diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
index 2c89fdbc9..2d8f01d06 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
@@ -34,7 +34,7 @@ public:
 
 	virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
 	{
 		return false;
 	}
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 5e3cf4d56..7f96628f8 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -117,7 +117,7 @@ struct BulletErrorLogger : public ErrorLogger
 	}
 };
 
-bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
+bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase, int flags)
 {
 	if (strlen(fileName) == 0)
 		return false;
@@ -155,7 +155,7 @@ bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 
 	BulletErrorLogger loggie;
 	m_data->m_urdfParser.setParseSDF(false);
-	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase);
+	bool result = m_data->m_urdfParser.loadUrdf(xml_string.c_str(), &loggie, forceFixedBase, (flags & CUF_PARSE_SENSORS));
 
 	return result;
 }
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index aa57abdae..0d58c06ae 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -23,7 +23,7 @@ public:
 
 	virtual ~BulletURDFImporter();
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false);
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0);
 
 	//warning: some quick test to load SDF: we 'activate' a model, so we can re-use URDF code path
 	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false);
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index 4b03c86af..28924729f 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -12,7 +12,7 @@ class URDFImporterInterface
 public:
 	virtual ~URDFImporterInterface() {}
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false) = 0;
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0) = 0;
 
 	virtual bool loadSDF(const char* fileName, bool forceFixedBase = false) { return false; }
 
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 0e04bf494..e190a8820 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -1,5 +1,5 @@
 #include "UrdfParser.h"
-#include "../../ThirdPartyLibs/tinyxml2/tinyxml2.h"
+#include "third_party/tinyxml2/tinyxml2.h"
 #include "urdfStringSplit.h"
 #include "urdfLexicalCast.h"
 using namespace tinyxml2;
diff --git a/examples/SharedMemory/PhysicsClientGRPC.cpp b/examples/SharedMemory/PhysicsClientGRPC.cpp
index 6cc8498e5..94a73369d 100644
--- a/examples/SharedMemory/PhysicsClientGRPC.cpp
+++ b/examples/SharedMemory/PhysicsClientGRPC.cpp
@@ -14,7 +14,7 @@ using grpc::Channel;
 #include "Bullet3Common/b3AlignedObjectArray.h"
 #include "SharedMemory/grpc/ConvertGRPCBullet.h"
 
-using pybullet_grpc::PyBulletAPI;
+using pybullet_grpc::grpc::PyBulletAPI;
 
 static unsigned int b3DeserializeInt2(const unsigned char* input)
 {
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 835e3c59f..e2386fcde 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -27,7 +27,7 @@
 #include "BulletCollision/NarrowPhaseCollision/btPersistentManifold.h"
 #include "Bullet3Common/b3HashMap.h"
 #include "../Utils/ChromeTraceUtil.h"
-#include "stb_image/stb_image.h"
+#include "third_party/stblib/stb_image.h"
 #include "BulletInverseDynamics/MultiBodyTree.hpp"
 #include "IKTrajectoryHelper.h"
 #include "btBulletDynamicsCommon.h"
@@ -1990,7 +1990,7 @@ struct ProgrammaticUrdfInterface : public URDFImporterInterface
 	{
 	}
 
-	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
+	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false, int flags = 0)
 	{
 		b3Assert(0);
 		return false;
@@ -3014,7 +3014,7 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 
 	BulletURDFImporter u2b(m_data->m_guiHelper, m_data->m_pluginManager.getRenderInterface(), globalScaling, flags);
 	u2b.setEnableTinyRenderer(m_data->m_enableTinyRenderer);
-	bool loadOk = u2b.loadURDF(fileName, useFixedBase);
+	bool loadOk = u2b.loadURDF(fileName, useFixedBase, flags);
 
 	if (loadOk)
 	{