diff --git a/examples/pybullet/inverse_kinematics.py b/examples/pybullet/inverse_kinematics.py
index f71707097..4c85ec48c 100644
--- a/examples/pybullet/inverse_kinematics.py
+++ b/examples/pybullet/inverse_kinematics.py
@@ -22,6 +22,8 @@ ul=[.967,2	,2.96,2.29,2.96,2.09,3.05]
 jr=[5.8,4,5.8,4,5.8,4,6]
 #restposes for null space
 rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
+#joint damping coefficents
+jd=[0.1,0.1,0.1,0.1,0.1,0.1,0.1]
 
 for i in range (numJoints):
 	p.resetJointState(kukaId,i,rp[i])
@@ -64,7 +66,7 @@ while 1:
 				jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,lowerLimits=ll, upperLimits=ul, jointRanges=jr, restPoses=rp)
 		else:
 			if (useOrientation==1):
-				jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn)
+				jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos,orn,jointDamping=jd)
 			else:
 				jointPoses = p.calculateInverseKinematics(kukaId,kukaEndEffectorIndex,pos)