From 5a0ca584369d7405c7a34fb21661177f10fd67e5 Mon Sep 17 00:00:00 2001
From: = <=>
Date: Mon, 31 Aug 2015 12:36:08 -0700
Subject: [PATCH] fix force/torque feedback

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

diff --git a/examples/SharedMemory/RobotControlExample.cpp b/examples/SharedMemory/RobotControlExample.cpp
index 0ccd2640b..067dc422f 100644
--- a/examples/SharedMemory/RobotControlExample.cpp
+++ b/examples/SharedMemory/RobotControlExample.cpp
@@ -401,7 +401,7 @@ void	RobotControlExample::stepSimulation(float deltaTime)
 		
 		SharedMemoryStatus status;
 		bool hasStatus = m_physicsClient.processServerStatus(status);
-		if (hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
+		if ((m_option==ROBOT_PING_PONG_JOINT_FEEDBACK) && hasStatus && status.m_type == CMD_ACTUAL_STATE_UPDATE_COMPLETED)
 		{
 			//update sensor feedback: joint force/torque data and measured joint positions