diff --git a/data/multibody.bullet b/data/multibody.bullet
index 664da0192..944da942b 100644
Binary files a/data/multibody.bullet and b/data/multibody.bullet differ
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index bc9d631cc..e062e1717 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -280,9 +280,9 @@ void InverseDynamicsExample::stepSimulation(float deltaTime)
                  for (int i=0;i<num_dofs;i++)
                  {
                      nu6[6+i] = nu[i];
-                     qdot6[6+i] = qdot6[i];
-                     q6[6+i] = q6[i];
-                     joint_force6[6+i] = joint_force6[i];
+                     qdot6[6+i] = qdot[i];
+                     q6[6+i] = q[i];
+                     joint_force6[6+i] = joint_force[i];
                  }
                  if(-1 != m_inverseModel->calculateInverseDynamics(q6,qdot6,nu6,&joint_force6))
                  {
diff --git a/test/InverseDynamics/test_invdyn_bullet.cpp b/test/InverseDynamics/test_invdyn_bullet.cpp
index 328a2c239..1ac095666 100644
--- a/test/InverseDynamics/test_invdyn_bullet.cpp
+++ b/test/InverseDynamics/test_invdyn_bullet.cpp
@@ -9,7 +9,6 @@
 #include <cstdlib>
 #include <functional>
 #include <string>
-#include <random>
 
 #include <btBulletDynamicsCommon.h>
 #include <btMultiBodyTreeCreator.hpp>