From 2c636b52f7725acd096e88c27a63d9bfb4ac4ade Mon Sep 17 00:00:00 2001
From: erwin coumans <erwincoumans@google.com>
Date: Thu, 18 Aug 2016 15:36:18 -0700
Subject: [PATCH] bugfix: in torque control mode, torque index starts at 6.

---
 examples/SharedMemory/PhysicsServerCommandProcessor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 335855513..14df8c094 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1418,7 +1418,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 											b3Printf("Using CONTROL_MODE_TORQUE");
 										}
                                       //  mb->clearForcesAndTorques();
-                                        int torqueIndex = 0;
+                                        int torqueIndex = 6;
                                         if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
                                         {
                                             for (int link=0;link<mb->getNumLinks();link++)