From 900fd86d58087dfe7bd913aee707562699f7eab9 Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Mon, 29 Aug 2016 12:35:02 -0700
Subject: [PATCH] fix R2D2GraspExample

---
 data/kiva_shelf/model.sdf                      | 4 ++--
 examples/RoboticsLearning/R2D2GraspExample.cpp | 6 ++----
 examples/RoboticsLearning/b3RobotSimAPI.h      | 1 +
 3 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/data/kiva_shelf/model.sdf b/data/kiva_shelf/model.sdf
index b1f49e66b..3e506a9b0 100644
--- a/data/kiva_shelf/model.sdf
+++ b/data/kiva_shelf/model.sdf
@@ -2,10 +2,10 @@
 <sdf version="1.4">
   <model name="Amazon Pod">
   	<static>1</static>
-  	<pose>0 2 1.21 0 0 0</pose>
+  	<pose>0 2 0 0 0 0</pose>
     <link name="pod_link">
       <inertial>
-        <pose>0.0 0.0 1.2045 0 0 0</pose>
+        <pose>0.0 .0 1.2045 0 0 0</pose>
         <mass>76.26</mass>
         <inertia>
           <ixx>47</ixx>
diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp
index 4da5cc22a..a83d4976f 100644
--- a/examples/RoboticsLearning/R2D2GraspExample.cpp
+++ b/examples/RoboticsLearning/R2D2GraspExample.cpp
@@ -94,11 +94,9 @@ public:
 			{
 				b3RobotSimLoadFileArgs args("");
 				args.m_fileName = "kiva_shelf/model.sdf";
-				args.m_startPosition.setValue(0,0,.5);
-				args.m_startOrientation = b3Quaternion(0,B3_HALF_PI,0);
-				args.m_forceOverrideFixedBase = true;
+                args.m_forceOverrideFixedBase = true;
 				args.m_fileType = B3_SDF_FILE;
-				//args.m_startOrientation = b3Quaternion()
+                args.m_startOrientation = b3Quaternion(0,0,0,1);
                 b3RobotSimLoadFileResults results;
                 m_robotSim.loadFile(args,results);
 			}
diff --git a/examples/RoboticsLearning/b3RobotSimAPI.h b/examples/RoboticsLearning/b3RobotSimAPI.h
index 88506e871..5070b0155 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.h
+++ b/examples/RoboticsLearning/b3RobotSimAPI.h
@@ -32,6 +32,7 @@ struct b3RobotSimLoadFileArgs
 		m_startPosition(b3MakeVector3(0,0,0)),
 		m_startOrientation(b3Quaternion(0,0,0,1)),
 		m_forceOverrideFixedBase(false),
+        m_useMultiBody(true),
 		m_fileType(B3_URDF_FILE)
 	{
 	}