From 82661d98cdb290e47b8f23cae05a8ac4e5b5dd65 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Sun, 11 Sep 2016 05:54:47 +0100
Subject: [PATCH] init ERP for second btMultiBodyJointMotor, comment-out debug
 printf in Kuka IK example

---
 examples/RoboticsLearning/KukaGraspExample.cpp            | 7 +++++--
 src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp | 3 ++-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index 5eb89d916..68be8acee 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -192,8 +192,11 @@ public:
             int ikMethod=IK2_SDLS;
            
             m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod);
-            printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2],
-                   q_new[3],q_new[4],q_new[5],q_new[6]);
+        //    printf("q_current = %f,%f,%f,%f,%f,%f,%f\n", q_current[0],q_current[1],q_current[2],
+            //       q_current[3],q_current[4],q_current[5],q_current[6]);
+            
+          //  printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2],
+              //     q_new[3],q_new[4],q_new[5],q_new[6]);
         
             //set the
             for (int i=0;i<numJoints;i++)
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
index 3762e17a5..0d2000872 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
+++ b/src/BulletDynamics/Featherstone/btMultiBodyJointMotor.cpp
@@ -58,7 +58,8 @@ btMultiBodyJointMotor::btMultiBodyJointMotor(btMultiBody* body, int link, int li
 	m_desiredVelocity(desiredVelocity),
 	m_desiredPosition(0),
 	m_kd(1.),
-	m_kp(0)
+	m_kp(0),
+    m_erp(1)
 {
 	btAssert(linkDoF < body->getLink(link).m_dofCount);