diff --git a/examples/SharedMemory/PhysicsClientTCP.h b/examples/SharedMemory/PhysicsClientTCP.h
index 0304e0a65..c869cadb5 100644
--- a/examples/SharedMemory/PhysicsClientTCP.h
+++ b/examples/SharedMemory/PhysicsClientTCP.h
@@ -2,7 +2,7 @@
 #define PHYSICS_CLIENT_TCP_H
 
 #include "PhysicsDirect.h"
-#include "PhysicsServerCommandProcessor.h"
+#include "PhysicsCommandProcessorInterface.h"
 
 class TcpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface
 {
diff --git a/examples/SharedMemory/PhysicsClientUDP.h b/examples/SharedMemory/PhysicsClientUDP.h
index 8d8d08fd1..b091bf89e 100644
--- a/examples/SharedMemory/PhysicsClientUDP.h
+++ b/examples/SharedMemory/PhysicsClientUDP.h
@@ -2,7 +2,7 @@
 #define PHYSICS_CLIENT_UDP_H
 
 #include "PhysicsDirect.h"
-#include "PhysicsServerCommandProcessor.h"
+#include "PhysicsCommandProcessorInterface.h"
 
 class UdpNetworkedPhysicsProcessor : public PhysicsCommandProcessorInterface
 {
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index 22fb5b577..4413a5aab 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -12,7 +12,8 @@
 #include "../CommonInterfaces/CommonGUIHelperInterface.h"
 #include "SharedMemoryBlock.h"
 
-#include "PhysicsServerCommandProcessor.h"
+
+#include "PhysicsCommandProcessorInterface.h"
 
 //number of shared memory blocks == number of simultaneous connections
 #define MAX_SHARED_MEMORY_BLOCKS 2
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kuka.py b/examples/pybullet/gym/pybullet_envs/bullet/kuka.py
index 4c745cca1..f9752760d 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/kuka.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/kuka.py
@@ -15,7 +15,7 @@ class Kuka:
   def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
     self.urdfRootPath = urdfRootPath
     self.timeStep = timeStep
-    
+    self.maxVelocity = .35
     self.maxForce = 200.
     self.fingerAForce = 2 
     self.fingerBForce = 2.5
@@ -146,7 +146,7 @@ class Kuka:
       if (self.useSimulation):
         for i in range (self.kukaEndEffectorIndex+1):
           #print(i)
-          p.setJointMotorControl2(bodyIndex=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,positionGain=0.3,velocityGain=1)
+          p.setJointMotorControl2(bodyUniqueId=self.kukaUid,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=self.maxForce,maxVelocity=self.maxVelocity, positionGain=0.3,velocityGain=1)
       else:
         #reset the joint state (ignoring all dynamics, not recommended to use during simulation)
         for i in range (self.numJoints):