diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index bfd6bc804..11c58398c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4639,7 +4639,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                 // Set jacobian value
                                 tree->calculateJacobians(q);
                                 btInverseDynamics::mat3x jac_t(3, num_dofs);
-                                tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex, &jac_t);
+                                tree->getBodyJacobianTrans(clientCmd.m_calculateJacobianArguments.m_linkIndex+1, &jac_t);
                                 for (int i = 0; i < 3; ++i)
                                 {
                                     for (int j = 0; j < num_dofs; ++j)
@@ -5065,8 +5065,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                         tree->calculateJacobians(q);
                                         btInverseDynamics::mat3x jac_t(3, numDofs);
                                         btInverseDynamics::mat3x jac_r(3,numDofs);
-                                        tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
-                                        tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
+										// Note that inverse dynamics uses zero-based indexing of bodies, not starting from -1 for the base link.
+                                        tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
+                                        tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
                                         for (int i = 0; i < 3; ++i)
                                         {
                                             for (int j = 0; j < numDofs; ++j)
@@ -6235,8 +6236,8 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 							tree->calculateJacobians(q);
 							btInverseDynamics::mat3x jac_t(3,numDofs);
 							btInverseDynamics::mat3x jac_r(3,numDofs);
-							tree->getBodyJacobianTrans(endEffectorLinkIndex, &jac_t);
-							tree->getBodyJacobianRot(endEffectorLinkIndex, &jac_r);
+							tree->getBodyJacobianTrans(endEffectorLinkIndex+1, &jac_t);
+							tree->getBodyJacobianRot(endEffectorLinkIndex+1, &jac_r);
 							for (int i = 0; i < 3; ++i)
 							{
 								for (int j = 0; j < numDofs; ++j)
diff --git a/examples/pybullet/examples/ik_end_effector_orientation.py b/examples/pybullet/examples/ik_end_effector_orientation.py
new file mode 100644
index 000000000..29c83872d
--- /dev/null
+++ b/examples/pybullet/examples/ik_end_effector_orientation.py
@@ -0,0 +1,30 @@
+import pybullet as p
+import time
+import math
+from datetime import datetime
+from time import sleep
+
+p.connect(p.GUI)
+p.loadURDF("plane.urdf",[0,0,-0.3])
+kukaId = p.loadURDF("kuka_iiwa/model.urdf",[0,0,0])
+p.resetBasePositionAndOrientation(kukaId,[0,0,0],[0,0,0,1])
+kukaEndEffectorIndex = 6
+numJoints = p.getNumJoints(kukaId)
+
+#Joint damping coefficents. Using large values for the joints that we don't want to move.
+jd=[100.0,100.0,100.0,100.0,100.0,100.0,0.5]
+#jd=[0.5,0.5,0.5,0.5,0.5,0.5,0.5]
+
+p.setGravity(0,0,0)
+
+while 1:
+	p.stepSimulation()
+	for i in range (1):
+		pos = [0,0,1.26]
+		orn = p.getQuaternionFromEuler([0,0,3.14])
+
+		jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd)
+	
+	for i in range (numJoints):
+		p.setJointMotorControl2(bodyIndex=kukaId,jointIndex=i,controlMode=p.POSITION_CONTROL,targetPosition=jointPoses[i],targetVelocity=0,force=500,positionGain=0.03,velocityGain=1)
+	sleep(0.05)