From c01f6245d08fa7eef1b610e9b8223a0c96fc1913 Mon Sep 17 00:00:00 2001
From: yunfeibai <byf1658@gmail.com>
Date: Tue, 20 Sep 2016 11:10:13 -0700
Subject: [PATCH] Quick fix of pybullet for IK with orientation constraint.

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

diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 95a200271..f73c16a36 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1663,6 +1663,8 @@ static PyObject* pybullet_calculateInverseKinematicsKuka(PyObject* self,
         if (PyArg_ParseTuple(args, "iO", &bodyIndex, &targetPosObj))
         {
             double pos[3];
+            double ori[4]={0,1.0,0,0};
+            double dt=0.0001;
             
             if (pybullet_internalSetVectord(targetPosObj,pos))
             {
@@ -1671,7 +1673,7 @@ static PyObject* pybullet_calculateInverseKinematicsKuka(PyObject* self,
                 int resultBodyIndex;
                 int result;
                 b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(sm,bodyIndex,
-                                                                                              pos);
+                                                                                              pos,ori,dt);
                 statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
                 
                 result = b3GetStatusInverseKinematicsJointPositions(statusHandle,