diff --git a/examples/ExtendedTutorials/InclinedPlane.cpp b/examples/ExtendedTutorials/InclinedPlane.cpp
index 2c36f8ffa..343ebc3ae 100644
--- a/examples/ExtendedTutorials/InclinedPlane.cpp
+++ b/examples/ExtendedTutorials/InclinedPlane.cpp
@@ -36,6 +36,9 @@ static btScalar gBoxRestitution = 0; // set box restitution to 0
 static btScalar gSphereFriction = 1; // set sphere friction to 1
 
 static btScalar gSphereRollingFriction = 1; // set sphere rolling friction to 1
+static btScalar gSphereSpinningFriction = 0.3; // set sphere spinning friction to 0.3
+
+
 
 static btScalar gSphereRestitution = 0; // set sphere restitution to 0
 
@@ -149,6 +152,16 @@ void InclinedPlaneExample::initPhysics()
     m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
     }
 
+	{ // create slider to change the sphere rolling friction
+    SliderParams slider("Sphere Spinning",&gSphereSpinningFriction);
+    slider.m_minVal=0;
+    slider.m_maxVal=2;
+    slider.m_clampToNotches = false;
+    slider.m_callback = onSphereRestitutionChanged;
+    m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
+    }
+	
+
     { // create slider to change the sphere restitution
     SliderParams slider("Sphere Restitution",&gSphereRestitution);
     slider.m_minVal=0;
@@ -240,6 +253,8 @@ void InclinedPlaneExample::initPhysics()
 		gSphere->setFriction(gSphereFriction);
 		gSphere->setRestitution(gSphereRestitution);
 		gSphere->setRollingFriction(gSphereRollingFriction);
+		gSphere->setSpinningFriction(gSphereSpinningFriction);
+
 	}
 
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 4738f5ddb..995110b81 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -5521,7 +5521,7 @@ static PyObject* pybullet_calculateInverseKinematics(PyObject* self,
 	PyObject* jointDampingObj = 0;
 
 	static char* kwlist[] = {"bodyIndex", "endEffectorLinkIndex", "targetPosition", "targetOrientation", "lowerLimits", "upperLimits", "jointRanges", "restPoses", "jointDamping", "physicsClientId",  NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOiO", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "iiO|OOOOOOi", kwlist, &bodyIndex, &endEffectorLinkIndex, &targetPosObj, &targetOrnObj, &lowerLimitsObj, &upperLimitsObj, &jointRangesObj, &restPosesObj, &jointDampingObj, &physicsClientId))
 	{
 		return NULL;
 	}