diff --git a/examples/RoboticsLearning/IKTrajectoryHelper.cpp b/examples/RoboticsLearning/IKTrajectoryHelper.cpp
index a1be4d831..94f6600c9 100644
--- a/examples/RoboticsLearning/IKTrajectoryHelper.cpp
+++ b/examples/RoboticsLearning/IKTrajectoryHelper.cpp
@@ -112,8 +112,14 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
     targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]);
     m_data->m_ikJacobian->ComputeJacobian(&targets);						// Set up Jacobian and deltaS vectors
     
-    // Set end effector world position from Bullet
-    
+    // Set one end effector world position from Bullet
+    VectorRn deltaS(3);
+    for (int i = 0; i < 3; ++i)
+    {
+        deltaS.Set(i,endEffectorTargetPosition[i]-endEffectorWorldPosition[i]);
+    }
+    m_data->m_ikJacobian->SetDeltaS(deltaS);
+
     // Set Jacobian from Bullet body Jacobian
     int nRow = m_data->m_ikJacobian->GetNumRows();
     int nCol = m_data->m_ikJacobian->GetNumCols();
diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index 3dcae9271..cb4b6c521 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -175,7 +175,7 @@ public:
             
             // m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
             double q_new[7];
-            int ikMethod=IK2_SDLS;
+            int ikMethod=IK2_DLS;
             b3Vector3DoubleData dataOut;
             m_targetPos.serializeDouble(dataOut);
             b3Vector3DoubleData worldPosDataOut;
diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
index 0a42ad3d4..68f31158b 100644
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.cpp
@@ -144,6 +144,11 @@ void Jacobian::SetJendTrans(MatrixRmn& J)
     Jend.LoadAsSubmatrix(J);
 }
 
+void Jacobian::SetDeltaS(VectorRn& S)
+{
+    dS.Set(S);
+}
+
 // The delta theta values have been computed in dTheta array
 // Apply the delta theta values to the joints
 // Nothing is done about joint limits for now.
diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.h b/examples/ThirdPartyLibs/BussIK/Jacobian.h
index 99ecd19a0..3f62b2da2 100644
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h
@@ -60,6 +60,7 @@ public:
 	void SetJendActive() { Jactive = &Jend; }						// The default setting is Jend.
 	void SetJtargetActive() { Jactive = &Jtarget; }
     void SetJendTrans(MatrixRmn& J);
+    void SetDeltaS(VectorRn& S);
 
 	void CalcDeltaThetas();			// Use this only if the Current Mode has been set.
 	void ZeroDeltaThetas();
@@ -86,7 +87,7 @@ public:
     int GetNumRows() {return nRow;}
     int GetNumCols() {return nCol;}
     
-private:
+public:
 	Tree* tree;			// tree associated with this Jacobian matrix
 	int nEffector;		// Number of end effectors
 	int nJoint;			// Number of joints