diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index f96dd7c33..37e6c06a0 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -231,7 +231,6 @@ public:
                 slider.m_maxVal=1;
                 m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
             }
-            if (1)
             {
                 b3RobotSimLoadFileArgs args("");
                 b3RobotSimLoadFileResults results;
@@ -241,7 +240,6 @@ public:
                 args.m_useMultiBody = true;
                 m_robotSim.loadFile(args, results);
             }
-            if (1)
             {
                 b3RobotSimLoadFileArgs args("");
                 args.m_fileName = "gripper/wsg50_one_motor_gripper_new.sdf";
diff --git a/examples/RoboticsLearning/R2D2GraspExample.cpp b/examples/RoboticsLearning/R2D2GraspExample.cpp
index 2b1c1a8f8..e0c9cadd1 100644
--- a/examples/RoboticsLearning/R2D2GraspExample.cpp
+++ b/examples/RoboticsLearning/R2D2GraspExample.cpp
@@ -179,7 +179,7 @@ public:
     }
     virtual void	stepSimulation(float deltaTime)
 	{
-		//m_robotSim.stepSimulation();
+		m_robotSim.stepSimulation();
     }
     virtual void	renderScene()
     {
diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp
index d2ea24714..40527e481 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -967,7 +967,7 @@ void b3RobotSimAPI::renderScene()
 		m_data->m_clientServerDirect->renderScene();
 	}
     
-	//m_data->m_physicsServer.renderScene();
+	m_data->m_physicsServer.renderScene();
 }
 
 void b3RobotSimAPI::getBodyJacobian(int bodyUniqueId, int linkIndex, const double* localPosition, const double* jointPositions, const double* jointVelocities, const double* jointAccelerations, double* linearJacobian, double* angularJacobian)
diff --git a/examples/SoftDemo/SoftDemo.cpp b/examples/SoftDemo/SoftDemo.cpp
index 286633464..7a046f9c4 100644
--- a/examples/SoftDemo/SoftDemo.cpp
+++ b/examples/SoftDemo/SoftDemo.cpp
@@ -1017,9 +1017,9 @@ static void	Init_Bunny(SoftDemo* pdemo)
 	psb->m_cfg.kDF			=	0.5;
 	psb->randomizeConstraints();
 	psb->scale(btVector3(6,6,6));
-	psb->setTotalMass(1,true);	
+	psb->setTotalMass(100,true);
 	pdemo->getSoftDynamicsWorld()->addSoftBody(psb);
-	//pdemo->m_cutting=true;
+	pdemo->m_cutting=true;
 
 }
 
@@ -2097,7 +2097,6 @@ void	SoftDemo::initPhysics()
 	motorcontrol.maxtorque = 0;
 
 	btCollisionShape* groundShape = 0;
-    if (0)
 	{
 		int i;
 		int j;
@@ -2152,12 +2151,11 @@ void	SoftDemo::initPhysics()
 		groundShape->setMargin(0.5);
 	}
 
-	//m_collisionShapes.push_back(groundShape);
+	m_collisionShapes.push_back(groundShape);
 
 	btCollisionShape* groundBox = new btBoxShape (btVector3(100,CUBE_HALF_EXTENTS,100));
 	m_collisionShapes.push_back(groundBox);
 
-    /*
 	btCompoundShape* cylinderCompound = new btCompoundShape;
 	btCollisionShape* cylinderShape = new btCylinderShape (btVector3(CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS,CUBE_HALF_EXTENTS));
 	btTransform localTransform;
@@ -2168,7 +2166,6 @@ void	SoftDemo::initPhysics()
 	cylinderCompound->addChildShape(localTransform,cylinderShape);
 
 	m_collisionShapes.push_back(cylinderCompound);
-    */
 
 	m_dispatcher=0;
 
@@ -2214,7 +2211,7 @@ void	SoftDemo::initPhysics()
 	if( g_softBodyOutput )
 		delete g_softBodyOutput;
 
-	if (0)
+	if (1)
 	{
 		g_openCLSIMDSolver = new btOpenCLSoftBodySolverSIMDAware( g_cqCommandQue, g_cxMainContext);
 	//	g_openCLSIMDSolver = new btOpenCLSoftBodySolver( g_cqCommandQue, g_cxMainContext);
@@ -2223,7 +2220,7 @@ void	SoftDemo::initPhysics()
 
 
 
-	//softBodySolver = g_openCLSIMDSolver;
+	softBodySolver = g_openCLSIMDSolver;
 	g_softBodyOutput = new btSoftBodySolverOutputCLtoCPU;
 #endif //USE_AMD_OPENCL
 
@@ -2262,7 +2259,7 @@ void	SoftDemo::initPhysics()
 		newOb->setCollisionShape(m_collisionShapes[0]);
 	} else
 	{
-		newOb->setCollisionShape(m_collisionShapes[0]);
+		newOb->setCollisionShape(m_collisionShapes[1]);
 	}
 
 	m_dynamicsWorld->addCollisionObject(newOb);
@@ -2289,7 +2286,7 @@ void	SoftDemo::initPhysics()
 
 	m_autocam						=	false;
 	m_raycast						=	false;
-	//m_cutting						=	false;
+	m_cutting						=	false;
 	m_results.fraction				=	1.f;
 	
 	demofncs[current_demo](this);