diff --git a/examples/RoboticsLearning/b3RobotSimAPI.cpp b/examples/RoboticsLearning/b3RobotSimAPI.cpp
index e11103dcf..84edd5198 100644
--- a/examples/RoboticsLearning/b3RobotSimAPI.cpp
+++ b/examples/RoboticsLearning/b3RobotSimAPI.cpp
@@ -485,7 +485,7 @@ bool b3RobotSimAPI::calculateInverseKinematics(const struct b3RobotSimInverseKin
 	
 
 	b3SharedMemoryCommandHandle command = b3CalculateInverseKinematicsCommandInit(m_data->m_physicsClient,args.m_bodyUniqueId);
-	if (args.m_flags & (B3_HAS_IK_TARGET_ORIENTATION + B3_HAS_NULL_SPACE_VELOCITY))
+	if ((args.m_flags & B3_HAS_IK_TARGET_ORIENTATION) && (args.m_flags & B3_HAS_NULL_SPACE_VELOCITY))
     {
         b3CalculateInverseKinematicsPosOrnWithNullSpaceVel(command, args.m_numDegreeOfFreedom, args.m_endEffectorLinkIndex, args.m_endEffectorTargetPosition, args.m_endEffectorTargetOrientation, &args.m_lowerLimits[0], &args.m_upperLimits[0], &args.m_jointRanges[0]);
     } else if (args.m_flags & B3_HAS_IK_TARGET_ORIENTATION)
diff --git a/examples/SharedMemory/IKTrajectoryHelper.cpp b/examples/SharedMemory/IKTrajectoryHelper.cpp
index 8ae7e64b1..f671c5951 100644
--- a/examples/SharedMemory/IKTrajectoryHelper.cpp
+++ b/examples/SharedMemory/IKTrajectoryHelper.cpp
@@ -75,16 +75,19 @@ bool IKTrajectoryHelper::computeIK(const double endEffectorTargetPosition[3],
     
     // Set one end effector world orientation from Bullet
     VectorRn deltaR(3);
-    btQuaternion startQ(endEffectorWorldOrientation[0],endEffectorWorldOrientation[1],endEffectorWorldOrientation[2],endEffectorWorldOrientation[3]);
-    btQuaternion endQ(endEffectorTargetOrientation[0],endEffectorTargetOrientation[1],endEffectorTargetOrientation[2],endEffectorTargetOrientation[3]);
-    btQuaternion deltaQ = endQ*startQ.inverse();
-    float angle = deltaQ.getAngle();
-    btVector3 axis = deltaQ.getAxis();
-    float angleDot = angle;
-    btVector3 angularVel = angleDot*axis.normalize();
-    for (int i = 0; i < 3; ++i)
+    if (useAngularPart)
     {
-        deltaR.Set(i,dampIk[i+3]*angularVel[i]);
+        btQuaternion startQ(endEffectorWorldOrientation[0],endEffectorWorldOrientation[1],endEffectorWorldOrientation[2],endEffectorWorldOrientation[3]);
+        btQuaternion endQ(endEffectorTargetOrientation[0],endEffectorTargetOrientation[1],endEffectorTargetOrientation[2],endEffectorTargetOrientation[3]);
+        btQuaternion deltaQ = endQ*startQ.inverse();
+        float angle = deltaQ.getAngle();
+        btVector3 axis = deltaQ.getAxis();
+        float angleDot = angle;
+        btVector3 angularVel = angleDot*axis.normalize();
+        for (int i = 0; i < 3; ++i)
+        {
+            deltaR.Set(i,dampIk[i+3]*angularVel[i]);
+        }
     }
     
     {
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 9f3160895..edda7b3be 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2666,7 +2666,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                 btAlignedObjectArray<double> q_new;
 								q_new.resize(numDofs);
                                 int ikMethod = 0;
-                                if (clientCmd.m_updateFlags& (IK_HAS_TARGET_ORIENTATION+IK_HAS_NULL_SPACE_VELOCITY))
+                                if ((clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)&&(clientCmd.m_updateFlags&IK_HAS_NULL_SPACE_VELOCITY))
                                 {
                                     ikMethod = IK2_VEL_DLS_WITH_ORIENTATION_NULLSPACE;
                                 }
@@ -2683,7 +2683,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                                     ikMethod = IK2_VEL_DLS;
                                 }
                                 
-                                if (clientCmd.m_updateFlags& IK_HAS_TARGET_ORIENTATION)
+                                if (clientCmd.m_updateFlags& IK_HAS_NULL_SPACE_VELOCITY)
                                 {
                                     btAlignedObjectArray<double> lower_limit;
                                     btAlignedObjectArray<double> upper_limit;