diff --git a/build_visual_studio.bat b/build_visual_studio.bat
index 302194631..d8a85bc44 100644
--- a/build_visual_studio.bat
+++ b/build_visual_studio.bat
@@ -1,9 +1,5 @@
 
-IF NOT EXIST bin mkdir bin
-IF NOT EXIST bin\openvr_api.dll  copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
 
 cd build3
-premake4   --enable_openvr  --targetdir="../bin" vs2010 
-
-rem premake4   --double --enable_pybullet --python_include_dir="C:/Python-3.5.2/include" --python_lib_dir="C:/Python-3.5.2/libs" --enable_openvr  --targetdir="../bin" vs2010 
-pause
+premake4     --targetdir="../bin" vs2010
+start vs2010
diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
new file mode 100644
index 000000000..71d676172
--- /dev/null
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -0,0 +1,8 @@
+
+IF NOT EXIST bin mkdir bin
+IF NOT EXIST bin\openvr_api.dll  copy examples\ThirdPartyLibs\openvr\bin\win32\openvr_api.dll bin
+
+cd build3
+
+premake4   --double --enable_openvr --enable_pybullet --python_include_dir="C:/Python-3.5.2/include" --python_lib_dir="C:/Python-3.5.2/libs"   --targetdir="../bin" vs2010 
+start vs2010
diff --git a/data/kuka_iiwa/model.urdf b/data/kuka_iiwa/model.urdf
index c3ef25fd6..a6e53d3ab 100644
--- a/data/kuka_iiwa/model.urdf
+++ b/data/kuka_iiwa/model.urdf
@@ -174,7 +174,7 @@
     <child link="lbr_iiwa_link_4"/>
     <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
     <axis xyz="0 0 1"/>
-    <limit effort="300" lower=".29439510239" upper="2.09439510239" velocity="10"/>
+    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
     <dynamics damping="0.5"/>
   </joint>
   <link name="lbr_iiwa_link_4">
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 95babb3a6..0e75054cc 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -145,6 +145,15 @@ int     b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandH
 	return 0;
 }
 
+int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
+	b3Assert(command->m_type == CMD_SEND_PHYSICS_SIMULATION_PARAMETERS);
+	command->m_physSimParamArgs.m_numSolverIterations = numSolverIterations;
+	command->m_updateFlags |= SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS;
+	return 0;
+}
+
 int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double timeStep)
 {
     struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index dcd68c7d6..b44b9a452 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -101,6 +101,9 @@ int	b3PhysicsParamSetTimeStep(b3SharedMemoryCommandHandle commandHandle, double
 int	b3PhysicsParamSetDefaultContactERP(b3SharedMemoryCommandHandle commandHandle, double defaultContactERP);
 int	b3PhysicsParamSetNumSubSteps(b3SharedMemoryCommandHandle commandHandle, int numSubSteps);
 int b3PhysicsParamSetRealTimeSimulation(b3SharedMemoryCommandHandle commandHandle, int enableRealTimeSimulation);
+int b3PhysicsParamSetNumSolverIterations(b3SharedMemoryCommandHandle commandHandle, int numSolverIterations);
+
+
 
 b3SharedMemoryCommandHandle	b3InitStepSimulationCommand(b3PhysicsClientHandle physClient);
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 3a68fcc69..8628f8bee 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1490,7 +1490,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
                     break;
                 }
-                case CMD_SEND_DESIRED_STATE:
+				case CMD_SEND_DESIRED_STATE:
                     {
 						if (m_data->m_verboseOutput)
 						{
@@ -1670,18 +1670,18 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 										break;
 									}
                                 default:
-                                    {
-                                        b3Warning("m_controlMode not implemented yet");
-                                        break;
-                                    }
+						{
+							b3Warning("m_controlMode not implemented yet");
+							break;
+						}
 
-                                }
-                            }
+						}
+					}
 
-							serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
-							hasStatus = true;
-                        break;
-                    }
+					serverStatusOut.m_type = CMD_DESIRED_STATE_RECEIVED_COMPLETED;
+					hasStatus = true;
+					break;
+				}
 				case CMD_REQUEST_ACTUAL_STATE:
 					{
 						if (m_data->m_verboseOutput)
@@ -1944,6 +1944,10 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 
 					}
+					if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SOLVER_ITERATIONS)
+					{
+						m_data->m_dynamicsWorld->getSolverInfo().m_numIterations = clientCmd.m_physSimParamArgs.m_numSolverIterations;
+					}
                     if (clientCmd.m_updateFlags&SIM_PARAM_UPDATE_NUM_SIMULATION_SUB_STEPS)
                     {
                         m_data->m_numSimulationSubSteps = clientCmd.m_physSimParamArgs.m_numSimulationSubSteps;
@@ -3351,7 +3355,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
 								{
 									btScalar desiredVelocity = 0.f;
 									btScalar desiredPosition = q_new[link];
-									motor->setRhsClamp(gRhsClamp);
+									//motor->setRhsClamp(gRhsClamp);
 									//printf("link %d: %f", link, q_new[link]);
 									motor->setVelocityTarget(desiredVelocity,1.0);
 									motor->setPositionTarget(desiredPosition,0.6);