diff --git a/examples/SharedMemory/IKTrajectoryHelper.cpp b/examples/SharedMemory/IKTrajectoryHelper.cpp
index 89260d47d..13bd8a2ad 100644
--- a/examples/SharedMemory/IKTrajectoryHelper.cpp
+++ b/examples/SharedMemory/IKTrajectoryHelper.cpp
@@ -82,6 +82,12 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
         btQuaternion deltaQ = endQ*startQ.inverse();
         float angle = deltaQ.getAngle();
         btVector3 axis = deltaQ.getAxis();
+        if (angle > PI) {
+            angle -= 2.0*PI;
+        }
+        else if (angle < -PI) {
+            angle += 2.0*PI;
+        }
         float angleDot = angle;
         btVector3 angularVel = angleDot*axis.normalize();
         for (int i = 0; i < 3; ++i)
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index f0fa8359c..4209631e2 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3136,7 +3136,6 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 
 			loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 			m_data->m_huskyId = bodyId;
-			//loadUrdf("jz/jz.urdf", btVector3(0, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 
 			m_data->m_dynamicsWorld->setGravity(btVector3(0, 0, -10));