diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 335855513..14df8c094 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1418,7 +1418,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 											b3Printf("Using CONTROL_MODE_TORQUE");
 										}
                                       //  mb->clearForcesAndTorques();
-                                        int torqueIndex = 0;
+                                        int torqueIndex = 6;
                                         if ((clientCmd.m_updateFlags&SIM_DESIRED_STATE_HAS_MAX_FORCE)!=0)
                                         {
                                             for (int link=0;link<mb->getNumLinks();link++)
diff --git a/examples/Utils/b3Clock.cpp b/examples/Utils/b3Clock.cpp
index 7482c302d..8e1884526 100644
--- a/examples/Utils/b3Clock.cpp
+++ b/examples/Utils/b3Clock.cpp
@@ -239,7 +239,7 @@ void b3Clock::usleep(int microSeconds)
 	Sleep(millis);
 #else
 
-    usleep(microSeconds); 
+    ::usleep(microSeconds); 
 	//struct timeval tv;
 	//tv.tv_sec = microSeconds/1000000L;
 	//tv.tv_usec = microSeconds%1000000L;