diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index 08cc463ca..33b24eda7 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -377,7 +377,7 @@ public:
             {
                 b3RobotSimLoadFileArgs args("");
                 args.m_fileName = "gripper/wsg50_one_motor_gripper_left_finger.urdf";
-                args.m_startPosition.setValue(-0.05,0,0.27);
+                args.m_startPosition.setValue(-0.1,0,0.5);
                 args.m_startOrientation.setEulerZYX(0,0,3.14);
                 args.m_forceOverrideFixedBase = false;
                 args.m_useMultiBody = false;
@@ -388,7 +388,7 @@ public:
             {
                 b3RobotSimLoadFileArgs args("");
                 args.m_fileName = "gripper/wsg50_one_motor_gripper_right_finger.urdf";
-                args.m_startPosition.setValue(0.05,0,0.27);
+                args.m_startPosition.setValue(0.1,0,0.5);
                 args.m_startOrientation.setEulerZYX(0,0,3.14);
                 args.m_forceOverrideFixedBase = false;
                 args.m_useMultiBody = false;
@@ -399,7 +399,7 @@ public:
             {
                 b3RobotSimLoadFileArgs args("");
                 args.m_fileName = "plane.urdf";
-                args.m_startPosition.setValue(0,0,0);
+                args.m_startPosition.setValue(0,0,-0.2);
                 args.m_startOrientation.setEulerZYX(0,0,0);
                 args.m_forceOverrideFixedBase = true;
                 args.m_useMultiBody = true;
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index bd497b494..0191b5f69 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -1658,7 +1658,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                     pm->m_kLST				=	1.0;
                     pm->m_flags				-=	btSoftBody::fMaterial::DebugDraw;
                     psb->generateBendingConstraints(2,pm);
-                    psb->m_cfg.piterations	=	15;
+                    psb->m_cfg.piterations	=	20;
                     psb->m_cfg.kDF			=	0.5;
                     psb->randomizeConstraints();
                     psb->rotate(btQuaternion(0.70711,0,0,0.70711));