diff --git a/build_visual_studio_vr_pybullet_double.bat b/build_visual_studio_vr_pybullet_double.bat
index e3e8a4dc51..b6fd3cb934 100644
--- a/build_visual_studio_vr_pybullet_double.bat
+++ b/build_visual_studio_vr_pybullet_double.bat
@@ -18,7 +18,7 @@ rem SET myvar=c:\python-3.5.2
 cd build3
 
 
-premake4  --double --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
+premake4  --double --standalone-examples --enable_stable_pd --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../bin" vs2010 
 
 rem premake4  --double   --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
 rem premake4  --double --enable_grpc --enable_multithreading --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs"   --targetdir="../binserver" vs2010 
diff --git a/examples/pybullet/gym/pybullet_envs/examples/xarm.py b/examples/pybullet/gym/pybullet_envs/examples/xarm.py
index 781d5afa44..893ff065eb 100644
--- a/examples/pybullet/gym/pybullet_envs/examples/xarm.py
+++ b/examples/pybullet/gym/pybullet_envs/examples/xarm.py
@@ -1,7 +1,7 @@
 import pybullet as p
 import pybullet_data as pd
 import time
-p.connect(p.GUI)
+p.connect(p.GUI)#, options="--background_color_red=1.0 --background_color_blue=1.0 --background_color_green=1.0")
 p.setAdditionalSearchPath(pd.getDataPath())
 
 
@@ -14,7 +14,30 @@
 table = p.loadURDF("table/table.urdf", table_pos, flags = flags, useFixedBase=useFixedBase)
 xarm = p.loadURDF("xarm/xarm6_robot.urdf", flags = flags, useFixedBase=useFixedBase)
 
+jointIds = []
+paramIds = []
+
+for j in range(p.getNumJoints(xarm)):
+  p.changeDynamics(xarm, j, linearDamping=0, angularDamping=0)
+  info = p.getJointInfo(xarm, j)
+  #print(info)
+  jointName = info[1]
+  jointType = info[2]
+  if (jointType == p.JOINT_PRISMATIC or jointType == p.JOINT_REVOLUTE):
+    jointIds.append(j)
+    paramIds.append(p.addUserDebugParameter(jointName.decode("utf-8"), -4, 4, 0))
+  
+skip_cam_frames = 10  
+
 while (1):
 	p.stepSimulation()
+	for i in range(len(paramIds)):
+		c = paramIds[i]
+		targetPos = p.readUserDebugParameter(c)
+		p.setJointMotorControl2(xarm, jointIds[i], p.POSITION_CONTROL, targetPos, force=5 * 240.)
+	skip_cam_frames -= 1
+	if (skip_cam_frames<0):
+		p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL )
+		skip_cam_frames = 10
 	time.sleep(1./240.)