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add another combo of args to allow kd to be configured in the CONTROL_MODE_VELOCITY case

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This commit is contained in:
Mat Kelcey 2016-07-26 11:36:34 -07:00
parent b221d2ad18
commit 4b75c5d9d0
1 changed files with 9 additions and 0 deletions
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9
examples/pybullet/pybullet.c
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@ -335,6 +335,15 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
}
valid = 1;
}
if (size==6)
{
if (!PyArg_ParseTuple(args, "iiiddd", &bodyIndex, &jointIndex, &controlMode, &targetValue, &maxForce, &kd))
{
PyErr_SetString(SpamError, "Error parsing arguments");
return NULL;
}
valid = 1;
}
if (size==8)
{
// only applicable for CONTROL_MODE_POSITION_VELOCITY_PD.