From 3116cd82da1ccf722ddb0dfe4b6ec7a655f5abe7 Mon Sep 17 00:00:00 2001
From: erwincoumans <erwin.coumans@gmail.com>
Date: Thu, 10 May 2018 12:04:13 -0700
Subject: [PATCH] fix MSVC 2010 compile issue urdfEditor: fix scale incorrectly
 saved in urdfEditor.saveUrdf urdfEditor: fix linkMeshScaleArray in wrong
 location

---
 examples/pybullet/gym/pybullet_utils/urdfEditor.py | 11 ++++++-----
 examples/pybullet/pybullet.c                       |  7 ++++---
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/examples/pybullet/gym/pybullet_utils/urdfEditor.py b/examples/pybullet/gym/pybullet_utils/urdfEditor.py
index 9ec226cfb..48d8cb1fb 100644
--- a/examples/pybullet/gym/pybullet_utils/urdfEditor.py
+++ b/examples/pybullet/gym/pybullet_utils/urdfEditor.py
@@ -117,8 +117,8 @@ class UrdfEditor(object):
 			if (v[2]==p.GEOM_SPHERE):
 				urdfCollision.geom_radius = v[3][0]
 			if (v[2]==p.GEOM_MESH):
-                                urdfCollision.geom_meshfilename = v[4].decode("utf-8")
-                                urdfCollision.geom_meshscale = v[3]
+				urdfCollision.geom_meshfilename = v[4].decode("utf-8")
+				urdfCollision.geom_meshscale = v[3]
 			if (v[2]==p.GEOM_CYLINDER):
 				urdfCollision.geom_length=v[3][0]
 				urdfCollision.geom_radius=v[3][1]
@@ -255,7 +255,7 @@ class UrdfEditor(object):
 				prec=precision)
 			file.write(str)
 		if urdfCollision.geom_type == p.GEOM_MESH:
-			str = '\t\t\t\t<mesh filename=\"{}\"/> scale=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"\n'.format(urdfCollision.geom_meshfilename,\
+			str = '\t\t\t\t<mesh filename=\"{}\" scale=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(urdfCollision.geom_meshfilename,\
 				urdfCollision.geom_meshscale[0],urdfCollision.geom_meshscale[1],urdfCollision.geom_meshscale[2],prec=precision)
 			file.write(str)
 		if urdfCollision.geom_type == p.GEOM_CYLINDER:
@@ -422,7 +422,7 @@ class UrdfEditor(object):
 		linkVisualShapeIndices=[]
 		linkPositions=[]
 		linkOrientations=[]
-		linkMeshScaleArray=[]
+		
 		linkInertialFramePositions=[]
 		linkInertialFrameOrientations=[]
 		linkParentIndices=[]
@@ -446,6 +446,7 @@ class UrdfEditor(object):
 			linkHalfExtentsArray=[]
 			lengthsArray=[]
 			fileNameArray=[]
+			linkMeshScaleArray=[]
 			linkPositionsArray=[]
 			linkOrientationsArray=[]
 
@@ -470,7 +471,7 @@ class UrdfEditor(object):
 					collisionFramePositions=linkPositionsArray,
 					collisionFrameOrientations=linkOrientationsArray,
 					physicsClientId=physicsClientId)
-
+					
 				urdfVisuals = link.urdf_visual_shapes
 				linkVisualShapeIndex = -1
 				shapeTypes=[v.geom_type for v in urdfVisuals]
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 55c79c0f4..405d849ce 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -605,6 +605,10 @@ static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject*
     b3PhysicsClientHandle sm = 0;
     int physicsClientId = 0;
     static char* kwlist[] = {"physicsClientId", NULL};
+    b3SharedMemoryCommandHandle command;
+    b3SharedMemoryStatusHandle statusHandle;
+    int statusType;
+
     if (!PyArg_ParseTupleAndKeywords(args, keywds, "|i", kwlist, &physicsClientId))
     {
         return NULL;
@@ -616,9 +620,6 @@ static PyObject* pybullet_syncBodyInfo(PyObject* self, PyObject* args, PyObject*
         return NULL;
     }
    
-    b3SharedMemoryCommandHandle command;
-    b3SharedMemoryStatusHandle statusHandle;
-    int statusType;
     
     command = b3InitSyncBodyInfoCommand(sm);
     statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);