diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9e04fe3e7..8eb1c0b44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -39,7 +39,7 @@ ENDIF (BULLET2_USE_THREAD_LOCKS)
 
 
 IF(NOT WIN32)
-	SET(DL dl)
+	SET(DL ${CMAKE_DL_LIBS})
 	IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 		MESSAGE("Linux")
 		SET(OSDEF -D_LINUX)
@@ -50,7 +50,6 @@ IF(NOT WIN32)
 		ELSE(APPLE)
 			MESSAGE("BSD?")
 			SET(OSDEF -D_BSD)
-			SET(DL "")
 		ENDIF(APPLE)
 	ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
 ENDIF(NOT WIN32)
diff --git a/examples/OpenGLWindow/CMakeLists.txt b/examples/OpenGLWindow/CMakeLists.txt
index 385b32216..78e2c2d9e 100644
--- a/examples/OpenGLWindow/CMakeLists.txt
+++ b/examples/OpenGLWindow/CMakeLists.txt
@@ -62,7 +62,7 @@ if (BUILD_SHARED_LIBS)
   else()
 	set (CMAKE_THREAD_PREFER_PTHREAD TRUE)
 	FIND_PACKAGE(Threads)
-	target_link_libraries(OpenGLWindow ${DL} ${CMAKE_THREAD_LIBS_INIT})
+	target_link_libraries(OpenGLWindow ${CMAKE_THREAD_LIBS_INIT})
   endif()
 endif()
 
diff --git a/examples/ThirdPartyLibs/Gwen/Macros.h b/examples/ThirdPartyLibs/Gwen/Macros.h
index 26585b21d..71d878c12 100644
--- a/examples/ThirdPartyLibs/Gwen/Macros.h
+++ b/examples/ThirdPartyLibs/Gwen/Macros.h
@@ -4,8 +4,10 @@
 #define GWEN_MACROS_H
 #include <stdlib.h>
 #include <stdarg.h>
-#if !defined(__APPLE__) && !defined(__OpenBSD__)
-#include <malloc.h>
+#if !defined(__APPLE__) && !defined(__OpenBSD__) && !defined(__FreeBSD__)
+	#include <malloc.h>
+#else
+	#include <stdlib.h>
 #endif //__APPLE__
 #include <memory.h>
 #include <algorithm>
diff --git a/examples/pybullet/gym/pybullet_envs/env_bases.py b/examples/pybullet/gym/pybullet_envs/env_bases.py
index 8b16cd7be..1a8d5c7d6 100644
--- a/examples/pybullet/gym/pybullet_envs/env_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/env_bases.py
@@ -40,10 +40,12 @@ class MJCFBaseBulletEnv(gym.Env):
 	def _reset(self):
 		if (self.physicsClientId<0):
 			if (self.isRender):
-				self.physicsClientId = p.connect(p.GUI)
+				self.physicsClientId = p.connect(p.SHARED_MEMORY)
+				if (self.physicsClientId<0):
+					self.physicsClientId = p.connect(p.GUI)
 			else:
 				self.physicsClientId = p.connect(p.DIRECT)
-		p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+		#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
   
 		if self.scene is None:
 			self.scene = self.create_single_player_scene()
diff --git a/setup.py b/setup.py
index 2ef9bd97d..3ef1c7776 100644
--- a/setup.py
+++ b/setup.py
@@ -440,7 +440,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.3.5',
+	version='1.3.6',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',