Code-style consistency improvement:

Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files.
make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type.
This commit contains no other changes aside from adding and applying clang-format-all.sh

6 files changed, 757 insertions, 825 deletions

diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index e907c9308..843a53ab6 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -21,70 +21,65 @@ static btScalar sGripperClosingTargetVelocity = -0.7f;
 
 class GripperGraspExample : public CommonExampleInterface
 {
-    CommonGraphicsApp* m_app;
+	CommonGraphicsApp* m_app;
 	GUIHelperInterface* m_guiHelper;
 	b3RobotSimulatorClientAPI m_robotSim;
 	int m_options;
-    int m_gripperIndex;
+	int m_gripperIndex;
 	double m_time;
 	b3Vector3 m_targetPos;
 	b3Vector3 m_worldPos;
 	b3Vector4 m_targetOri;
 	b3Vector4 m_worldOri;
-	
- 	b3AlignedObjectArray<int> m_movingInstances;
+
+	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
 		numCubesX = 20,
 		numCubesY = 20
 	};
+
 public:
-    
-    GripperGraspExample(GUIHelperInterface* helper, int options)
-    :m_app(helper->getAppInterface()),
-	m_guiHelper(helper),
-	m_options(options),
-    m_gripperIndex(-1)
+	GripperGraspExample(GUIHelperInterface* helper, int options)
+		: m_app(helper->getAppInterface()),
+		  m_guiHelper(helper),
+		  m_options(options),
+		  m_gripperIndex(-1)
 	{
 		m_app->setUpAxis(2);
-    }
-    virtual ~GripperGraspExample()
-    {
-    }
-
-    
-    virtual void physicsDebugDraw(int debugDrawMode)
-    {
-		m_robotSim.debugDraw(debugDrawMode);
-    }
-    virtual void    initPhysics()
-    {
+	}
+	virtual ~GripperGraspExample()
+	{
+	}
 
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+		m_robotSim.debugDraw(debugDrawMode);
+	}
+	virtual void initPhysics()
+	{
 		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
 		m_robotSim.setGuiHelper(m_guiHelper);
 		bool connected = m_robotSim.connect(mode);
 
-		b3Printf("robotSim connected = %d",connected);
-	
-        if ((m_options & eGRIPPER_GRASP)!=0)
-        {
-            
-            {
-                SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
-                slider.m_minVal=-2;
-                slider.m_maxVal=2;
-                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-            }
-            
-            {
-                SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
-                                    );
-                slider.m_minVal=-1;
-                slider.m_maxVal=1;
-                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-            }
+		b3Printf("robotSim connected = %d", connected);
+
+		if ((m_options & eGRIPPER_GRASP) != 0)
+		{
 			{
+				SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
+				slider.m_minVal = -2;
+				slider.m_maxVal = 2;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
 
+			{
+				SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
+				slider.m_minVal = -1;
+				slider.m_maxVal = 1;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+			{
 				b3RobotSimulatorLoadUrdfFileArgs args;
 				args.m_startPosition.setValue(0, 0, .107);
 				args.m_startOrientation.setEulerZYX(0, 0, 0);
@@ -92,24 +87,23 @@ public:
 				m_robotSim.loadURDF("cube_small.urdf", args);
 			}
 
-            {
-                b3RobotSimulatorLoadFileResults results;
-                m_robotSim.loadSDF("gripper/wsg50_with_r2d2_gripper.sdf",results);
-                if (results.m_uniqueObjectIds.size()==1)
-                {
-                    
-                    m_gripperIndex = results.m_uniqueObjectIds[0];
-                    int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
-                    b3Printf("numJoints = %d",numJoints);
-                    
-                    for (int i=0;i<numJoints;i++)
-                    {
-                        b3JointInfo jointInfo;
-                        m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
-                        b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
-                    }
-                    
-                    /*
+			{
+				b3RobotSimulatorLoadFileResults results;
+				m_robotSim.loadSDF("gripper/wsg50_with_r2d2_gripper.sdf", results);
+				if (results.m_uniqueObjectIds.size() == 1)
+				{
+					m_gripperIndex = results.m_uniqueObjectIds[0];
+					int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
+					b3Printf("numJoints = %d", numJoints);
+
+					for (int i = 0; i < numJoints; i++)
+					{
+						b3JointInfo jointInfo;
+						m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
+						b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
+					}
+
+					/*
                     int fingerJointIndices[2]={1,3};
                     double fingerTargetPositions[2]={-0.04,0.04};
                     for (int i=0;i<2;i++)
@@ -122,394 +116,380 @@ public:
                         m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
                     }
                     */
-                    int fingerJointIndices[3]={0,1,3};
-                    double fingerTargetVelocities[3]={-0.2,.5,-.5};
-                    double maxTorqueValues[3]={40.0,50.0,50.0};
-                    for (int i=0;i<3;i++)
-                    {
-                        b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                        controlArgs.m_targetVelocity = fingerTargetVelocities[i];
-                        controlArgs.m_maxTorqueValue = maxTorqueValues[i];
-                        controlArgs.m_kd = 1.;
-                        m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
-                    }
-                }
-            }
-           
-            if (1)
-            {
-                m_robotSim.loadURDF("plane.urdf");
-            }
-            m_robotSim.setGravity(btVector3(0,0,-10));
-            m_robotSim.setNumSimulationSubSteps(4);
-        }
-
-        if ((m_options & eTWO_POINT_GRASP)!=0)
-        {
-            {
-                b3RobotSimulatorLoadUrdfFileArgs args;
-                args.m_startPosition.setValue(0, 0, .107);
-                m_robotSim.loadURDF("cube_small.urdf", args);
-            }
-            
-            {
-                b3RobotSimulatorLoadUrdfFileArgs args;
-                args.m_startPosition.setValue(0.068, 0.02, 0.11);
-                m_robotSim.loadURDF("cube_gripper_left.urdf", args);
-                
-                b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                controlArgs.m_targetVelocity = -0.1;
-                controlArgs.m_maxTorqueValue = 10.0;
-                controlArgs.m_kd = 1.;
-                m_robotSim.setJointMotorControl(1,0,controlArgs);
-            }
-            
-            {
-                b3RobotSimulatorLoadUrdfFileArgs args;
-                args.m_startPosition.setValue(-0.068, 0.02, 0.11);
-                m_robotSim.loadURDF("cube_gripper_right.urdf", args);
-                
-                b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                controlArgs.m_targetVelocity = 0.1;
-                controlArgs.m_maxTorqueValue = 10.0;
-                controlArgs.m_kd = 1.;
-                m_robotSim.setJointMotorControl(2,0,controlArgs);
-            }
-            
-            if (1)
-            {
-                m_robotSim.loadURDF("plane.urdf");
-                
-            }
-            m_robotSim.setGravity(btVector3(0,0,-10));
-            m_robotSim.setNumSimulationSubSteps(4);
-        }
-        
-        if ((m_options & eONE_MOTOR_GRASP)!=0)
-        {
-	    m_robotSim.setNumSolverIterations(150);
-            {
-                SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
-                slider.m_minVal=-2;
-                slider.m_maxVal=2;
-                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-            }
-            
-            {
-                SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
-                                    );
-                slider.m_minVal=-1;
-                slider.m_maxVal=1;
-                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-            }
-            {
-                b3RobotSimulatorLoadUrdfFileArgs args;
-                args.m_startPosition.setValue(0, -0.2, .47);
-                args.m_startOrientation.setEulerZYX(SIMD_HALF_PI, 0, 0);
-                m_robotSim.loadURDF("dinnerware/pan_tefal.urdf", args);
-            }
-            {
-                b3RobotSimulatorLoadFileResults args;
-                b3RobotSimulatorLoadFileResults results;
-                m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf",results);
-
-                if (results.m_uniqueObjectIds.size()==1)
-                {
-                    
-                    m_gripperIndex = results.m_uniqueObjectIds[0];
-                    int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
-                    b3Printf("numJoints = %d",numJoints);
-                    
-                    for (int i=0;i<numJoints;i++)
-                    {
-                        b3JointInfo jointInfo;
-                        m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
-                        b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
-                    }
-                    
-                    for (int i=0;i<8;i++)
-                    {
-                        b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                        controlArgs.m_maxTorqueValue = 0.0;
-                        m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
-                    }
+					int fingerJointIndices[3] = {0, 1, 3};
+					double fingerTargetVelocities[3] = {-0.2, .5, -.5};
+					double maxTorqueValues[3] = {40.0, 50.0, 50.0};
+					for (int i = 0; i < 3; i++)
+					{
+						b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+						controlArgs.m_targetVelocity = fingerTargetVelocities[i];
+						controlArgs.m_maxTorqueValue = maxTorqueValues[i];
+						controlArgs.m_kd = 1.;
+						m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
+					}
+				}
+			}
 
-                }
-            }
-            
-            if (1)
-            {
-                m_robotSim.loadURDF("plane.urdf");
-            }
-            m_robotSim.setGravity(btVector3(0,0,-10));
-            
-            b3JointInfo revoluteJoint1;
-            revoluteJoint1.m_parentFrame[0] = -0.055;
-            revoluteJoint1.m_parentFrame[1] = 0;
-            revoluteJoint1.m_parentFrame[2] = 0.02;
-            revoluteJoint1.m_parentFrame[3] = 0;
-            revoluteJoint1.m_parentFrame[4] = 0;
-            revoluteJoint1.m_parentFrame[5] = 0;
-            revoluteJoint1.m_parentFrame[6] = 1.0;
-            revoluteJoint1.m_childFrame[0] = 0;
-            revoluteJoint1.m_childFrame[1] = 0;
-            revoluteJoint1.m_childFrame[2] = 0;
-            revoluteJoint1.m_childFrame[3] = 0;
-            revoluteJoint1.m_childFrame[4] = 0;
-            revoluteJoint1.m_childFrame[5] = 0;
-            revoluteJoint1.m_childFrame[6] = 1.0;
-            revoluteJoint1.m_jointAxis[0] = 1.0;
-            revoluteJoint1.m_jointAxis[1] = 0.0;
-            revoluteJoint1.m_jointAxis[2] = 0.0;
-            revoluteJoint1.m_jointType = ePoint2PointType;
-            b3JointInfo revoluteJoint2;
-            revoluteJoint2.m_parentFrame[0] = 0.055;
-            revoluteJoint2.m_parentFrame[1] = 0;
-            revoluteJoint2.m_parentFrame[2] = 0.02;
-            revoluteJoint2.m_parentFrame[3] = 0;
-            revoluteJoint2.m_parentFrame[4] = 0;
-            revoluteJoint2.m_parentFrame[5] = 0;
-            revoluteJoint2.m_parentFrame[6] = 1.0;
-            revoluteJoint2.m_childFrame[0] = 0;
-            revoluteJoint2.m_childFrame[1] = 0;
-            revoluteJoint2.m_childFrame[2] = 0;
-            revoluteJoint2.m_childFrame[3] = 0;
-            revoluteJoint2.m_childFrame[4] = 0;
-            revoluteJoint2.m_childFrame[5] = 0;
-            revoluteJoint2.m_childFrame[6] = 1.0;
-            revoluteJoint2.m_jointAxis[0] = 1.0;
-            revoluteJoint2.m_jointAxis[1] = 0.0;
-            revoluteJoint2.m_jointAxis[2] = 0.0;
-            revoluteJoint2.m_jointType = ePoint2PointType;
-            m_robotSim.createConstraint(1, 2, 1, 4, &revoluteJoint1);
-            m_robotSim.createConstraint(1, 3, 1, 6, &revoluteJoint2);
-        }
-		
-        if ((m_options & eGRASP_SOFT_BODY)!=0)
-        {
-            {
-                SliderParams slider("Vertical velocity",&sGripperVerticalVelocity);
-                slider.m_minVal=-2;
-                slider.m_maxVal=2;
-                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-            }
-            
-            {
-                SliderParams slider("Closing velocity",&sGripperClosingTargetVelocity
-                                    );
-                slider.m_minVal=-1;
-                slider.m_maxVal=1;
-                m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
-            }
-            {
-                b3RobotSimulatorLoadFileResults results;
-				m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf",results);
-
-                if (results.m_uniqueObjectIds.size()==1)
-                {
-                    
-                    m_gripperIndex = results.m_uniqueObjectIds[0];
-                    int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
-                    b3Printf("numJoints = %d",numJoints);
-                    
-                    for (int i=0;i<numJoints;i++)
-                    {
-                        b3JointInfo jointInfo;
-                        m_robotSim.getJointInfo(m_gripperIndex,i,&jointInfo);
-                        b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
-                    }
-                    
-                    for (int i=0;i<8;i++)
-                    {
-                        b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                        controlArgs.m_maxTorqueValue = 0.0;
-                        m_robotSim.setJointMotorControl(m_gripperIndex,i,controlArgs);
-                    }
-                    
-                }
-            }
-            {
+			if (1)
+			{
+				m_robotSim.loadURDF("plane.urdf");
+			}
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+			m_robotSim.setNumSimulationSubSteps(4);
+		}
+
+		if ((m_options & eTWO_POINT_GRASP) != 0)
+		{
+			{
 				b3RobotSimulatorLoadUrdfFileArgs args;
-                args.m_startPosition.setValue(0,0,-0.2);
-                args.m_startOrientation.setEulerZYX(0,0,0);
-                m_robotSim.loadURDF("plane.urdf", args);
-                
-            }
-            m_robotSim.setGravity(btVector3(0,0,-10));
-            m_robotSim.loadSoftBody("bunny.obj",0.1,0.1,0.02);
-            
-            b3JointInfo revoluteJoint1;
-            revoluteJoint1.m_parentFrame[0] = -0.055;
-            revoluteJoint1.m_parentFrame[1] = 0;
-            revoluteJoint1.m_parentFrame[2] = 0.02;
-            revoluteJoint1.m_parentFrame[3] = 0;
-            revoluteJoint1.m_parentFrame[4] = 0;
-            revoluteJoint1.m_parentFrame[5] = 0;
-            revoluteJoint1.m_parentFrame[6] = 1.0;
-            revoluteJoint1.m_childFrame[0] = 0;
-            revoluteJoint1.m_childFrame[1] = 0;
-            revoluteJoint1.m_childFrame[2] = 0;
-            revoluteJoint1.m_childFrame[3] = 0;
-            revoluteJoint1.m_childFrame[4] = 0;
-            revoluteJoint1.m_childFrame[5] = 0;
-            revoluteJoint1.m_childFrame[6] = 1.0;
-            revoluteJoint1.m_jointAxis[0] = 1.0;
-            revoluteJoint1.m_jointAxis[1] = 0.0;
-            revoluteJoint1.m_jointAxis[2] = 0.0;
-            revoluteJoint1.m_jointType = ePoint2PointType;
-            b3JointInfo revoluteJoint2;
-            revoluteJoint2.m_parentFrame[0] = 0.055;
-            revoluteJoint2.m_parentFrame[1] = 0;
-            revoluteJoint2.m_parentFrame[2] = 0.02;
-            revoluteJoint2.m_parentFrame[3] = 0;
-            revoluteJoint2.m_parentFrame[4] = 0;
-            revoluteJoint2.m_parentFrame[5] = 0;
-            revoluteJoint2.m_parentFrame[6] = 1.0;
-            revoluteJoint2.m_childFrame[0] = 0;
-            revoluteJoint2.m_childFrame[1] = 0;
-            revoluteJoint2.m_childFrame[2] = 0;
-            revoluteJoint2.m_childFrame[3] = 0;
-            revoluteJoint2.m_childFrame[4] = 0;
-            revoluteJoint2.m_childFrame[5] = 0;
-            revoluteJoint2.m_childFrame[6] = 1.0;
-            revoluteJoint2.m_jointAxis[0] = 1.0;
-            revoluteJoint2.m_jointAxis[1] = 0.0;
-            revoluteJoint2.m_jointAxis[2] = 0.0;
-            revoluteJoint2.m_jointType = ePoint2PointType;
-            m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
-            m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
-        }
-        
-        if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0)
-        {
-            {
-                b3RobotSimulatorLoadUrdfFileArgs args;
-				args.m_startPosition.setValue(-0.5,0,0.1);
-				args.m_startOrientation.setEulerZYX(0,0,0);
+				args.m_startPosition.setValue(0, 0, .107);
+				m_robotSim.loadURDF("cube_small.urdf", args);
+			}
+
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(0.068, 0.02, 0.11);
+				m_robotSim.loadURDF("cube_gripper_left.urdf", args);
+
+				b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+				controlArgs.m_targetVelocity = -0.1;
+				controlArgs.m_maxTorqueValue = 10.0;
+				controlArgs.m_kd = 1.;
+				m_robotSim.setJointMotorControl(1, 0, controlArgs);
+			}
+
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(-0.068, 0.02, 0.11);
+				m_robotSim.loadURDF("cube_gripper_right.urdf", args);
+
+				b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+				controlArgs.m_targetVelocity = 0.1;
+				controlArgs.m_maxTorqueValue = 10.0;
+				controlArgs.m_kd = 1.;
+				m_robotSim.setJointMotorControl(2, 0, controlArgs);
+			}
+
+			if (1)
+			{
+				m_robotSim.loadURDF("plane.urdf");
+			}
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+			m_robotSim.setNumSimulationSubSteps(4);
+		}
+
+		if ((m_options & eONE_MOTOR_GRASP) != 0)
+		{
+			m_robotSim.setNumSolverIterations(150);
+			{
+				SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
+				slider.m_minVal = -2;
+				slider.m_maxVal = 2;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+
+			{
+				SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
+				slider.m_minVal = -1;
+				slider.m_maxVal = 1;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(0, -0.2, .47);
+				args.m_startOrientation.setEulerZYX(SIMD_HALF_PI, 0, 0);
+				m_robotSim.loadURDF("dinnerware/pan_tefal.urdf", args);
+			}
+			{
+				b3RobotSimulatorLoadFileResults args;
+				b3RobotSimulatorLoadFileResults results;
+				m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
+
+				if (results.m_uniqueObjectIds.size() == 1)
+				{
+					m_gripperIndex = results.m_uniqueObjectIds[0];
+					int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
+					b3Printf("numJoints = %d", numJoints);
+
+					for (int i = 0; i < numJoints; i++)
+					{
+						b3JointInfo jointInfo;
+						m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
+						b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
+					}
+
+					for (int i = 0; i < 8; i++)
+					{
+						b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+						controlArgs.m_maxTorqueValue = 0.0;
+						m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
+					}
+				}
+			}
+
+			if (1)
+			{
+				m_robotSim.loadURDF("plane.urdf");
+			}
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+
+			b3JointInfo revoluteJoint1;
+			revoluteJoint1.m_parentFrame[0] = -0.055;
+			revoluteJoint1.m_parentFrame[1] = 0;
+			revoluteJoint1.m_parentFrame[2] = 0.02;
+			revoluteJoint1.m_parentFrame[3] = 0;
+			revoluteJoint1.m_parentFrame[4] = 0;
+			revoluteJoint1.m_parentFrame[5] = 0;
+			revoluteJoint1.m_parentFrame[6] = 1.0;
+			revoluteJoint1.m_childFrame[0] = 0;
+			revoluteJoint1.m_childFrame[1] = 0;
+			revoluteJoint1.m_childFrame[2] = 0;
+			revoluteJoint1.m_childFrame[3] = 0;
+			revoluteJoint1.m_childFrame[4] = 0;
+			revoluteJoint1.m_childFrame[5] = 0;
+			revoluteJoint1.m_childFrame[6] = 1.0;
+			revoluteJoint1.m_jointAxis[0] = 1.0;
+			revoluteJoint1.m_jointAxis[1] = 0.0;
+			revoluteJoint1.m_jointAxis[2] = 0.0;
+			revoluteJoint1.m_jointType = ePoint2PointType;
+			b3JointInfo revoluteJoint2;
+			revoluteJoint2.m_parentFrame[0] = 0.055;
+			revoluteJoint2.m_parentFrame[1] = 0;
+			revoluteJoint2.m_parentFrame[2] = 0.02;
+			revoluteJoint2.m_parentFrame[3] = 0;
+			revoluteJoint2.m_parentFrame[4] = 0;
+			revoluteJoint2.m_parentFrame[5] = 0;
+			revoluteJoint2.m_parentFrame[6] = 1.0;
+			revoluteJoint2.m_childFrame[0] = 0;
+			revoluteJoint2.m_childFrame[1] = 0;
+			revoluteJoint2.m_childFrame[2] = 0;
+			revoluteJoint2.m_childFrame[3] = 0;
+			revoluteJoint2.m_childFrame[4] = 0;
+			revoluteJoint2.m_childFrame[5] = 0;
+			revoluteJoint2.m_childFrame[6] = 1.0;
+			revoluteJoint2.m_jointAxis[0] = 1.0;
+			revoluteJoint2.m_jointAxis[1] = 0.0;
+			revoluteJoint2.m_jointAxis[2] = 0.0;
+			revoluteJoint2.m_jointType = ePoint2PointType;
+			m_robotSim.createConstraint(1, 2, 1, 4, &revoluteJoint1);
+			m_robotSim.createConstraint(1, 3, 1, 6, &revoluteJoint2);
+		}
+
+		if ((m_options & eGRASP_SOFT_BODY) != 0)
+		{
+			{
+				SliderParams slider("Vertical velocity", &sGripperVerticalVelocity);
+				slider.m_minVal = -2;
+				slider.m_maxVal = 2;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+
+			{
+				SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
+				slider.m_minVal = -1;
+				slider.m_maxVal = 1;
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+			}
+			{
+				b3RobotSimulatorLoadFileResults results;
+				m_robotSim.loadSDF("gripper/wsg50_one_motor_gripper_new.sdf", results);
+
+				if (results.m_uniqueObjectIds.size() == 1)
+				{
+					m_gripperIndex = results.m_uniqueObjectIds[0];
+					int numJoints = m_robotSim.getNumJoints(m_gripperIndex);
+					b3Printf("numJoints = %d", numJoints);
+
+					for (int i = 0; i < numJoints; i++)
+					{
+						b3JointInfo jointInfo;
+						m_robotSim.getJointInfo(m_gripperIndex, i, &jointInfo);
+						b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
+					}
+
+					for (int i = 0; i < 8; i++)
+					{
+						b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+						controlArgs.m_maxTorqueValue = 0.0;
+						m_robotSim.setJointMotorControl(m_gripperIndex, i, controlArgs);
+					}
+				}
+			}
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(0, 0, -0.2);
+				args.m_startOrientation.setEulerZYX(0, 0, 0);
+				m_robotSim.loadURDF("plane.urdf", args);
+			}
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+			m_robotSim.loadSoftBody("bunny.obj", 0.1, 0.1, 0.02);
+
+			b3JointInfo revoluteJoint1;
+			revoluteJoint1.m_parentFrame[0] = -0.055;
+			revoluteJoint1.m_parentFrame[1] = 0;
+			revoluteJoint1.m_parentFrame[2] = 0.02;
+			revoluteJoint1.m_parentFrame[3] = 0;
+			revoluteJoint1.m_parentFrame[4] = 0;
+			revoluteJoint1.m_parentFrame[5] = 0;
+			revoluteJoint1.m_parentFrame[6] = 1.0;
+			revoluteJoint1.m_childFrame[0] = 0;
+			revoluteJoint1.m_childFrame[1] = 0;
+			revoluteJoint1.m_childFrame[2] = 0;
+			revoluteJoint1.m_childFrame[3] = 0;
+			revoluteJoint1.m_childFrame[4] = 0;
+			revoluteJoint1.m_childFrame[5] = 0;
+			revoluteJoint1.m_childFrame[6] = 1.0;
+			revoluteJoint1.m_jointAxis[0] = 1.0;
+			revoluteJoint1.m_jointAxis[1] = 0.0;
+			revoluteJoint1.m_jointAxis[2] = 0.0;
+			revoluteJoint1.m_jointType = ePoint2PointType;
+			b3JointInfo revoluteJoint2;
+			revoluteJoint2.m_parentFrame[0] = 0.055;
+			revoluteJoint2.m_parentFrame[1] = 0;
+			revoluteJoint2.m_parentFrame[2] = 0.02;
+			revoluteJoint2.m_parentFrame[3] = 0;
+			revoluteJoint2.m_parentFrame[4] = 0;
+			revoluteJoint2.m_parentFrame[5] = 0;
+			revoluteJoint2.m_parentFrame[6] = 1.0;
+			revoluteJoint2.m_childFrame[0] = 0;
+			revoluteJoint2.m_childFrame[1] = 0;
+			revoluteJoint2.m_childFrame[2] = 0;
+			revoluteJoint2.m_childFrame[3] = 0;
+			revoluteJoint2.m_childFrame[4] = 0;
+			revoluteJoint2.m_childFrame[5] = 0;
+			revoluteJoint2.m_childFrame[6] = 1.0;
+			revoluteJoint2.m_jointAxis[0] = 1.0;
+			revoluteJoint2.m_jointAxis[1] = 0.0;
+			revoluteJoint2.m_jointAxis[2] = 0.0;
+			revoluteJoint2.m_jointType = ePoint2PointType;
+			m_robotSim.createConstraint(0, 2, 0, 4, &revoluteJoint1);
+			m_robotSim.createConstraint(0, 3, 0, 6, &revoluteJoint2);
+		}
+
+		if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
+		{
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(-0.5, 0, 0.1);
+				args.m_startOrientation.setEulerZYX(0, 0, 0);
+				args.m_forceOverrideFixedBase = true;
+				args.m_useMultiBody = true;
+				int kukaId = m_robotSim.loadURDF("kuka_iiwa/model.urdf", args);
+
+				int numJoints = m_robotSim.getNumJoints(kukaId);
+				b3Printf("numJoints = %d", numJoints);
+
+				for (int i = 0; i < numJoints; i++)
+				{
+					b3JointInfo jointInfo;
+					m_robotSim.getJointInfo(kukaId, i, &jointInfo);
+					b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
+					b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+					controlArgs.m_maxTorqueValue = 500.0;
+					m_robotSim.setJointMotorControl(kukaId, i, controlArgs);
+				}
+			}
+			{
+				b3RobotSimulatorLoadUrdfFileArgs args;
+				args.m_startPosition.setValue(0, 0, 0);
+				args.m_startOrientation.setEulerZYX(0, 0, 0);
 				args.m_forceOverrideFixedBase = true;
-                args.m_useMultiBody = true;
-                int kukaId = m_robotSim.loadURDF("kuka_iiwa/model.urdf", args);
-                
-                int numJoints = m_robotSim.getNumJoints(kukaId);
-                b3Printf("numJoints = %d",numJoints);
-                
-                for (int i=0;i<numJoints;i++)
-                {
-                    b3JointInfo jointInfo;
-                    m_robotSim.getJointInfo(kukaId,i,&jointInfo);
-                    b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
-                    b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                    controlArgs.m_maxTorqueValue = 500.0;
-                    m_robotSim.setJointMotorControl(kukaId,i,controlArgs);
-                }
-            }
-            {
-                b3RobotSimulatorLoadUrdfFileArgs args;
-                args.m_startPosition.setValue(0,0,0);
-                args.m_startOrientation.setEulerZYX(0,0,0);
-                args.m_forceOverrideFixedBase = true;
-                args.m_useMultiBody = false;
-                m_robotSim.loadURDF("plane.urdf", args);
-            }
-            m_robotSim.setGravity(btVector3(0,0,-10));
-            m_robotSim.loadSoftBody("bunny.obj",0.3,10.0,0.1);
-        }
-    }
-    virtual void    exitPhysics()
-    {
+				args.m_useMultiBody = false;
+				m_robotSim.loadURDF("plane.urdf", args);
+			}
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+			m_robotSim.loadSoftBody("bunny.obj", 0.3, 10.0, 0.1);
+		}
+	}
+	virtual void exitPhysics()
+	{
 		m_robotSim.disconnect();
-    }
-    virtual void	stepSimulation(float deltaTime)
+	}
+	virtual void stepSimulation(float deltaTime)
 	{
-        if ((m_options & eGRIPPER_GRASP)!=0)
-        {
-            if ((m_gripperIndex>=0))
-            {
-                int fingerJointIndices[3]={0,1,3};
-                double fingerTargetVelocities[3]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
-                    ,-sGripperClosingTargetVelocity
-                };
-                double maxTorqueValues[3]={40.0,50.0,50.0};
-                for (int i=0;i<3;i++)
-                {
-                    b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                    controlArgs.m_targetVelocity = fingerTargetVelocities[i];
-                    controlArgs.m_maxTorqueValue = maxTorqueValues[i];
-                    controlArgs.m_kd = 1.;
-                    m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
-                }
-            }
-        }
-        
-        if ((m_options & eONE_MOTOR_GRASP)!=0)
-        {
-            int fingerJointIndices[2]={0,1};
-            double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
-            };
-            double maxTorqueValues[2]={800.0,800.0};
-            for (int i=0;i<2;i++)
-            {
-                b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                controlArgs.m_targetVelocity = fingerTargetVelocities[i];
-                controlArgs.m_maxTorqueValue = maxTorqueValues[i];
-                controlArgs.m_kd = 1.;
-                m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
-            }
-        }
-        
-        if ((m_options & eGRASP_SOFT_BODY)!=0)
-        {
-            int fingerJointIndices[2]={0,1};
-            double fingerTargetVelocities[2]={sGripperVerticalVelocity,sGripperClosingTargetVelocity
-            };
-            double maxTorqueValues[2]={50.0,10.0};
-            for (int i=0;i<2;i++)
-            {
-                b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
-                controlArgs.m_targetVelocity = fingerTargetVelocities[i];
-                controlArgs.m_maxTorqueValue = maxTorqueValues[i];
-                controlArgs.m_kd = 1.;
-                m_robotSim.setJointMotorControl(m_gripperIndex,fingerJointIndices[i],controlArgs);
-            }
-        }
-		
-		if ((m_options & eSOFTBODY_MULTIBODY_COUPLING)!=0)
+		if ((m_options & eGRIPPER_GRASP) != 0)
+		{
+			if ((m_gripperIndex >= 0))
+			{
+				int fingerJointIndices[3] = {0, 1, 3};
+				double fingerTargetVelocities[3] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity, -sGripperClosingTargetVelocity};
+				double maxTorqueValues[3] = {40.0, 50.0, 50.0};
+				for (int i = 0; i < 3; i++)
+				{
+					b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+					controlArgs.m_targetVelocity = fingerTargetVelocities[i];
+					controlArgs.m_maxTorqueValue = maxTorqueValues[i];
+					controlArgs.m_kd = 1.;
+					m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
+				}
+			}
+		}
+
+		if ((m_options & eONE_MOTOR_GRASP) != 0)
+		{
+			int fingerJointIndices[2] = {0, 1};
+			double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
+			double maxTorqueValues[2] = {800.0, 800.0};
+			for (int i = 0; i < 2; i++)
+			{
+				b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+				controlArgs.m_targetVelocity = fingerTargetVelocities[i];
+				controlArgs.m_maxTorqueValue = maxTorqueValues[i];
+				controlArgs.m_kd = 1.;
+				m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
+			}
+		}
+
+		if ((m_options & eGRASP_SOFT_BODY) != 0)
+		{
+			int fingerJointIndices[2] = {0, 1};
+			double fingerTargetVelocities[2] = {sGripperVerticalVelocity, sGripperClosingTargetVelocity};
+			double maxTorqueValues[2] = {50.0, 10.0};
+			for (int i = 0; i < 2; i++)
+			{
+				b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
+				controlArgs.m_targetVelocity = fingerTargetVelocities[i];
+				controlArgs.m_maxTorqueValue = maxTorqueValues[i];
+				controlArgs.m_kd = 1.;
+				m_robotSim.setJointMotorControl(m_gripperIndex, fingerJointIndices[i], controlArgs);
+			}
+		}
+
+		if ((m_options & eSOFTBODY_MULTIBODY_COUPLING) != 0)
 		{
 			float dt = deltaTime;
-			btClamp(dt,0.0001f,0.01f);
-			
-			m_time+=dt;
-			m_targetPos.setValue(0, 0, 0.5+0.2*b3Cos( m_time));
+			btClamp(dt, 0.0001f, 0.01f);
+
+			m_time += dt;
+			m_targetPos.setValue(0, 0, 0.5 + 0.2 * b3Cos(m_time));
 			m_targetOri.setValue(0, 1.0, 0, 0);
-			
-			
+
 			int numJoints = m_robotSim.getNumJoints(0);
-			
-			if (numJoints==7)
+
+			if (numJoints == 7)
 			{
-				double q_current[7]={0,0,0,0,0,0,0};
-				
+				double q_current[7] = {0, 0, 0, 0, 0, 0, 0};
+
 				b3JointStates2 jointStates;
-				
-				if (m_robotSim.getJointStates(0,jointStates))
+
+				if (m_robotSim.getJointStates(0, jointStates))
 				{
 					//skip the base positions (7 values)
-					b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
-					for (int i=0;i<numJoints;i++)
+					b3Assert(7 + numJoints == jointStates.m_numDegreeOfFreedomQ);
+					for (int i = 0; i < numJoints; i++)
 					{
-						q_current[i] = jointStates.m_actualStateQ[i+7];
+						q_current[i] = jointStates.m_actualStateQ[i + 7];
 					}
 				}
 				// compute body position and orientation
 				b3LinkState linkState;
-				bool computeVelocity=true;
-				bool computeForwardKinematics=true;
-				m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
-				
-				
+				bool computeVelocity = true;
+				bool computeForwardKinematics = true;
+				m_robotSim.getLinkState(0, 6, computeVelocity, computeForwardKinematics, &linkState);
+
 				m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
 				m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
-				
+
 				b3Vector3DoubleData targetPosDataOut;
 				m_targetPos.serializeDouble(targetPosDataOut);
 				b3Vector3DoubleData worldPosDataOut;
@@ -518,26 +498,25 @@ public:
 				m_targetOri.serializeDouble(targetOriDataOut);
 				b3Vector3DoubleData worldOriDataOut;
 				m_worldOri.serializeDouble(worldOriDataOut);
-				
-				
+
 				b3RobotSimulatorInverseKinematicArgs ikargs;
 				b3RobotSimulatorInverseKinematicsResults ikresults;
-				
+
 				ikargs.m_bodyUniqueId = 0;
 				//			ikargs.m_currentJointPositions = q_current;
 				//			ikargs.m_numPositions = 7;
 				ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
 				ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
 				ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
-				
-				ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION/* + B3_HAS_NULL_SPACE_VELOCITY*/;
-				
+
+				ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION /* + B3_HAS_NULL_SPACE_VELOCITY*/;
+
 				ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
 				ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
 				ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
 				ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
 				ikargs.m_endEffectorLinkIndex = 6;
-				
+
 				// Settings based on default KUKA arm setting
 				ikargs.m_lowerLimits.resize(numJoints);
 				ikargs.m_upperLimits.resize(numJoints);
@@ -569,73 +548,66 @@ public:
 				ikargs.m_restPoses[2] = 0;
 				ikargs.m_restPoses[3] = SIMD_HALF_PI;
 				ikargs.m_restPoses[4] = 0;
-				ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
+				ikargs.m_restPoses[5] = -SIMD_HALF_PI * 0.66;
 				ikargs.m_restPoses[6] = 0;
 				ikargs.m_numDegreeOfFreedom = numJoints;
-				
-				if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
+
+				if (m_robotSim.calculateInverseKinematics(ikargs, ikresults))
 				{
 					//copy the IK result to the desired state of the motor/actuator
-					for (int i=0;i<numJoints;i++)
+					for (int i = 0; i < numJoints; i++)
 					{
 						b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
 						t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
 						t.m_maxTorqueValue = 100.0;
-						t.m_kp= 1.0;
+						t.m_kp = 1.0;
 						t.m_targetVelocity = 0;
 						t.m_kd = 1.0;
-						m_robotSim.setJointMotorControl(0,i,t);
+						m_robotSim.setJointMotorControl(0, i, t);
 					}
 				}
 			}
 		}
-		
+
 		m_robotSim.stepSimulation();
-    }
-    virtual void	renderScene()
-    {
+	}
+	virtual void renderScene()
+	{
 		m_robotSim.renderScene();
 
 		//m_app->m_renderer->renderScene();
-		
-    }
-
-	
-    virtual bool	mouseMoveCallback(float x,float y)
-    {
-		return m_robotSim.mouseMoveCallback(x,y);
-    }
-    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
-    {
-        return m_robotSim.mouseButtonCallback(button,state,x,y);
-    }
-    virtual bool	keyboardCallback(int key, int state)
-    {
-        return false;
-    }
-	
+	}
+
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return m_robotSim.mouseMoveCallback(x, y);
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return m_robotSim.mouseButtonCallback(button, state, x, y);
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
 	virtual void resetCamera()
 	{
 		float dist = 1.5;
-        float pitch = -10;
-        float yaw = 18;
-		float targetPos[3]={-0.2,0.8,0.3};
-		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		float pitch = -10;
+		float yaw = 18;
+		float targetPos[3] = {-0.2, 0.8, 0.3};
+		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
 		{
 			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
 			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
 			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
-			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
 		}
 	}
-
 };
 
-
-class	CommonExampleInterface*    GripperGraspExampleCreateFunc(struct CommonExampleOptions& options)
+class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options)
 {
 	return new GripperGraspExample(options.m_guiHelper, options.m_option);
 }
-
-
-
diff --git a/examples/RoboticsLearning/GripperGraspExample.h b/examples/RoboticsLearning/GripperGraspExample.h
index 312d8af3f..96387bc41 100644
--- a/examples/RoboticsLearning/GripperGraspExample.h
+++ b/examples/RoboticsLearning/GripperGraspExample.h
@@ -18,14 +18,13 @@ subject to the following restrictions:
 
 enum GripperGraspExampleOptions
 {
-    eGRIPPER_GRASP=1,
-    eTWO_POINT_GRASP=2,
-    eONE_MOTOR_GRASP=4,
-    eGRASP_SOFT_BODY=8,
-    eSOFTBODY_MULTIBODY_COUPLING=16,
+	eGRIPPER_GRASP = 1,
+	eTWO_POINT_GRASP = 2,
+	eONE_MOTOR_GRASP = 4,
+	eGRASP_SOFT_BODY = 8,
+	eSOFTBODY_MULTIBODY_COUPLING = 16,
 };
 
-class CommonExampleInterface*    GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);
+class CommonExampleInterface* GripperGraspExampleCreateFunc(struct CommonExampleOptions& options);
 
-
-#endif //GRIPPER_GRASP_EXAMPLE_H
+#endif  //GRIPPER_GRASP_EXAMPLE_H
diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index 04e102077..14b6fcb75 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -18,85 +18,78 @@
 ///quick demo showing the right-handed coordinate system and positive rotations around each axis
 class KukaGraspExample : public CommonExampleInterface
 {
-    CommonGraphicsApp* m_app;
+	CommonGraphicsApp* m_app;
 	GUIHelperInterface* m_guiHelper;
 	b3RobotSimulatorClientAPI m_robotSim;
 
-    int m_kukaIndex;
-    
-    IKTrajectoryHelper m_ikHelper;
-    int m_targetSphereInstance;
-    b3Vector3 m_targetPos;
-    b3Vector3 m_worldPos;
-    b3Vector4 m_targetOri;
-    b3Vector4 m_worldOri;
-    double m_time;
-//	int m_options;
-	
+	int m_kukaIndex;
+
+	IKTrajectoryHelper m_ikHelper;
+	int m_targetSphereInstance;
+	b3Vector3 m_targetPos;
+	b3Vector3 m_worldPos;
+	b3Vector4 m_targetOri;
+	b3Vector4 m_worldOri;
+	double m_time;
+	//	int m_options;
+
 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
 		numCubesX = 20,
 		numCubesY = 20
 	};
+
 public:
-    
-    KukaGraspExample(GUIHelperInterface* helper, int /* options */)
-    :m_app(helper->getAppInterface()),
-	m_guiHelper(helper),
-//	m_options(options),
-	m_kukaIndex(-1),
-    m_time(0)
-    {
-        m_targetPos.setValue(0.5,0,1);
-        m_worldPos.setValue(0, 0, 0);
+	KukaGraspExample(GUIHelperInterface* helper, int /* options */)
+		: m_app(helper->getAppInterface()),
+		  m_guiHelper(helper),
+		  //	m_options(options),
+		  m_kukaIndex(-1),
+		  m_time(0)
+	{
+		m_targetPos.setValue(0.5, 0, 1);
+		m_worldPos.setValue(0, 0, 0);
 		m_app->setUpAxis(2);
-    }
-    virtual ~KukaGraspExample()
-    {
-    }
-
-    
-   
-    virtual void    initPhysics()
-    {
-        
-        ///create some graphics proxy for the tracking target
-        ///the endeffector tries to track it using Inverse Kinematics
-        {
-            int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
-            b3Quaternion orn(0, 0, 0, 1);
-            b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
-            b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
-            m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
-        }
-        m_app->m_renderer->writeTransforms();
-
-        
-        
-        
-        int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
+	}
+	virtual ~KukaGraspExample()
+	{
+	}
+
+	virtual void initPhysics()
+	{
+		///create some graphics proxy for the tracking target
+		///the endeffector tries to track it using Inverse Kinematics
+		{
+			int sphereId = m_app->registerGraphicsUnitSphereShape(SPHERE_LOD_MEDIUM);
+			b3Quaternion orn(0, 0, 0, 1);
+			b3Vector4 color = b3MakeVector4(1., 0.3, 0.3, 1);
+			b3Vector3 scaling = b3MakeVector3(.02, .02, .02);
+			m_targetSphereInstance = m_app->m_renderer->registerGraphicsInstance(sphereId, m_targetPos, orn, color, scaling);
+		}
+		m_app->m_renderer->writeTransforms();
+
+		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
 		m_robotSim.setGuiHelper(m_guiHelper);
 		bool connected = m_robotSim.connect(mode);
-			
-//			0;//m_robotSim.connect(m_guiHelper);
-		b3Printf("robotSim connected = %d",connected);
-		
-		
-        {
-			m_kukaIndex  = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
-			if (m_kukaIndex >=0)
-            {
-                int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
-                b3Printf("numJoints = %d",numJoints);
-
-                for (int i=0;i<numJoints;i++)
-                {
-                    b3JointInfo jointInfo;
-                    m_robotSim.getJointInfo(m_kukaIndex,i,&jointInfo);
-                    b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
-                }
-                /*
+
+		//			0;//m_robotSim.connect(m_guiHelper);
+		b3Printf("robotSim connected = %d", connected);
+
+		{
+			m_kukaIndex = m_robotSim.loadURDF("kuka_iiwa/model.urdf");
+			if (m_kukaIndex >= 0)
+			{
+				int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
+				b3Printf("numJoints = %d", numJoints);
+
+				for (int i = 0; i < numJoints; i++)
+				{
+					b3JointInfo jointInfo;
+					m_robotSim.getJointInfo(m_kukaIndex, i, &jointInfo);
+					b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
+				}
+				/*
                 int wheelJointIndices[4]={2,3,6,7};
                 int wheelTargetVelocities[4]={-10,-10,-10,-10};
                 for (int i=0;i<4;i++)
@@ -107,202 +100,185 @@ public:
                     m_robotSim.setJointMotorControl(m_kukaIndex,wheelJointIndices[i],controlArgs);
                 }
                  */
-            }
-			
+			}
+
 			{
 				m_robotSim.loadURDF("plane.urdf");
-				m_robotSim.setGravity(btVector3(0,0,0));
+				m_robotSim.setGravity(btVector3(0, 0, 0));
 			}
-	
 		}
-		
-    }
-    virtual void    exitPhysics()
-    {
+	}
+	virtual void exitPhysics()
+	{
 		m_robotSim.disconnect();
-    }
-    virtual void	stepSimulation(float deltaTime)
+	}
+	virtual void stepSimulation(float deltaTime)
 	{
 		float dt = deltaTime;
-		btClamp(dt,0.0001f,0.01f);
-
-        m_time+=dt;
-        m_targetPos.setValue(0.4-0.4*b3Cos( m_time), 0, 0.8+0.4*b3Cos( m_time));
-        m_targetOri.setValue(0, 1.0, 0, 0);
-        m_targetPos.setValue(0.2*b3Cos( m_time), 0.2*b3Sin( m_time), 1.1);
-        
-        
-        int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
-        
-        if (numJoints==7)
-        {
-            double q_current[7]={0,0,0,0,0,0,0};
-
-            b3JointStates2 jointStates;
-            
-            if (m_robotSim.getJointStates(m_kukaIndex,jointStates))
-            {
-                //skip the base positions (7 values)
-                b3Assert(7+numJoints == jointStates.m_numDegreeOfFreedomQ);
-                for (int i=0;i<numJoints;i++)
-                {
-                    q_current[i] = jointStates.m_actualStateQ[i+7];
-                }
-            }
-            // compute body position and orientation
+		btClamp(dt, 0.0001f, 0.01f);
+
+		m_time += dt;
+		m_targetPos.setValue(0.4 - 0.4 * b3Cos(m_time), 0, 0.8 + 0.4 * b3Cos(m_time));
+		m_targetOri.setValue(0, 1.0, 0, 0);
+		m_targetPos.setValue(0.2 * b3Cos(m_time), 0.2 * b3Sin(m_time), 1.1);
+
+		int numJoints = m_robotSim.getNumJoints(m_kukaIndex);
+
+		if (numJoints == 7)
+		{
+			double q_current[7] = {0, 0, 0, 0, 0, 0, 0};
+
+			b3JointStates2 jointStates;
+
+			if (m_robotSim.getJointStates(m_kukaIndex, jointStates))
+			{
+				//skip the base positions (7 values)
+				b3Assert(7 + numJoints == jointStates.m_numDegreeOfFreedomQ);
+				for (int i = 0; i < numJoints; i++)
+				{
+					q_current[i] = jointStates.m_actualStateQ[i + 7];
+				}
+			}
+			// compute body position and orientation
 			b3LinkState linkState;
-			bool computeVelocity=true;
-			bool computeForwardKinematics=true;
-            m_robotSim.getLinkState(0, 6, computeVelocity,computeForwardKinematics, &linkState);
-			
-			m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
-            m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
+			bool computeVelocity = true;
+			bool computeForwardKinematics = true;
+			m_robotSim.getLinkState(0, 6, computeVelocity, computeForwardKinematics, &linkState);
 
+			m_worldPos.setValue(linkState.m_worldLinkFramePosition[0], linkState.m_worldLinkFramePosition[1], linkState.m_worldLinkFramePosition[2]);
+			m_worldOri.setValue(linkState.m_worldLinkFrameOrientation[0], linkState.m_worldLinkFrameOrientation[1], linkState.m_worldLinkFrameOrientation[2], linkState.m_worldLinkFrameOrientation[3]);
 
-            b3Vector3DoubleData targetPosDataOut;
-            m_targetPos.serializeDouble(targetPosDataOut);
-            b3Vector3DoubleData worldPosDataOut;
-            m_worldPos.serializeDouble(worldPosDataOut);
-            b3Vector3DoubleData targetOriDataOut;
-            m_targetOri.serializeDouble(targetOriDataOut);
-            b3Vector3DoubleData worldOriDataOut;
-            m_worldOri.serializeDouble(worldOriDataOut);
+			b3Vector3DoubleData targetPosDataOut;
+			m_targetPos.serializeDouble(targetPosDataOut);
+			b3Vector3DoubleData worldPosDataOut;
+			m_worldPos.serializeDouble(worldPosDataOut);
+			b3Vector3DoubleData targetOriDataOut;
+			m_targetOri.serializeDouble(targetOriDataOut);
+			b3Vector3DoubleData worldOriDataOut;
+			m_worldOri.serializeDouble(worldOriDataOut);
 
-            
 			b3RobotSimulatorInverseKinematicArgs ikargs;
 			b3RobotSimulatorInverseKinematicsResults ikresults;
-			
-         
+
 			ikargs.m_bodyUniqueId = m_kukaIndex;
-//			ikargs.m_currentJointPositions = q_current;
-//			ikargs.m_numPositions = 7;
-            ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
-            ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
-            ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
-			
+			//			ikargs.m_currentJointPositions = q_current;
+			//			ikargs.m_numPositions = 7;
+			ikargs.m_endEffectorTargetPosition[0] = targetPosDataOut.m_floats[0];
+			ikargs.m_endEffectorTargetPosition[1] = targetPosDataOut.m_floats[1];
+			ikargs.m_endEffectorTargetPosition[2] = targetPosDataOut.m_floats[2];
+
 			//ikargs.m_flags |= B3_HAS_IK_TARGET_ORIENTATION;
-            ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
+			ikargs.m_flags |= B3_HAS_JOINT_DAMPING;
 
 			ikargs.m_endEffectorTargetOrientation[0] = targetOriDataOut.m_floats[0];
 			ikargs.m_endEffectorTargetOrientation[1] = targetOriDataOut.m_floats[1];
 			ikargs.m_endEffectorTargetOrientation[2] = targetOriDataOut.m_floats[2];
 			ikargs.m_endEffectorTargetOrientation[3] = targetOriDataOut.m_floats[3];
-            ikargs.m_endEffectorLinkIndex = 6;
-            
-            // Settings based on default KUKA arm setting
-            ikargs.m_lowerLimits.resize(numJoints);
-            ikargs.m_upperLimits.resize(numJoints);
-            ikargs.m_jointRanges.resize(numJoints);
-            ikargs.m_restPoses.resize(numJoints);
-            ikargs.m_jointDamping.resize(numJoints,0.5);
-            ikargs.m_lowerLimits[0] = -2.32;
-            ikargs.m_lowerLimits[1] = -1.6;
-            ikargs.m_lowerLimits[2] = -2.32;
-            ikargs.m_lowerLimits[3] = -1.6;
-            ikargs.m_lowerLimits[4] = -2.32;
-            ikargs.m_lowerLimits[5] = -1.6;
-            ikargs.m_lowerLimits[6] = -2.4;
-            ikargs.m_upperLimits[0] = 2.32;
-            ikargs.m_upperLimits[1] = 1.6;
-            ikargs.m_upperLimits[2] = 2.32;
-            ikargs.m_upperLimits[3] = 1.6;
-            ikargs.m_upperLimits[4] = 2.32;
-            ikargs.m_upperLimits[5] = 1.6;
-            ikargs.m_upperLimits[6] = 2.4;
-            ikargs.m_jointRanges[0] = 5.8;
-            ikargs.m_jointRanges[1] = 4;
-            ikargs.m_jointRanges[2] = 5.8;
-            ikargs.m_jointRanges[3] = 4;
-            ikargs.m_jointRanges[4] = 5.8;
-            ikargs.m_jointRanges[5] = 4;
-            ikargs.m_jointRanges[6] = 6;
-            ikargs.m_restPoses[0] = 0;
-            ikargs.m_restPoses[1] = 0;
-            ikargs.m_restPoses[2] = 0;
-            ikargs.m_restPoses[3] = SIMD_HALF_PI;
-            ikargs.m_restPoses[4] = 0;
-            ikargs.m_restPoses[5] = -SIMD_HALF_PI*0.66;
-            ikargs.m_restPoses[6] = 0;
-            ikargs.m_jointDamping[0] = 10.0;
-            ikargs.m_numDegreeOfFreedom = numJoints;
-            
-			if (m_robotSim.calculateInverseKinematics(ikargs,ikresults))
+			ikargs.m_endEffectorLinkIndex = 6;
+
+			// Settings based on default KUKA arm setting
+			ikargs.m_lowerLimits.resize(numJoints);
+			ikargs.m_upperLimits.resize(numJoints);
+			ikargs.m_jointRanges.resize(numJoints);
+			ikargs.m_restPoses.resize(numJoints);
+			ikargs.m_jointDamping.resize(numJoints, 0.5);
+			ikargs.m_lowerLimits[0] = -2.32;
+			ikargs.m_lowerLimits[1] = -1.6;
+			ikargs.m_lowerLimits[2] = -2.32;
+			ikargs.m_lowerLimits[3] = -1.6;
+			ikargs.m_lowerLimits[4] = -2.32;
+			ikargs.m_lowerLimits[5] = -1.6;
+			ikargs.m_lowerLimits[6] = -2.4;
+			ikargs.m_upperLimits[0] = 2.32;
+			ikargs.m_upperLimits[1] = 1.6;
+			ikargs.m_upperLimits[2] = 2.32;
+			ikargs.m_upperLimits[3] = 1.6;
+			ikargs.m_upperLimits[4] = 2.32;
+			ikargs.m_upperLimits[5] = 1.6;
+			ikargs.m_upperLimits[6] = 2.4;
+			ikargs.m_jointRanges[0] = 5.8;
+			ikargs.m_jointRanges[1] = 4;
+			ikargs.m_jointRanges[2] = 5.8;
+			ikargs.m_jointRanges[3] = 4;
+			ikargs.m_jointRanges[4] = 5.8;
+			ikargs.m_jointRanges[5] = 4;
+			ikargs.m_jointRanges[6] = 6;
+			ikargs.m_restPoses[0] = 0;
+			ikargs.m_restPoses[1] = 0;
+			ikargs.m_restPoses[2] = 0;
+			ikargs.m_restPoses[3] = SIMD_HALF_PI;
+			ikargs.m_restPoses[4] = 0;
+			ikargs.m_restPoses[5] = -SIMD_HALF_PI * 0.66;
+			ikargs.m_restPoses[6] = 0;
+			ikargs.m_jointDamping[0] = 10.0;
+			ikargs.m_numDegreeOfFreedom = numJoints;
+
+			if (m_robotSim.calculateInverseKinematics(ikargs, ikresults))
 			{
-                //copy the IK result to the desired state of the motor/actuator
-                for (int i=0;i<numJoints;i++)
-                {
-                    b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
-                    t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
-                    t.m_maxTorqueValue = 100.0;
-                    t.m_kp= 1.0;
+				//copy the IK result to the desired state of the motor/actuator
+				for (int i = 0; i < numJoints; i++)
+				{
+					b3RobotSimulatorJointMotorArgs t(CONTROL_MODE_POSITION_VELOCITY_PD);
+					t.m_targetPosition = ikresults.m_calculatedJointPositions[i];
+					t.m_maxTorqueValue = 100.0;
+					t.m_kp = 1.0;
 					t.m_targetVelocity = 0;
 					t.m_kd = 1.0;
-                    m_robotSim.setJointMotorControl(m_kukaIndex,i,t);
+					m_robotSim.setJointMotorControl(m_kukaIndex, i, t);
+				}
+			}
+		}
 
-                }
-            }
-		
-        }
-        
-        
 		m_robotSim.stepSimulation();
-    }
-    virtual void	renderScene()
-    {
+	}
+	virtual void renderScene()
+	{
 		m_robotSim.renderScene();
 
-        
-        b3Quaternion orn(0, 0, 0, 1);
-    
-        
-        m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
-        m_app->m_renderer->writeTransforms();
-        
-        //draw the end-effector target sphere
-        
+		b3Quaternion orn(0, 0, 0, 1);
+
+		m_app->m_renderer->writeSingleInstanceTransformToCPU(m_targetPos, orn, m_targetSphereInstance);
+		m_app->m_renderer->writeTransforms();
+
+		//draw the end-effector target sphere
+
 		//m_app->m_renderer->renderScene();
-    }
-
-	
-    virtual void	physicsDebugDraw(int debugDrawMode)
-    {
-      	m_robotSim.debugDraw(debugDrawMode);
-    }
-    virtual bool	mouseMoveCallback(float x,float y)
-    {
-		return false;   
-    }
-    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
-    {
-        return false;   
-    }
-    virtual bool	keyboardCallback(int key, int state)
-    {
-        return false;   
-    }
-    
+	}
+
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+		m_robotSim.debugDraw(debugDrawMode);
+	}
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return false;
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return false;
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
 	virtual void resetCamera()
 	{
 		float dist = 3;
 		float pitch = -30;
 		float yaw = 0;
-		float targetPos[3]={-0.2,0.8,0.3};
-		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		float targetPos[3] = {-0.2, 0.8, 0.3};
+		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
 		{
 			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
 			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
 			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
-			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
 		}
 	}
-
 };
 
-
-class	CommonExampleInterface*    KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
+class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options)
 {
 	return new KukaGraspExample(options.m_guiHelper, options.m_option);
 }
-
-
-
diff --git a/examples/RoboticsLearning/KukaGraspExample.h b/examples/RoboticsLearning/KukaGraspExample.h
index 8275adba8..b5175c8fa 100644
--- a/examples/RoboticsLearning/KukaGraspExample.h
+++ b/examples/RoboticsLearning/KukaGraspExample.h
@@ -18,10 +18,9 @@ subject to the following restrictions:
 
 enum KukaGraspExampleOptions
 {
-	eKUKA_GRASP_DLS_IK=1,
+	eKUKA_GRASP_DLS_IK = 1,
 };
 
-class CommonExampleInterface*    KukaGraspExampleCreateFunc(struct CommonExampleOptions& options);
+class CommonExampleInterface* KukaGraspExampleCreateFunc(struct CommonExampleOptions& options);
 
-
-#endif //KUKA_GRASP_EXAMPLE_H
+#endif  //KUKA_GRASP_EXAMPLE_H
diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp
index 002dce813..28f5f19cc 100644
--- a/examples/RoboticsLearning/R2D2GraspExample.cpp
+++ b/examples/RoboticsLearning/R2D2GraspExample.cpp
@@ -17,195 +17,182 @@
 ///quick demo showing the right-handed coordinate system and positive rotations around each axis
 class R2D2GraspExample : public CommonExampleInterface
 {
-    CommonGraphicsApp* m_app;
+	CommonGraphicsApp* m_app;
 	GUIHelperInterface* m_guiHelper;
 	b3RobotSimulatorClientAPI m_robotSim;
 	int m_options;
 	int m_r2d2Index;
-	
+
 	b3AlignedObjectArray<int> m_movingInstances;
 	enum
 	{
 		numCubesX = 20,
 		numCubesY = 20
 	};
+
 public:
-    
-    R2D2GraspExample(GUIHelperInterface* helper, int options)
-    :m_app(helper->getAppInterface()),
-	m_guiHelper(helper),
-	m_options(options),
-	m_r2d2Index(-1)
-    {
+	R2D2GraspExample(GUIHelperInterface* helper, int options)
+		: m_app(helper->getAppInterface()),
+		  m_guiHelper(helper),
+		  m_options(options),
+		  m_r2d2Index(-1)
+	{
 		m_app->setUpAxis(2);
-    }
-    virtual ~R2D2GraspExample()
-    {
-    }
-
-    
-    virtual void physicsDebugDraw(int debugDrawMode)
-    {
-        
-    }
-    virtual void    initPhysics()
-    {
+	}
+	virtual ~R2D2GraspExample()
+	{
+	}
+
+	virtual void physicsDebugDraw(int debugDrawMode)
+	{
+	}
+	virtual void initPhysics()
+	{
 		int mode = eCONNECT_EXISTING_EXAMPLE_BROWSER;
 		m_robotSim.setGuiHelper(m_guiHelper);
 		bool connected = m_robotSim.connect(mode);
 
-		b3Printf("robotSim connected = %d",connected);
-		
-		
-		if ((m_options & eROBOTIC_LEARN_GRASP)!=0)
+		b3Printf("robotSim connected = %d", connected);
+
+		if ((m_options & eROBOTIC_LEARN_GRASP) != 0)
 		{
 			{
 				b3RobotSimulatorLoadUrdfFileArgs args;
-				args.m_startPosition.setValue(0,0,.5);
-				m_r2d2Index = m_robotSim.loadURDF("r2d2.urdf",args);
+				args.m_startPosition.setValue(0, 0, .5);
+				m_r2d2Index = m_robotSim.loadURDF("r2d2.urdf", args);
 
-				if (m_r2d2Index>=0)
+				if (m_r2d2Index >= 0)
 				{
 					int numJoints = m_robotSim.getNumJoints(m_r2d2Index);
-					b3Printf("numJoints = %d",numJoints);
+					b3Printf("numJoints = %d", numJoints);
 
-					for (int i=0;i<numJoints;i++)
+					for (int i = 0; i < numJoints; i++)
 					{
 						b3JointInfo jointInfo;
-						m_robotSim.getJointInfo(m_r2d2Index,i,&jointInfo);
-						b3Printf("joint[%d].m_jointName=%s",i,jointInfo.m_jointName);
+						m_robotSim.getJointInfo(m_r2d2Index, i, &jointInfo);
+						b3Printf("joint[%d].m_jointName=%s", i, jointInfo.m_jointName);
 					}
-					int wheelJointIndices[4]={2,3,6,7};
-					int wheelTargetVelocities[4]={-10,-10,-10,-10};
-					for (int i=0;i<4;i++)
+					int wheelJointIndices[4] = {2, 3, 6, 7};
+					int wheelTargetVelocities[4] = {-10, -10, -10, -10};
+					for (int i = 0; i < 4; i++)
 					{
 						b3RobotSimulatorJointMotorArgs controlArgs(CONTROL_MODE_VELOCITY);
 						controlArgs.m_targetVelocity = wheelTargetVelocities[i];
 						controlArgs.m_maxTorqueValue = 1e30;
-						m_robotSim.setJointMotorControl(m_r2d2Index,wheelJointIndices[i],controlArgs);
+						m_robotSim.setJointMotorControl(m_r2d2Index, wheelJointIndices[i], controlArgs);
 					}
 				}
 			}
 			{
 				b3RobotSimulatorLoadFileResults results;
-				m_robotSim.loadSDF("kiva_shelf/model.sdf",results);
+				m_robotSim.loadSDF("kiva_shelf/model.sdf", results);
 			}
 			{
 				m_robotSim.loadURDF("plane.urdf");
 			}
 
-			m_robotSim.setGravity(btVector3(0,0,-10));
-	
+			m_robotSim.setGravity(btVector3(0, 0, -10));
 		}
 
-		if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT)!=0)
+		if ((m_options & eROBOTIC_LEARN_COMPLIANT_CONTACT) != 0)
 		{
 			b3RobotSimulatorLoadUrdfFileArgs args;
 			b3RobotSimulatorLoadFileResults results;
 			{
-				args.m_startPosition.setValue(0,0,2.5);
-				args.m_startOrientation.setEulerZYX(0,0.2,0);
-				m_r2d2Index = m_robotSim.loadURDF("cube_soft.urdf",args);
+				args.m_startPosition.setValue(0, 0, 2.5);
+				args.m_startOrientation.setEulerZYX(0, 0.2, 0);
+				m_r2d2Index = m_robotSim.loadURDF("cube_soft.urdf", args);
 			}
 			{
-				args.m_startPosition.setValue(0,2,2.5);
-				args.m_startOrientation.setEulerZYX(0,0.2,0);
-				m_robotSim.loadURDF("cube_no_friction.urdf",args);
+				args.m_startPosition.setValue(0, 2, 2.5);
+				args.m_startOrientation.setEulerZYX(0, 0.2, 0);
+				m_robotSim.loadURDF("cube_no_friction.urdf", args);
 			}
 			{
-				args.m_startPosition.setValue(0,0,0);
-				args.m_startOrientation.setEulerZYX(0,0.2,0);
+				args.m_startPosition.setValue(0, 0, 0);
+				args.m_startOrientation.setEulerZYX(0, 0.2, 0);
 				args.m_forceOverrideFixedBase = true;
-				m_robotSim.loadURDF("plane.urdf",args);
+				m_robotSim.loadURDF("plane.urdf", args);
 			}
 
-			m_robotSim.setGravity(btVector3(0,0,-10));
+			m_robotSim.setGravity(btVector3(0, 0, -10));
 		}
-	
-        if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION)!=0)
-        {
-            b3RobotSimulatorLoadUrdfFileArgs args;
+
+		if ((m_options & eROBOTIC_LEARN_ROLLING_FRICTION) != 0)
+		{
+			b3RobotSimulatorLoadUrdfFileArgs args;
 			b3RobotSimulatorLoadFileResults results;
-            {
-                args.m_startPosition.setValue(0,0,2.5);
-                args.m_startOrientation.setEulerZYX(0,0,0);
-                args.m_useMultiBody = true;
-                m_robotSim.loadURDF("sphere2_rolling_friction.urdf",args);
-            }
-            {
-                args.m_startPosition.setValue(0,2,2.5);
-                args.m_startOrientation.setEulerZYX(0,0,0);
-                args.m_useMultiBody = true;
-                m_robotSim.loadURDF("sphere2.urdf", args);
-            }
-            {
-                args.m_startPosition.setValue(0,0,0);
-                args.m_startOrientation.setEulerZYX(0,0.2,0);
-                args.m_useMultiBody = true;
-                args.m_forceOverrideFixedBase = true;
-                m_robotSim.loadURDF("plane.urdf", args);
-            }
-
-			m_robotSim.setGravity(btVector3(0,0,-10));
-		}
+			{
+				args.m_startPosition.setValue(0, 0, 2.5);
+				args.m_startOrientation.setEulerZYX(0, 0, 0);
+				args.m_useMultiBody = true;
+				m_robotSim.loadURDF("sphere2_rolling_friction.urdf", args);
+			}
+			{
+				args.m_startPosition.setValue(0, 2, 2.5);
+				args.m_startOrientation.setEulerZYX(0, 0, 0);
+				args.m_useMultiBody = true;
+				m_robotSim.loadURDF("sphere2.urdf", args);
+			}
+			{
+				args.m_startPosition.setValue(0, 0, 0);
+				args.m_startOrientation.setEulerZYX(0, 0.2, 0);
+				args.m_useMultiBody = true;
+				args.m_forceOverrideFixedBase = true;
+				m_robotSim.loadURDF("plane.urdf", args);
+			}
 
-		
-    }
-    virtual void    exitPhysics()
-    {
+			m_robotSim.setGravity(btVector3(0, 0, -10));
+		}
+	}
+	virtual void exitPhysics()
+	{
 		m_robotSim.disconnect();
-    }
-    virtual void	stepSimulation(float deltaTime)
+	}
+	virtual void stepSimulation(float deltaTime)
 	{
 		m_robotSim.stepSimulation();
-    }
-    virtual void	renderScene()
-    {
+	}
+	virtual void renderScene()
+	{
 		m_robotSim.renderScene();
 
 		//m_app->m_renderer->renderScene();
-    }
-
-	
-    virtual void	physicsDebugDraw()
-    {
-      	
-    }
-    virtual bool	mouseMoveCallback(float x,float y)
-    {
-		return false;   
-    }
-    virtual bool	mouseButtonCallback(int button, int state, float x, float y)
-    {
-        return false;   
-    }
-    virtual bool	keyboardCallback(int key, int state)
-    {
-        return false;   
-    }
-    
+	}
+
+	virtual void physicsDebugDraw()
+	{
+	}
+	virtual bool mouseMoveCallback(float x, float y)
+	{
+		return false;
+	}
+	virtual bool mouseButtonCallback(int button, int state, float x, float y)
+	{
+		return false;
+	}
+	virtual bool keyboardCallback(int key, int state)
+	{
+		return false;
+	}
+
 	virtual void resetCamera()
 	{
 		float dist = 3;
 		float pitch = -30;
 		float yaw = -75;
-		float targetPos[3]={-0.2,0.8,0.3};
-		if (m_app->m_renderer  && m_app->m_renderer->getActiveCamera())
+		float targetPos[3] = {-0.2, 0.8, 0.3};
+		if (m_app->m_renderer && m_app->m_renderer->getActiveCamera())
 		{
 			m_app->m_renderer->getActiveCamera()->setCameraDistance(dist);
 			m_app->m_renderer->getActiveCamera()->setCameraPitch(pitch);
 			m_app->m_renderer->getActiveCamera()->setCameraYaw(yaw);
-			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0],targetPos[1],targetPos[2]);
+			m_app->m_renderer->getActiveCamera()->setCameraTargetPosition(targetPos[0], targetPos[1], targetPos[2]);
 		}
 	}
-
 };
 
-
-class	CommonExampleInterface*    R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
+class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options)
 {
 	return new R2D2GraspExample(options.m_guiHelper, options.m_option);
 }
-
-
-
diff --git a/examples/RoboticsLearning/R2D2GraspExample.h b/examples/RoboticsLearning/R2D2GraspExample.h
index 1861b4607..5e8c674a9 100644
--- a/examples/RoboticsLearning/R2D2GraspExample.h
+++ b/examples/RoboticsLearning/R2D2GraspExample.h
@@ -18,12 +18,11 @@ subject to the following restrictions:
 
 enum RobotLearningExampleOptions
 {
-	eROBOTIC_LEARN_GRASP=1,
-	eROBOTIC_LEARN_COMPLIANT_CONTACT=2,
-    eROBOTIC_LEARN_ROLLING_FRICTION=4,
+	eROBOTIC_LEARN_GRASP = 1,
+	eROBOTIC_LEARN_COMPLIANT_CONTACT = 2,
+	eROBOTIC_LEARN_ROLLING_FRICTION = 4,
 };
 
-class CommonExampleInterface*    R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);
+class CommonExampleInterface* R2D2GraspExampleCreateFunc(struct CommonExampleOptions& options);
 
-
-#endif //R2D2_GRASP_EXAMPLE_H
+#endif  //R2D2_GRASP_EXAMPLE_H