1 files changed, 31 insertions, 2 deletions
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 9946da3cf..5b8ca6e5b 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1942,7 +1942,7 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 	int physicsClientId = 0;
 	int flags = 0;
 
-	static char* kwlist[] = {"fileName", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
+	static char* kwlist[] = {"fileName", "basePosition", "baseOrientation", "scale", "mass", "collisionMargin", "physicsClientId", NULL};
 
 	int bodyUniqueId = -1;
 	const char* fileName = "";
@@ -1952,10 +1952,36 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 
 	b3PhysicsClientHandle sm = 0;
 
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|dddi", kwlist, &fileName, &scale, &mass, &collisionMargin, &physicsClientId))
+	double startPos[3] = {0.0, 0.0, 0.0};
+	double startOrn[4] = {0.0, 0.0, 0.0, 1.0};
+
+
+	PyObject* basePosObj = 0;
+	PyObject* baseOrnObj = 0;
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|OOdddi", kwlist, &fileName, &basePosObj, &baseOrnObj, &scale, &mass, &collisionMargin, &physicsClientId))
 	{
 		return NULL;
 	}
+	else
+	{
+		if (basePosObj)
+		{
+			if (!pybullet_internalSetVectord(basePosObj, startPos))
+			{
+				PyErr_SetString(SpamError, "Cannot convert basePosition.");
+				return NULL;
+			}
+		}
+		if (baseOrnObj)
+		{
+			if (!pybullet_internalSetVector4d(baseOrnObj, startOrn))
+			{
+				PyErr_SetString(SpamError, "Cannot convert baseOrientation.");
+				return NULL;
+			}
+		}
+	}
 
 	sm = getPhysicsClient(physicsClientId);
 	if (sm == 0)
@@ -1971,6 +1997,9 @@ static PyObject* pybullet_loadSoftBody(PyObject* self, PyObject* args, PyObject*
 		b3SharedMemoryCommandHandle command =
 			b3LoadSoftBodyCommandInit(sm, fileName);
 
+		b3LoadSoftBodySetStartPosition(command, startPos[0], startPos[1], startPos[2]);
+		b3LoadSoftBodySetStartOrientation(command, startOrn[0], startOrn[1], startOrn[2], startOrn[3]);
+
 		if (scale > 0)
 		{
 			b3LoadSoftBodySetScale(command, scale);