From 4b75c5d9d0a95763152f0f9f8bc2d0d4876d7cb2 Mon Sep 17 00:00:00 2001
From: Mat Kelcey <matkelcey@google.com>
Date: Tue, 26 Jul 2016 11:36:34 -0700
Subject: [PATCH] add another combo of args to allow kd to be configured in the
 CONTROL_MODE_VELOCITY case

---
 examples/pybullet/pybullet.c | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 2bd48e963..0a1a205bb 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -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.