temporary disable experimental BulletRobotics examples

13 files changed, 64 insertions, 21 deletions

diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index 15080e4dc..a299893f4 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -3,11 +3,6 @@
 #include "../BlockSolver/BlockSolverExample.h"
 #include "LinearMath/btAlignedObjectArray.h"
 #include "EmptyExample.h"
-#include "../BulletRobotics/BoxStack.h"
-#include "../BulletRobotics/FixJointBoxes.h"
-#include "../BulletRobotics/JointLimit.h"
-// #include "../BulletRobotics/GraspBox.h"
-#include "../BulletRobotics/FixJointBoxes.h"
 #include "../RenderingExamples/RenderInstancingDemo.h"
 #include "../RenderingExamples/CoordinateSystemDemo.h"
 #include "../RenderingExamples/RaytracerSetup.h"
@@ -135,11 +130,6 @@ static ExampleEntry gDefaultExamples[] =
 		ExampleEntry(1, "Soft Contact", "Using the error correction parameter (ERP) and constraint force mixing (CFM) values for contacts to simulate compliant contact.", RigidBodySoftContactCreateFunc),
 
 
-		ExampleEntry(0, "Bullet Robotics"),
-		ExampleEntry(1, "Box Stack", "Create a stack of boxes of large mass ratio.", BoxStackExampleCreateFunc),
-		ExampleEntry(1, "Joint Limit", "Create three objects joint together", JointLimitCreateFunc),
-		// ExampleEntry(1, "Grasp Box", "A robot arm of large mass tries to grasp a box of small mass", GraspBoxCreateFunc),
-		ExampleEntry(1, "FixJoint Boxes", "FixJoint Boxes", FixJointBoxesCreateFunc),
 
 		ExampleEntry(0, "MultiBody"),
 		ExampleEntry(1, "MultiDof", "Create a basic btMultiBody with 3-DOF spherical joints (mobilizers). The demo uses a fixed base or a floating base at restart.", MultiDofCreateFunc),
diff --git a/examples/SharedMemory/BodyJointInfoUtility.h b/examples/SharedMemory/BodyJointInfoUtility.h
index fc688b443..0be4814b2 100644
--- a/examples/SharedMemory/BodyJointInfoUtility.h
+++ b/examples/SharedMemory/BodyJointInfoUtility.h
@@ -21,6 +21,12 @@ inline char* strDup(const char* const str)
 template <typename T, typename U>
 void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutput)
 {
+	int numDofs = 0;
+	if (mb->m_baseMass>0)
+	{
+		numDofs = 6;
+	}
+
 	if (mb->m_baseName)
 	{
 		if (verboseOutput)
@@ -107,7 +113,9 @@ void addJointInfoFromMultiBodyData(const T* mb, U* bodyJoints, bool verboseOutpu
 		}
 		qOffset += mb->m_links[link].m_posVarCount;
 		uOffset += mb->m_links[link].m_dofCount;
+		numDofs += mb->m_links[link].m_dofCount;
 	}
+	bodyJoints->m_numDofs = numDofs;
 }
 
 #endif  //BODY_JOINT_INFO_UTILITY_H
diff --git a/examples/SharedMemory/PhysicsClient.h b/examples/SharedMemory/PhysicsClient.h
index 052f8f100..c09dce2be 100644
--- a/examples/SharedMemory/PhysicsClient.h
+++ b/examples/SharedMemory/PhysicsClient.h
@@ -33,6 +33,8 @@ public:
 
 	virtual int getNumJoints(int bodyUniqueId) const = 0;
 
+	virtual int getNumDofs(int bodyUniqueId) const = 0;
+
 	virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const = 0;
 
 	virtual int getNumUserConstraints() const = 0;
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 945ddc552..59285ad68 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -2526,6 +2526,12 @@ B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqu
 	return cl->getNumJoints(bodyUniqueId);
 }
 
+B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId)
+{
+        PhysicsClient* cl = (PhysicsClient*)physClient;
+        return cl->getNumDofs(bodyUniqueId);
+}
+
 B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId)
 {
 	int nj = b3GetNumJoints(physClient, bodyUniqueId);
@@ -4642,8 +4648,9 @@ B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateJacobianCommandInit(b3Physi
 	command->m_calculateJacobianArguments.m_localPosition[0] = localPosition[0];
 	command->m_calculateJacobianArguments.m_localPosition[1] = localPosition[1];
 	command->m_calculateJacobianArguments.m_localPosition[2] = localPosition[2];
-	int numJoints = cl->getNumJoints(bodyUniqueId);
-	for (int i = 0; i < numJoints; i++)
+
+	int numDofs = cl->getNumDofs(bodyUniqueId);
+	for (int i = 0; i < numDofs; i++)
 	{
 		command->m_calculateJacobianArguments.m_jointPositionsQ[i] = jointPositionsQ[i];
 		command->m_calculateJacobianArguments.m_jointVelocitiesQdot[i] = jointVelocitiesQdot[i];
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 2b67887f0..6286233a9 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -118,7 +118,9 @@ extern "C"
 
 	///give a unique body index (after loading the body) return the number of joints.
 	B3_SHARED_API int b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyUniqueId);
-
+	  ///give a unique body index (after loading the body) return the number of degrees of freedom (DoF).
+        B3_SHARED_API int b3GetNumDofs(b3PhysicsClientHandle physClient, int bodyUniqueId);
+	
 	///compute the number of degrees of freedom for this body.
 	///Return -1 for unsupported spherical joint, -2 for unsupported planar joint.
 	B3_SHARED_API int b3ComputeDofCount(b3PhysicsClientHandle physClient, int bodyUniqueId);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 168d862da..88dfe33cd 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -144,6 +144,17 @@ int PhysicsClientSharedMemory::getNumJoints(int bodyUniqueId) const
 	return 0;
 }
 
+int PhysicsClientSharedMemory::getNumDofs(int bodyUniqueId) const
+{
+        BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
+        if (bodyJointsPtr && *bodyJointsPtr)
+        {
+                BodyJointInfoCache* bodyJoints = *bodyJointsPtr;
+                return bodyJoints->m_numDofs;
+        }
+        return 0;
+}
+
 bool PhysicsClientSharedMemory::getJointInfo(int bodyUniqueId, int jointIndex, b3JointInfo& info) const
 {
 	BodyJointInfoCache** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.h b/examples/SharedMemory/PhysicsClientSharedMemory.h
index 1ff437603..2b45ababc 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.h
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.h
@@ -45,6 +45,8 @@ public:
 
 	virtual int getNumJoints(int bodyUniqueId) const;
 
+	virtual int getNumDofs(int bodyUniqueId) const;
+
 	virtual bool getJointInfo(int bodyUniqueId, int jointIndex, struct b3JointInfo& info) const;
 
 	virtual int getNumUserConstraints() const;
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index fb5cc81e1..e7909e27d 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -1275,9 +1275,9 @@ bool PhysicsDirect::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const
 	return false;
 }
 
-int PhysicsDirect::getNumJoints(int bodyIndex) const
+int PhysicsDirect::getNumJoints(int bodyUniqueId) const
 {
-	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
+	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
 	if (bodyJointsPtr && *bodyJointsPtr)
 	{
 		BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
@@ -1287,6 +1287,18 @@ int PhysicsDirect::getNumJoints(int bodyIndex) const
 	return 0;
 }
 
+int PhysicsDirect::getNumDofs(int bodyUniqueId) const
+{
+        BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyUniqueId];
+        if (bodyJointsPtr && *bodyJointsPtr)
+        {
+                BodyJointInfoCache2* bodyJoints = *bodyJointsPtr;
+                return bodyJoints->m_numDofs;
+        }
+        btAssert(0);
+        return 0;
+}
+
 bool PhysicsDirect::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
 {
 	BodyJointInfoCache2** bodyJointsPtr = m_data->m_bodyJointMap[bodyIndex];
diff --git a/examples/SharedMemory/PhysicsDirect.h b/examples/SharedMemory/PhysicsDirect.h
index 128f0570a..9f5680b4d 100644
--- a/examples/SharedMemory/PhysicsDirect.h
+++ b/examples/SharedMemory/PhysicsDirect.h
@@ -61,7 +61,9 @@ public:
 
 	virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
 
-	virtual int getNumJoints(int bodyIndex) const;
+	virtual int getNumJoints(int bodyUniqueId) const;
+
+	virtual int getNumDofs(int bodyUniqueId) const;
 
 	virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
 
diff --git a/examples/SharedMemory/PhysicsLoopBack.cpp b/examples/SharedMemory/PhysicsLoopBack.cpp
index 1ad8d43eb..5b9d251df 100644
--- a/examples/SharedMemory/PhysicsLoopBack.cpp
+++ b/examples/SharedMemory/PhysicsLoopBack.cpp
@@ -107,9 +107,14 @@ bool PhysicsLoopBack::getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) con
 	return m_data->m_physicsClient->getBodyInfo(bodyUniqueId, info);
 }
 
-int PhysicsLoopBack::getNumJoints(int bodyIndex) const
+int PhysicsLoopBack::getNumJoints(int bodyUniqueId) const
 {
-	return m_data->m_physicsClient->getNumJoints(bodyIndex);
+	return m_data->m_physicsClient->getNumJoints(bodyUniqueId);
+}
+
+int PhysicsLoopBack::getNumDofs(int bodyUniqueId) const
+{
+        return m_data->m_physicsClient->getNumDofs(bodyUniqueId);
 }
 
 bool PhysicsLoopBack::getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const
diff --git a/examples/SharedMemory/PhysicsLoopBack.h b/examples/SharedMemory/PhysicsLoopBack.h
index cfa9a57ed..293e440bc 100644
--- a/examples/SharedMemory/PhysicsLoopBack.h
+++ b/examples/SharedMemory/PhysicsLoopBack.h
@@ -42,7 +42,9 @@ public:
 
 	virtual bool getBodyInfo(int bodyUniqueId, struct b3BodyInfo& info) const;
 
-	virtual int getNumJoints(int bodyIndex) const;
+	virtual int getNumJoints(int bodyUniqueId) const;
+
+	virtual int getNumDofs(int bodyUniqueId) const;
 
 	virtual bool getJointInfo(int bodyIndex, int jointIndex, struct b3JointInfo& info) const;
 
diff --git a/examples/pybullet/gym/pybullet_envs/agents/utility.py b/examples/pybullet/gym/pybullet_envs/agents/utility.py
index 9e45fc127..0836a2ed2 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/utility.py
+++ b/examples/pybullet/gym/pybullet_envs/agents/utility.py
@@ -149,7 +149,7 @@ def save_config(config, logdir=None):
     tf.logging.info(message.format(config.logdir))
     tf.gfile.MakeDirs(config.logdir)
     config_path = os.path.join(config.logdir, 'config.yaml')
-    with tf.gfile.FastGFile(config_path, 'w') as file_:
+    with tf.gfile.GFile(config_path, 'w') as file_:
       yaml.dump(config, file_, default_flow_style=False)
   else:
     message = (
diff --git a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py b/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py
index 201ea8988..1342977c7 100644
--- a/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py
+++ b/examples/pybullet/gym/pybullet_envs/minitaur/agents/scripts/utility.py
@@ -172,7 +172,7 @@ def save_config(config, logdir=None):
     tf.logging.info(message.format(config.logdir))
     tf.gfile.MakeDirs(config.logdir)
     config_path = os.path.join(config.logdir, 'config.yaml')
-    with tf.gfile.FastGFile(config_path, 'w') as file_:
+    with tf.gfile.GFile(config_path, 'w') as file_:
       yaml.dump(config, file_, default_flow_style=False)
   else:
     message = (