diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 1d76ae427..2a81fcdab 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -95,6 +95,7 @@ int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
 	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_updateFlags |= SIM_PARAM_UPDATE_DELTA_TIME;	
 	command->m_physSimParamArgs.m_deltaTime = timeStep;
 	return 0;
 }
@@ -313,12 +314,16 @@ int	b3CreatePoseCommandSetJointPositions(b3SharedMemoryCommandHandle commandHand
 int	b3CreatePoseCommandSetJointPosition(b3PhysicsClientHandle physClient, b3SharedMemoryCommandHandle commandHandle, int jointIndex, double jointPosition)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
-    b3Assert(command);
-    b3Assert(command->m_type == CMD_INIT_POSE);
-    command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
+	b3Assert(command);
+	b3Assert(command->m_type == CMD_INIT_POSE);
+	command->m_updateFlags |=INIT_POSE_HAS_JOINT_STATE;
 	b3JointInfo info;
 	b3GetJointInfo(physClient, command->m_initPoseArgs.m_bodyUniqueId,jointIndex, &info);
-	command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
+	btAssert((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0);
+	if ((info.m_flags & JOINT_HAS_MOTORIZED_POWER) && info.m_qIndex >=0)
+	{  
+		command->m_initPoseArgs.m_initialStateQ[info.m_qIndex] = jointPosition;
+	}
 	return 0;
 }
 
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 97d5aa55d..a9bdc787e 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -1246,7 +1246,7 @@ void PhysicsServerSharedMemory::processClientCommands()
 					{
 						b3Printf("Server Init Pose not implemented yet");
 					}
-					int bodyUniqueId = clientCmd.m_sendDesiredStateCommandArgument.m_bodyUniqueId;
+					int bodyUniqueId = clientCmd.m_initPoseArgs.m_bodyUniqueId;
 					InteralBodyData* body = m_data->getHandle(bodyUniqueId);
 
 					if (body && body->m_multiBody)
@@ -1301,8 +1301,9 @@ void PhysicsServerSharedMemory::processClientCommands()
                         m_data->m_guiHelper->getRenderInterface()->removeAllInstances();
                     }
                     deleteDynamicsWorld();
-					createEmptyDynamicsWorld();
-					
+		    createEmptyDynamicsWorld();
+		    m_data->exitHandles();
+		    m_data->initHandles();
                     SharedMemoryStatus& serverCmd =m_data->createServerStatus(CMD_RESET_SIMULATION_COMPLETED,clientCmd.m_sequenceNumber,timeStamp);
 					m_data->submitServerStatus(serverCmd);