diff --git a/examples/RoboticsLearning/IKTrajectoryHelper.cpp b/examples/RoboticsLearning/IKTrajectoryHelper.cpp
index 2e97653f6..9c8ba195d 100644
--- a/examples/RoboticsLearning/IKTrajectoryHelper.cpp
+++ b/examples/RoboticsLearning/IKTrajectoryHelper.cpp
@@ -3,6 +3,7 @@
 #include "BussIK/Tree.h"
 #include "BussIK/Jacobian.h"
 #include "BussIK/VectorRn.h"
+#include "BussIK/MatrixRmn.h"
 #include "Bullet3Common/b3AlignedObjectArray.h"
 
 
@@ -86,7 +87,7 @@ void IKTrajectoryHelper::createKukaIIWA()
 
 bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
                const double* q_current, int numQ,
-               double* q_new, int ikMethod)
+               double* q_new, int ikMethod, const double* linear_jacobian, int jacobian_size)
 {
 
     if (numQ != 7)
@@ -110,6 +111,20 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
     targets.Set(endEffectorTargetPosition[0],endEffectorTargetPosition[1],endEffectorTargetPosition[2]);
     m_data->m_ikJacobian->ComputeJacobian(&targets);						// Set up Jacobian and deltaS vectors
     
+    // Set Jacobian from Bullet body Jacobian
+    int nRow = m_data->m_ikJacobian->GetNumRows();
+    int nCol = m_data->m_ikJacobian->GetNumCols();
+    b3Assert(jacobian_size==nRow*nCol);
+    MatrixRmn linearJacobian(nRow,nCol);
+    for (int i = 0; i < nRow; ++i)
+    {
+        for (int j = 0; j < nCol; ++j)
+        {
+            linearJacobian.Set(i,j,linear_jacobian[i*nCol+j]);
+        }
+    }
+    m_data->m_ikJacobian->SetJendTrans(linearJacobian);
+    
     // Calculate the change in theta values
     switch (ikMethod) {
         case IK2_JACOB_TRANS:
diff --git a/examples/RoboticsLearning/IKTrajectoryHelper.h b/examples/RoboticsLearning/IKTrajectoryHelper.h
index 5b436057f..06ccfe0d8 100644
--- a/examples/RoboticsLearning/IKTrajectoryHelper.h
+++ b/examples/RoboticsLearning/IKTrajectoryHelper.h
@@ -24,7 +24,7 @@ public:
     
     bool computeIK(const double endEffectorTargetPosition[3],
                    const double* q_old, int numQ,
-                   double* q_new, int ikMethod);
+                   double* q_new, int ikMethod, const double* linear_jacobian, int jacobian_size);
     
 };
 #endif //IK_TRAJECTORY_HELPER_H
diff --git a/examples/RoboticsLearning/KukaGraspExample.cpp b/examples/RoboticsLearning/KukaGraspExample.cpp
index 31ae807eb..5c73c7900 100644
--- a/examples/RoboticsLearning/KukaGraspExample.cpp
+++ b/examples/RoboticsLearning/KukaGraspExample.cpp
@@ -166,16 +166,13 @@ public:
             
             // compute body Jacobian
             m_robotSim.getBodyJacobian(0, 6, local_position, q_current, qdot_current, qddot_current, jacobian_linear, jacobian_angular);
-            for (int i = 0; i < 21; ++i) {
-                printf("j%d: %f\n", i, jacobian_linear[i]);
-            }
             
             // m_robotSim.getJointInfo(m_kukaIndex,jointIndex,jointInfo);
             double q_new[7];
             int ikMethod=IK2_SDLS;
             b3Vector3DoubleData dataOut;
             m_targetPos.serializeDouble(dataOut);
-            m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod);
+            m_ikHelper.computeIK(dataOut.m_floats,q_current, numJoints, q_new, ikMethod,jacobian_linear,(sizeof(jacobian_linear)/sizeof(*jacobian_linear)));
             printf("q_new = %f,%f,%f,%f,%f,%f,%f\n", q_new[0],q_new[1],q_new[2],
                    q_new[3],q_new[4],q_new[5],q_new[6]);
         
diff --git a/examples/ThirdPartyLibs/BussIK/Jacobian.h b/examples/ThirdPartyLibs/BussIK/Jacobian.h
index 5f9bd08c5..99ecd19a0 100644
--- a/examples/ThirdPartyLibs/BussIK/Jacobian.h
+++ b/examples/ThirdPartyLibs/BussIK/Jacobian.h
@@ -83,6 +83,9 @@ public:
 	static void CompareErrors( const Jacobian& j1, const Jacobian& j2, double* weightedDist1, double* weightedDist2 );
 	static void CountErrors( const Jacobian& j1, const Jacobian& j2, int* numBetter1, int* numBetter2, int* numTies );
 
+    int GetNumRows() {return nRow;}
+    int GetNumCols() {return nCol;}
+    
 private:
 	Tree* tree;			// tree associated with this Jacobian matrix
 	int nEffector;		// Number of end effectors