diff --git a/examples/ExampleBrowser/ExampleEntries.cpp b/examples/ExampleBrowser/ExampleEntries.cpp
index fb4128fcd..04b2112c3 100644
--- a/examples/ExampleBrowser/ExampleEntries.cpp
+++ b/examples/ExampleBrowser/ExampleEntries.cpp
@@ -277,9 +277,10 @@ static ExampleEntry gDefaultExamples[]=
     ExampleEntry(1,"Gripper Grasp","Grasp experiment with a gripper to improve contact model", GripperGraspExampleCreateFunc,eGRIPPER_GRASP),
     ExampleEntry(1,"Two Point Grasp","Grasp experiment with two point contact to test rolling friction", GripperGraspExampleCreateFunc, eTWO_POINT_GRASP),
 	ExampleEntry(1,"One Motor Gripper Grasp","Grasp experiment with a gripper with one motor to test slider constraint for closed loop structure", GripperGraspExampleCreateFunc, eONE_MOTOR_GRASP),
-    ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
-    ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
-
+#ifdef  USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+	ExampleEntry(1,"Grasp Soft Body","Grasp soft body experiment", GripperGraspExampleCreateFunc, eGRASP_SOFT_BODY),
+	ExampleEntry(1,"Softbody Multibody Coupling","Two way coupling between soft body and multibody experiment", GripperGraspExampleCreateFunc, eSOFTBODY_MULTIBODY_COUPLING),
+#endif //USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 
 #ifdef ENABLE_LUA
 	ExampleEntry(1,"Lua Script", "Create the dynamics world, collision shapes and rigid bodies using Lua scripting",
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index fd744cea9..a0d2c376c 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -290,6 +290,7 @@ void b3RobotSimulatorClientAPI::setGravity(const b3Vector3& gravityAcceleration)
 		b3Warning("Not connected");
 		return;
 	}
+	b3Assert(b3CanSubmitCommand(m_data->m_physicsClientHandle));
 
 	b3SharedMemoryCommandHandle command = b3InitPhysicsParamCommand(m_data->m_physicsClientHandle);
 	b3SharedMemoryStatusHandle statusHandle;
@@ -1142,5 +1143,5 @@ void b3RobotSimulatorClientAPI::loadBunny(double scale, double mass, double coll
     b3LoadBunnySetScale(command, scale);
     b3LoadBunnySetMass(command, mass);
     b3LoadBunnySetCollisionMargin(command, collisionMargin);
-    b3SubmitClientCommand(m_data->m_physicsClientHandle, command);
+    b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, command);
 }
\ No newline at end of file
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index ea720de67..6f3cd63dd 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3247,6 +3247,8 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                 }
                 case CMD_LOAD_BUNNY:
                 {
+					serverStatusOut.m_type = CMD_UNKNOWN_COMMAND_FLUSHED;
+					hasStatus = true;
 #ifdef USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
                     double scale = 0.1;
                     double mass = 0.1;
@@ -3287,6 +3289,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     psb->getCollisionShape()->setMargin(collisionMargin);
                     
                     m_data->m_dynamicsWorld->addSoftBody(psb);
+					serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
 #endif
                     break;
                 }