_thumb_DIP" 	actuator="A_thumb_DIP" />
+        <actuatorpos name="Sap_index_ABD" 	actuator="A_index_ABD" />
+    	<actuatorpos name="Sap_index_MCP" 	actuator="A_index_MCP" />
+    	<actuatorpos name="Sap_middle_MCP"	actuator="A_middle_MCP"/>
+    	<actuatorpos name="Sap_ring_MCP"  	actuator="A_ring_MCP"  />
+        <actuatorpos name="Sap_pinky_ABD" 	actuator="A_pinky_ABD" />
+    	<actuatorpos name="Sap_pinky_MCP" 	actuator="A_pinky_MCP" />
+
+        <actuatorvel name="Sav_wrist_PRO" 	actuator="A_wrist_PRO" />
+        <actuatorvel name="Sav_wrist_UDEV"	actuator="A_wrist_UDEV"/>
+        <actuatorvel name="Sav_wrist_FLEX"	actuator="A_wrist_FLEX"/>
+        <actuatorvel name="Sav_thumb_ABD" 	actuator="A_thumb_ABD" />
+        <actuatorvel name="Sav_thumb_MCP" 	actuator="A_thumb_MCP" />
+        <actuatorvel name="Sav_thumb_PIP" 	actuator="A_thumb_PIP" />
+        <actuatorvel name="Sav_thumb_DIP" 	actuator="A_thumb_DIP" />
+        <actuatorvel name="Sav_index_ABD" 	actuator="A_index_ABD" />
+        <actuatorvel name="Sav_index_MCP" 	actuator="A_index_MCP" />
+        <actuatorvel name="Sav_middle_MCP"	actuator="A_middle_MCP"/>
+        <actuatorvel name="Sav_ring_MCP"  	actuator="A_ring_MCP"  />
+        <actuatorvel name="Sav_pinky_ABD" 	actuator="A_pinky_ABD" />
+        <actuatorvel name="Sav_pinky_MCP" 	actuator="A_pinky_MCP" />
+	
+        <actuatorfrc name="Saf_wrist_PRO" 	actuator="A_wrist_PRO"/>
+        <actuatorfrc name="Saf_wrist_UDEV" 	actuator="A_wrist_UDEV"/>
+        <actuatorfrc name="Saf_wrist_FLEX" 	actuator="A_wrist_FLEX"/>
+        <actuatorfrc name="Saf_thumb_ABD" 	actuator="A_thumb_ABD"/>
+        <actuatorfrc name="Saf_thumb_MCP" 	actuator="A_thumb_MCP"/>
+        <actuatorfrc name="Saf_thumb_PIP" 	actuator="A_thumb_PIP"/>
+        <actuatorfrc name="Saf_thumb_DIP" 	actuator="A_thumb_DIP"/>
+        <actuatorfrc name="Saf_index_ABD" 	actuator="A_index_ABD"/>
+        <actuatorfrc name="Saf_index_MCP" 	actuator="A_index_MCP"/>
+        <actuatorfrc name="Saf_middle_MCP" 	actuator="A_middle_MCP"/>
+        <actuatorfrc name="Saf_ring_MCP"  	actuator="A_ring_MCP"/>
+        <actuatorfrc name="Saf_pinky_ABD" 	actuator="A_pinky_ABD"/>
+        <actuatorfrc name="Saf_pinky_MCP" 	actuator="A_pinky_MCP"/>
+
+    	<accelerometer name="S_thumb_IMU" 	site="thumb_IMU"/>
+    	<accelerometer name="S_index_IMU" 	site="index_IMU"/>
+    	<accelerometer name="S_middle_IMU" 	site="middle_IMU"/>
+    	<accelerometer name="S_ring_IMU" 	site="ring_IMU"/>
+    	<accelerometer name="S_pinky_IMU" 	site="pinky_IMU"/>
+
+        <gyro                               site="thumb_IMU"/>
+        <gyro                               site="index_IMU"/>
+        <gyro                               site="middle_IMU"/>
+        <gyro                               site="ring_IMU"/>
+        <gyro                               site="pinky_IMU"/>
+
+    	<touch name="S_palm_thumb" 		site="palm_thumb"/>
+    	<touch name="S_palm_pinky" 		site="palm_pinky"/>
+    	<touch name="S_palm_side" 		site="palm_side"/>
+    	<touch name="S_palm_back" 		site="palm_back"/>
+    	<touch name="S_thumb_proximal" 	site="thumb_proximal"/>
+    	<touch name="S_thumb_medial" 	site="thumb_medial"/>
+    	<touch name="S_thumb_distal" 	site="thumb_distal"/>
+    	<touch name="S_index_proximal" 	site="index_proximal"/>
+    	<touch name="S_index_medial" 	site="index_medial"/>
+    	<touch name="S_index_distal" 	site="index_distal"/>
+    	<touch name="S_middle_proximal" site="middle_proximal"/>
+    	<touch name="S_middle_medial" 	site="middle_medial"/>
+    	<touch name="S_middle_distal" 	site="middle_distal"/>
+    	<touch name="S_ring_proximal" 	site="ring_proximal"/>
+    	<touch name="S_ring_medial" 	site="ring_medial"/>
+    	<touch name="S_ring_distal" 	site="ring_distal"/>
+    	<touch name="S_pinky_proximal" 	site="pinky_proximal"/>
+    	<touch name="S_pinky_medial" 	site="pinky_medial"/>
+    	<touch name="S_pinky_distal" 	site="pinky_distal"/>
+	</sensor>
+
+
+	<tendon>
+		<!--Index coupler tendons-->
+		<fixed name="T_index32_cpl" range="0 1">
+			<joint joint="index_DIP"  coef="0.00705"/>
+			<joint joint="index_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_index21_cpl" range="0 1">
+			<joint joint="index_PIP"  coef="0.010"/>
+			<joint joint="index_MCP"  coef="-0.010"/>
+		</fixed>
+		
+		<!--Middle coupler tendons-->
+		<fixed name="T_middle32_cpl">
+			<joint joint="middle_DIP"  coef="0.00705"/>
+			<joint joint="middle_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_middle21_cpl">
+			<joint joint="middle_PIP"  coef="0.010"/>
+			<joint joint="middle_MCP"  coef="-0.010"/>
+		</fixed>
+		
+		<!--Ring coupler tendons-->
+		<fixed name="T_ring32_cpl">
+			<joint joint="ring_DIP"  coef="0.00705"/>
+			<joint joint="ring_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_ring21_cpl">
+			<joint joint="ring_PIP"  coef="0.010"/>
+			<joint joint="ring_MCP"  coef="-0.010"/>
+		</fixed>
+		
+		<!--Little coupler tendons-->
+		<fixed name="T_pinky32_cpl">
+			<joint joint="pinky_DIP"  coef="0.00705"/>
+			<joint joint="pinky_PIP"  coef="-0.00805"/>
+		</fixed>
+		<fixed name="T_pinky21_cpl">
+			<joint joint="pinky_PIP"  coef="0.010"/>
+			<joint joint="pinky_MCP"  coef="-0.010"/>
+		</fixed>
+		
+	</tendon>
+	
+	
+	<equality>
+        <weld body1="mocap" body2="forearm" solref="0.01 1" solimp=".9 .9 0.01"/>
+
+		<!-- DIP-PIP-MCP Couplings -->
+		<tendon name="E_index32_cpl" 	tendon1="T_index32_cpl"/>
+		<tendon name="E_index21_cpl" 	tendon1="T_index21_cpl"/>
+		<tendon name="E_middle32_cpl" 	tendon1="T_middle32_cpl"/>
+		<tendon name="E_middle21_cpl" 	tendon1="T_middle21_cpl"/>
+		<tendon name="E_ring32_cpl" 	tendon1="T_ring32_cpl"/>
+		<tendon name="E_ring21_cpl" 	tendon1="T_ring21_cpl"/>
+		<tendon name="E_pinky32_cpl" 	tendon1="T_pinky32_cpl"/>
+		<tendon name="E_pinky21_cpl" 	tendon1="T_pinky21_cpl"/>
+		
+		<!-- AD-AB Coupling -->
+		<joint name="ring_pinky_cpl" joint1="ring_ABD" joint2="pinky_ABD" polycoef="0 0.5 0 0 0"/>
+	</equality>
+	
+	
+	<actuator>
+		<!-- Wrist -->
+        <position name="A_wrist_PRO"  class="MPL" joint="wrist_PRO"  ctrlrange="-1.57 1.57"/>
+		<position name="A_wrist_UDEV" class="MPL" joint="wrist_UDEV" ctrlrange="-0.26 0.79"/>
+		<position name="A_wrist_FLEX" class="MPL" joint="wrist_FLEX" ctrlrange="-1 1"/>
+
+        <!-- Thumb -->
+        <position name="A_thumb_ABD"  class="MPL" joint="thumb_ABD"  ctrlrange="0 2.1"/>
+        <position name="A_thumb_MCP"  class="MPL" joint="thumb_MCP"  ctrlrange="0 1.0"/>
+        <position name="A_thumb_PIP"  class="MPL" joint="thumb_PIP"  ctrlrange="0 1.0"/>
+        <position name="A_thumb_DIP"  class="MPL" joint="thumb_DIP"  ctrlrange="-0.82 1.3"/>
+		
+		<!-- Fingers -->
+        <position name="A_index_ABD"  class="MPL" joint="index_ABD"  ctrlrange="0 0.34"/>
+		<position name="A_index_MCP"  class="MPL" joint="index_MCP"  ctrlrange="0 1.6"/>
+		<position name="A_middle_MCP" class="MPL" joint="middle_MCP" ctrlrange="0 1.6"/>
+		<position name="A_ring_MCP"   class="MPL" joint="ring_MCP" 	 ctrlrange="0 1.6"/>
+        <position name="A_pinky_ABD"  class="MPL" joint="pinky_ABD"  ctrlrange="0 0.34"/>
+		<position name="A_pinky_MCP"  class="MPL" joint="pinky_MCP"  ctrlrange="0 1.6"/>
+	</actuator>
+</mujoco>

data/block.urdf

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<robot name="block_2">
+  <link name="block_2_base_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <inertia_scaling value="3.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="0.02"/>
+      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <box size="0.10 0.018 0.018"/>
+      </geometry>
+      <material name="blockmat">
+        <color rgba="0.1 0.7 0.1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
+      <geometry>
+        <box size="0.10 0.018 0.018"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>

data/capsule.urdf

@@ -0,0 +1,23 @@
+<?xml version="0.0" ?>
+<robot name="urdf_robot">
+  <link name="base_link">
+    <contact>
+      <rolling_friction value="0.001"/>
+      <spinning_friction value="0.001"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value=".1"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<capsule length="0.1" radius="0.02"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+
+
+

data/cartpole.urdf

@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<robot name="physics">
+
+    <link name="slideBar">
+    <visual>
+      <geometry>
+        <box size="30 0.05 0.05"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="green">
+        <color rgba="0 0.8 .8 1"/>
+      </material>
+    </visual>
+    <inertial>
+      <mass value="0"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <link name="cart">
+    <visual>
+      <geometry>
+        <box size="0.5 0.5 0.2"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+      <material name="blue">
+        <color rgba="0 0 .8 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+          <box size="0.5 0.5 0.2"/>
+      </geometry>
+      <origin xyz="0 0 0"/>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="slider_to_cart" type="prismatic">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0.0 0.0"/>
+    <parent link="slideBar"/>
+    <child link="cart"/>
+    <limit effort="1000.0" lower="-15" upper="15" velocity="5"/>
+  </joint>
+
+  <link name="pole">
+    <visual>
+      <geometry>
+        <box size="0.05 0.05 1.0"/>	
+      </geometry>
+      <origin rpy="0 0 0" xyz="0 0 0.5"/>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <inertial>
+    <origin xyz="0 0 0.5"/>
+      <mass value="10"/>
+      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
+    </inertial>
+  </link>
+
+  <joint name="cart_to_pole" type="continuous">
+    <axis xyz="0 1 0"/>
+    <origin xyz="0.0 0.0 0"/>
+    <parent link="cart"/>
+    <child link="pole"/>
+  </joint>
+  
+</robot>

data/cube.urdf

@@ -1,5 +1,5 @@
 <?xml version="0.0" ?>
-<robot name="cube.urdf">
+<robot name="cube">
   <link name="baseLink">
     <contact>
       <lateral_friction value="1.0"/>

data/cube_soft.urdf

@@ -2,7 +2,8 @@
 <robot name="cube.urdf">
   <link name="baseLink">
     <contact>
-      <lateral_friction value="1.0"/>
+      <friction_anchor/>
+      <lateral_friction value="1.3"/>
       <rolling_friction value="0.0"/>
       <stiffness value="300"/>
       <damping value="10"/>

data/dinnerware/dinnerware.mtl

@@ -0,0 +1,21 @@
+newmtl porcelain
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl solid_color
+Ka 0.000000 0.000000 0.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.200000 0.200000 0.200000
+d 1.000000
+illum 2
+Ns 0.000000
+
+newmtl pan_tefal
+Ka 0.000000 0.000000 0.000000
+Kd 0.609804 0.494118 0.486275
+Ks 0.330000 0.330000 0.330000
+map_Kd pan_tefal.jpg

data/dinnerware/generate.py

@@ -0,0 +1,252 @@
+from __future__ import print_function
+import numpy as np
+
+class Obj:
+	def __init__(self, fn):
+		self.ind_v  = 0
+		self.ind_vt = 0
+		self.ind_vn = 0
+		self.fn = fn
+		self.out = open(fn + ".tmp", "w")
+		self.out.write("mtllib dinnerware.mtl\n")
+	def __del__(self):
+		self.out.close()
+		import shutil
+		shutil.move(self.fn + ".tmp", self.fn)
+	def push_v(self, v):
+		self.out.write("v %f %f %f\n" % (v[0],v[1],v[2]))
+		self.ind_v += 1
+		return self.ind_v
+	def push_vt(self, vt):
+		self.out.write("vt %f %f\n" % (vt[0],vt[1]))
+		self.ind_vt += 1
+		return self.ind_vt
+	def push_vn(self, vn):
+		vn /= np.linalg.norm(vn)
+		self.out.write("vn %f %f %f\n" % (vn[0],vn[1],vn[2]))
+		self.ind_vn += 1
+		return self.ind_vn
+
+
+def convex_hull(points, vind, nind, tind, obj):
+	"super ineffective"
+	cnt = len(points)
+	for a in range(cnt):
+		for b in range(a+1,cnt):
+			for c in range(b+1,cnt):
+				vec1 = points[a] - points[b]
+				vec2 = points[a] - points[c]
+				n  = np.cross(vec1, vec2)
+				n /= np.linalg.norm(n)
+				C = np.dot(n, points[a])
+				inner = np.inner(n, points)
+				pos = (inner <= C+0.0001).all()
+				neg = (inner >= C-0.0001).all()
+				if not pos and not neg: continue
+				obj.out.write("f %i//%i %i//%i %i//%i\n" % ( 
+					(vind[a], nind[a], vind[b], nind[b], vind[c], nind[c])
+					if (inner - C).sum() < 0 else
+					(vind[a], nind[a], vind[c], nind[c], vind[b], nind[b]) ) )
+				#obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % ( 
+				#	(vind[a], tind[a], nind[a], vind[b], tind[b], nind[b], vind[c], tind[c], nind[c])
+				#	if (inner - C).sum() < 0 else
+				#	(vind[a], tind[a], nind[a], vind[c], tind[c], nind[c], vind[b], tind[b], nind[b]) ) )
+
+def test_convex_hull():
+	obj = Obj("convex_test.obj")
+	vlist = np.random.uniform( low=-0.1, high=+0.1, size=(100,3) )
+	nlist = vlist.copy()
+	tlist = np.random.uniform( low=0, high=+1, size=(100,2) )
+	vind = [obj.push_v(xyz) for xyz in vlist]
+	nind = [obj.push_vn(xyz) for xyz in nlist]
+	tind = [obj.push_vt(uv) for uv in tlist]
+	convex_hull(vlist, vind, nind, tind, obj)
+
+class Contour:
+	def __init__(self):
+		self.vprev_vind = None
+
+	def f(self, obj, vlist_vind, vlist_tind, vlist_nind):
+		cnt = len(vlist_vind)
+		for i1 in range(cnt):
+			i2 = i1-1
+			obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % ( 
+				vlist_vind[i2], vlist_tind[i2], vlist_nind[i2],
+				vlist_vind[i1], vlist_tind[i1], vlist_nind[i1],
+				self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
+				) )
+			obj.out.write("f %i/%i/%i %i/%i/%i %i/%i/%i\n" % ( 
+				vlist_vind[i2], vlist_tind[i2], vlist_nind[i2],
+				self.vprev_vind[i1], self.vprev_tind[i1], self.vprev_nind[i1],
+				self.vprev_vind[i2], self.vprev_tind[i2], self.vprev_nind[i2],
+				) )
+
+	def belt(self, obj, vlist, nlist, tlist):
+		vlist_vind = [obj.push_v(xyz)  for xyz in vlist]
+		vlist_tind = [obj.push_vt(xyz) for xyz in tlist]
+		vlist_nind = [obj.push_vn(xyz) for xyz in nlist]
+		if self.vprev_vind:
+			self.f(obj, vlist_vind, vlist_tind, vlist_nind)
+		else:
+			self.first_vind = vlist_vind
+			self.first_tind = vlist_tind
+			self.first_nind = vlist_nind
+		self.vprev_vind = vlist_vind
+		self.vprev_tind = vlist_tind
+		self.vprev_nind = vlist_nind
+
+	def finish(self, obj):
+		self.f(obj, self.first_vind, self.first_tind, self.first_nind)
+
+def test_contour():
+	RAD1 = 2.0
+	RAD2 = 1.5
+	obj = Obj("torus.obj")
+	obj.out.write("usemtl porcelain\n")
+	contour = Contour()
+	for step in range(100):
+		angle = step/100.0*2*np.pi
+		belt_v = []
+		belt_n = []
+		belt_t = []
+		for b in range(50):
+			beta = b/50.0*2*np.pi
+			r = RAD2*np.cos(beta) + RAD1
+			z = RAD2*np.sin(beta)
+			belt_v.append( np.array( [
+				np.cos(angle)*r,
+				np.sin(angle)*r,
+				z] ) )
+			belt_n.append( np.array( [
+				np.cos(angle)*np.cos(beta),
+				np.sin(angle)*np.cos(beta),
+				np.sin(beta)] ) )
+			belt_t.append( (0,0) )
+		contour.belt(obj, belt_v, belt_n, belt_t)
+	contour.finish(obj)
+
+#test_convex_hull()
+#test_contour()
+
+class RotationFigureParams:
+	pass
+
+def generate_plate(p, obj, collision_prefix):
+	contour = Contour()
+	belt_vlist_3d_prev = None
+
+	for step in range(p.N_VIZ+1):
+		angle = step/float(p.N_VIZ)*2*np.pi
+
+		if step % p.COLLISION_EVERY == 0:
+			vlist_3d = []
+			for x,y in p.belt_simple:
+				vlist_3d.append( [
+					np.cos(angle)*x*1.06,
+					np.sin(angle)*x*1.06,
+					y
+					] )
+			if belt_vlist_3d_prev:
+				obj2 = Obj(collision_prefix % (step / p.COLLISION_EVERY))
+				obj2.out.write("usemtl pan_tefal\n")
+				vlist = np.array( vlist_3d + belt_vlist_3d_prev )
+				vlist[len(vlist_3d):] *= 1.01  # break points on one plane
+				vlist[0,0:2] += 0.01*vlist[len(vlist_3d),0:2]
+				vlist[len(vlist_3d),0:2] += 0.01*vlist[0,0:2]
+				nlist = np.random.uniform( low=-1, high=+1, size=vlist.shape )
+				tlist = np.random.uniform( low=0, high=+1, size=(len(vlist),2) )
+				vind = [obj2.push_v(xyz) for xyz in vlist]
+				nind = [obj2.push_vn(xyz) for xyz in nlist]
+				convex_hull(vlist, vind, nind, None, obj2)
+			belt_vlist_3d_prev = vlist_3d
+		if step==p.N_VIZ: break
+
+		belt_v = []
+		belt_n = []
+		belt_t = []
+		for x,y,nx,ny in p.belt:
+			belt_v.append( np.array( [
+				np.cos(angle)*x,
+				np.sin(angle)*x,
+				y
+				] ) )
+			belt_n.append( np.array( [
+				np.cos(angle)*nx,
+				np.sin(angle)*nx,
+				ny
+				] ) )
+			if ny-nx >= 0:
+				belt_t.append( (
+					127.0/512 + np.cos(angle)*x/p.RAD_HIGH*105/512,
+					(512-135.0)/512 + np.sin(angle)*x/p.RAD_HIGH*105/512) )
+			else:
+				belt_t.append( (
+					382.0/512 + np.cos(angle)*x/p.RAD_HIGH*125/512,
+					(512-380.0)/512 + np.sin(angle)*x/p.RAD_HIGH*125/512) )
+		contour.belt(obj, belt_v, belt_n, belt_t)
+
+	contour.finish(obj)
+
+def tefal():
+	p = RotationFigureParams()
+	p.RAD_LOW  = 0.240/2
+	p.RAD_HIGH = 0.255/2
+	p.H   = 0.075
+	p.THICK = 0.005
+	p.N_VIZ = 30
+	p.COLLISION_EVERY = 5
+	p.belt = [
+		(p.RAD_HIGH-p.THICK, p.H,     -1,0),  # x y norm
+		(p.RAD_HIGH      , p.H,      0,1),
+		(p.RAD_HIGH+p.THICK, p.H,     +1,0),
+		(p.RAD_LOW+p.THICK, p.THICK,   +1,0),
+		(p.RAD_LOW      , 0,       0,-1),
+		(            0, 0,       0,-1),
+		(            0, p.THICK,   0,1),
+		(p.RAD_LOW-p.THICK, p.THICK,   0,1),
+		(p.RAD_LOW-p.THICK, 3*p.THICK,-1,0),
+		]
+	p.belt.reverse()
+	p.belt_simple = [
+		(p.RAD_HIGH-p.THICK, p.H),
+		(p.RAD_HIGH+p.THICK, p.H),
+		(p.RAD_LOW       , 0),
+		(p.RAD_LOW-p.THICK , 0)
+		]
+	obj = Obj("pan_tefal.obj")
+	obj.out.write("usemtl pan_tefal\n")
+	generate_plate(p, obj, "pan_tefal-collision%02i.obj")
+
+def plate():
+	p = RotationFigureParams()
+	p.RAD_LOW  = 0.110/2
+	p.RAD_HIGH = 0.190/2
+	p.H   = 0.060
+	p.THICK = 0.003
+	p.N_VIZ = 30
+	p.COLLISION_EVERY = 5
+	p.belt = [
+		(p.RAD_HIGH-p.THICK, p.H,     -0.9,0.5),  # x y norm
+		(p.RAD_HIGH      , p.H,      0,1),
+		(p.RAD_HIGH+p.THICK, p.H,     +1,0),
+		(p.RAD_LOW+p.THICK, p.THICK,   +1,0),
+		(p.RAD_LOW      , 0,       0,-1),
+		(            0, 0,       0,-1),
+		(            0, p.THICK,   0,1),
+		(p.RAD_LOW-3*p.THICK, p.THICK,   0,1),
+		(p.RAD_LOW-p.THICK, 3*p.THICK,-0.5,1.0),
+		]
+	p.belt.reverse()
+	p.belt_simple = [
+		(p.RAD_HIGH-p.THICK, p.H),
+		(p.RAD_HIGH+p.THICK, p.H),
+		(p.RAD_LOW       , 0),
+		(p.RAD_LOW-p.THICK , 0)
+		]
+	obj = Obj("plate.obj")
+	obj.out.write("usemtl solid_color\n")
+	generate_plate(p, obj, "plate-collision%02i.obj")
+
+plate()
+
+

data/dinnerware/pan_tefal-collision01.obj

@@ -0,0 +1,36 @@
+mtllib dinnerware.mtl
+usemtl pan_tefal
+v 0.066236 0.112453 0.075000
+v 0.070225 0.121633 0.075000
+v 0.063600 0.110158 0.000000
+v 0.060950 0.105568 0.000000
+v 0.131811 0.001125 0.075750
+v 0.141855 0.000000 0.075750
+v 0.128472 0.000000 0.000000
+v 0.123119 0.000000 0.000000
+vn 0.166577 -0.705775 0.688573
+vn -0.727212 0.200240 0.656556
+vn 0.637357 -0.756451 -0.146827
+vn -0.340753 -0.711716 0.614286
+vn 0.122979 0.860640 0.494141
+vn 0.770289 -0.238643 0.591358
+vn -0.635571 -0.120420 0.762594
+vn -0.070367 0.649517 -0.757084
+f 1//1 2//2 4//4
+f 1//1 5//5 2//2
+f 1//1 6//6 2//2
+f 1//1 4//4 5//5
+f 1//1 4//4 8//8
+f 1//1 5//5 6//6
+f 1//1 8//8 5//5
+f 2//2 3//3 4//4
+f 2//2 7//7 3//3
+f 2//2 5//5 6//6
+f 2//2 6//6 7//7
+f 3//3 7//7 4//4
+f 3//3 8//8 4//4
+f 3//3 7//7 8//8
+f 4//4 8//8 5//5
+f 4//4 7//7 8//8
+f 5//5 8//8 6//6
+f 6//6 8//8 7//7