diff --git a/data/multibody.bullet b/data/multibody.bullet
index abbacacce..04455f0d5 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index b9df7b9ac..62cdeea6e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -642,6 +642,8 @@ void	PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
 			//motor->setMaxAppliedImpulse(0);
 			m_data->m_multiBodyJointMotorMap.insert(mbLinkIndex,motor);
 			m_data->m_dynamicsWorld->addMultiBodyConstraint(motor);
+            motor->finalizeMultiDof();
+            
 		}
 
 	}
@@ -759,7 +761,21 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
     return false;
 }
 
-
+void PhysicsServerCommandProcessor::replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes)
+{
+        if (m_data->m_logPlayback)
+        {
+            
+            SharedMemoryCommand clientCmd;
+            SharedMemoryStatus serverStatus;
+            
+            bool hasCommand = m_data->m_logPlayback->processNextCommand(&clientCmd);
+            if (hasCommand)
+            {
+                processCommand(clientCmd,serverStatus,bufferServerToClient,bufferSizeInBytes);
+            }
+        }
+}
 
 
 
@@ -769,22 +785,6 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 	bool hasStatus = false;
 
     {
-#if 0
-		if (m_data->m_logPlayback)
-		{
-			if (m_data->m_testBlock1->m_numServerCommands>m_data->m_testBlock1->m_numProcessedServerCommands)
-			{
-				m_data->m_testBlock1->m_numProcessedServerCommands++;
-			}
-			//push a command from log file
-			bool hasCommand = m_data->m_logPlayback->processNextCommand(&m_data->m_testBlock1->m_clientCommands[0]);
-			if (hasCommand)
-			{
-				m_data->m_testBlock1->m_numClientCommands++;
-			}
-		}
-#endif
-
         ///we ignore overflow of integer for now
         
         {
@@ -793,10 +793,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
             
             
 			//const SharedMemoryCommand& clientCmd =m_data->m_testBlock1->m_clientCommands[0];
-#if 0
+#if 1
 			if (m_data->m_commandLogger)
 			{
-				m_data->m_commandLogger->logCommand(m_data->m_testBlock1);
+                m_data->m_commandLogger->logCommand(clientCmd);
 			}
 #endif
 
@@ -1277,8 +1277,28 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                     serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+4] = sensedTorque[1];
                                     serverCmd.m_sendActualStateArgs.m_jointReactionForces[l*6+5] = sensedTorque[2];
                                 }
-							}
+                                
+                                serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] = 0;
+                                
+                                if (supportsJointMotor(mb,l))
+                                {
+                                    
+                                    btMultiBodyJointMotor** motorPtr  = m_data->m_multiBodyJointMotorMap[l];
+                                    if (motorPtr && m_data->m_physicsDeltaTime>btScalar(0))
+                                    {
+                                        btMultiBodyJointMotor* motor = *motorPtr;
+                                        btScalar force =motor->getAppliedImpulse(0)/m_data->m_physicsDeltaTime;
+                                        serverCmd.m_sendActualStateArgs.m_jointMotorForce[l] =
+                                        force;
+                                        //if (force>0)
+                                        //{
+                                        //   b3Printf("force = %f\n", force);
+                                        //}
+                                    }
+                                }
+                            }
 
+                            
 							serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomQ = totalDegreeOfFreedomQ;
 							serverCmd.m_sendActualStateArgs.m_numDegreeOfFreedomU = totalDegreeOfFreedomU;
 							
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 31448f292..34b731de8 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -47,6 +47,7 @@ public:
 	
 	void enableCommandLogging(bool enable, const char* fileName);
 	void replayFromLogFile(const char* fileName);
+    void replayLogCommand(char* bufferServerToClient, int bufferSizeInBytes );
 
 };
 
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.cpp b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
index a19e9904a..af8101464 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.cpp
@@ -240,23 +240,8 @@ void PhysicsServerSharedMemory::processClientCommands()
 {
 	if (m_data->m_isConnected && m_data->m_testBlock1)
     {
-#if 0
-		m_data->m_commandProcessor->processLogCommand();
-
-		if (m_data->m_logPlayback)
-		{
-			if (m_data->m_testBlock1->m_numServerCommands>m_data->m_testBlock1->m_numProcessedServerCommands)
-			{
-				m_data->m_testBlock1->m_numProcessedServerCommands++;
-			}
-			//push a command from log file
-			bool hasCommand = m_data->m_logPlayback->processNextCommand(&m_data->m_testBlock1->m_clientCommands[0]);
-			if (hasCommand)
-			{
-				m_data->m_testBlock1->m_numClientCommands++;
-			}
-		}
-#endif
+        m_data->m_commandProcessor->replayLogCommand(&m_data->m_testBlock1->m_bulletStreamDataServerToClientRefactor[0],SHARED_MEMORY_MAX_STREAM_CHUNK_SIZE);
+        
         ///we ignore overflow of integer for now
         if (m_data->m_testBlock1->m_numClientCommands> m_data->m_testBlock1->m_numProcessedClientCommands)
         {
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index 198afc092..94e0832be 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -194,7 +194,8 @@ struct SendActualStateArgs
 
     //measured 6DOF force/torque sensors: force[x,y,z] and torque[x,y,z]
     double m_jointReactionForces[6*MAX_DEGREE_OF_FREEDOM];
-  
+
+    double m_jointMotorForce[MAX_DEGREE_OF_FREEDOM];
 };
 
 enum EnumSensorTypes
diff --git a/examples/SharedMemory/main.cpp b/examples/SharedMemory/main.cpp
index 6aad5da08..fa83a488d 100644
--- a/examples/SharedMemory/main.cpp
+++ b/examples/SharedMemory/main.cpp
@@ -78,6 +78,9 @@ int main(int argc, char* argv[])
         example = (SharedMemoryCommon*)PhysicsClientCreateFunc(options);
     }else
     {
+//        options.m_option |= PHYSICS_SERVER_ENABLE_COMMAND_LOGGING;
+       // options.m_option |= PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG;
+        
         example = (SharedMemoryCommon*)PhysicsServerCreateFunc(options);
     }
 	
diff --git a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
index 3b32b46e9..137b34d87 100644
--- a/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
+++ b/src/BulletDynamics/Featherstone/btMultiBodyConstraint.h
@@ -114,6 +114,7 @@ public:
 		btAssert(dof>=0);
 		btAssert(dof < getNumRows());
 		m_data[dof] = appliedImpulse;
+        
 	}
 	
 	btScalar	getAppliedImpulse(int dof)