From b22e968cdde19edd323a7b443d69d10f2bcd878e Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwincoumans@google.com>
Date: Wed, 2 Dec 2015 23:16:41 -0800
Subject: [PATCH] re-enable inverse dynamics/computed torque, instead of PD
 control in InverseDynamicsExample

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

diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index 2c6a8a893..bc9d631cc 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -43,7 +43,7 @@ subject to the following restrictions:
 // as parameters and callbacks
 static btScalar kp =10*10;
 static btScalar kd = 2*10;
-static bool useInverseModel = false;
+static bool useInverseModel = true;
 static std::vector<btScalar> qd;
 static std::vector<std::string> qd_name;
 static std::vector<std::string> q_name;