diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index a952111c2..57121f0c8 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -151,7 +151,12 @@ b3SharedMemoryCommandHandle     b3InitResetSimulationCommand(b3PhysicsClientHand
 }
 
 
-b3SharedMemoryCommandHandle b3JointControlCommandInit( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
+b3SharedMemoryCommandHandle  b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode)
+{
+    return b3JointControlCommandInit2(physClient,0,controlMode);
+}
+
+b3SharedMemoryCommandHandle b3JointControlCommandInit2( b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
     b3Assert(cl);
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index e12cf75eb..0f036415c 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -95,10 +95,15 @@ int	b3LoadUrdfCommandSetUseFixedBase(b3SharedMemoryCommandHandle commandHandle,
 
 b3SharedMemoryCommandHandle	b3LoadSdfCommandInit(b3PhysicsClientHandle physClient, const char* sdfFileName);
 
+///The b3JointControlCommandInit method is obsolete, use b3JointControlCommandInit2 instead
+b3SharedMemoryCommandHandle  b3JointControlCommandInit(b3PhysicsClientHandle physClient, int controlMode);
+
+    
 ///Set joint control variables such as desired position/angle, desired velocity,
 ///applied joint forces, dependent on the control mode (CONTROL_MODE_VELOCITY or CONTROL_MODE_TORQUE)
-b3SharedMemoryCommandHandle  b3JointControlCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
-///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
+b3SharedMemoryCommandHandle  b3JointControlCommandInit2(b3PhysicsClientHandle physClient, int bodyUniqueId, int controlMode);
+
+    ///Only use when controlMode is CONTROL_MODE_POSITION_VELOCITY_PD
 int b3JointControlSetDesiredPosition(b3SharedMemoryCommandHandle commandHandle, int qIndex, double value);
 int b3JointControlSetKp(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
 int b3JointControlSetKd(b3SharedMemoryCommandHandle commandHandle, int dofIndex, double value);
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index e0338153a..a4199071a 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -377,7 +377,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 	   if (m_selectedBody>=0)
            {
             // b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_VELOCITY);
-            b3SharedMemoryCommandHandle command = b3JointControlCommandInit( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD);
+            b3SharedMemoryCommandHandle command = b3JointControlCommandInit2( m_physicsClientHandle, m_selectedBody, CONTROL_MODE_POSITION_VELOCITY_PD);
           //  b3Printf("prepare control command for body %d", m_selectedBody);
                
             prepareControlCommand(command);
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index d06eff27c..0d2303fc5 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -327,7 +327,7 @@ static PyObject* pybullet_setJointControl(PyObject* self, PyObject* args)
                 return NULL;
             }
             
-            commandHandle = b3JointControlCommandInit(sm, bodyIndex,controlMode);
+            commandHandle = b3JointControlCommandInit2(sm, bodyIndex,controlMode);
             
             for (qIndex=0;qIndex<numJoints;qIndex++)
             {