From b4cfee87453f22b82647d1563aff34a3f59ee4ec Mon Sep 17 00:00:00 2001
From: Mat Kelcey <matkelcey@google.com>
Date: Tue, 26 Jul 2016 16:15:08 -0700
Subject: [PATCH] set dft for kd to be 1.0. note: this is only applicable to
 CONTROL_MODE_VELOCITY

---
 examples/pybullet/pybullet.c | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 0a1a205bb..d2b7a496c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -294,8 +294,6 @@ pybullet_resetSimulation(PyObject* self, PyObject* args)
 
 static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
 {
-    //TODO(matkelcey): should this just be three methods?
-
     int size;
     int bodyIndex, jointIndex, controlMode;
     double targetValue=0;
@@ -303,7 +301,7 @@ static PyObject* pybullet_setJointMotorControl(PyObject* self, PyObject* args)
     double targetVelocity=0;
     double maxForce=100000;
     double kp=0.1;
-    double kd=0.1;
+    double kd=1.0;
     int valid = 0;
 
     if (0==sm)