diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 019eb2868..f81bce7bf 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -746,16 +746,13 @@ upAxisMat.setIdentity();
 			btTriangleMesh* meshInterface = new btTriangleMesh();
 			for (int i=0; i<glmesh->m_numIndices/3; i++)
 			{
-				float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3)).xyzw;
-				float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+1)).xyzw;
-				float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i*3+2)).xyzw;
-				meshInterface->addTriangle(
-					btVector3(v0[0],v0[1],v0[2]),
-					btVector3(v1[0],v1[1],v1[2]),
-					btVector3(v2[0],v2[1],v2[2]));
+				const btVector3& v0 = convertedVerts[glmesh->m_indices->at(i*3)];
+				const btVector3& v1 = convertedVerts[glmesh->m_indices->at(i*3+1)];
+				const btVector3& v2 = convertedVerts[glmesh->m_indices->at(i*3+2)];
+				meshInterface->addTriangle(v0,v1,v2);
 			}
 			btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface,true,true);
-			trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
+			//trimesh->setLocalScaling(collision->m_geometry.m_meshScale);
 			shape = trimesh;
 
 		} else
@@ -765,7 +762,7 @@ upAxisMat.setIdentity();
 			convexHull->optimizeConvexHull();
 			//convexHull->initializePolyhedralFeatures();
 			convexHull->setMargin(gUrdfDefaultCollisionMargin);
-			convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
+			//convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
 			shape = convexHull;
 		}
 
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 2a96a49f2..d0090f6b5 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -89,10 +89,10 @@ protected:
     
 	virtual void resetCamera()
 	{
-        float dist = 4;
-        float pitch = 193;
-        float yaw = 25;
-        float targetPos[3]={0,0,0.5};//-3,2.8,-2.5};
+        float dist = 3.45;
+        float pitch = 287;
+        float yaw = 16.2;
+        float targetPos[3]={2.05,0.02,0.53};//-3,2.8,-2.5};
 		m_guiHelper->resetCamera(dist,pitch,yaw,targetPos[0],targetPos[1],targetPos[2]);
 
 	}
@@ -256,7 +256,11 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         
         case  CMD_LOAD_SDF:
         {
-            b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf");
+#ifdef BT_DEBUG
+			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
+#else
+			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
+#endif
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
diff --git a/examples/TinyRenderer/our_gl.cpp b/examples/TinyRenderer/our_gl.cpp
index 008bc2214..ea570386d 100644
--- a/examples/TinyRenderer/our_gl.cpp
+++ b/examples/TinyRenderer/our_gl.cpp
@@ -152,9 +152,7 @@ void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zb
 void triangle(mat<4,3,float> &clipc, IShader &shader, TGAImage &image, float *zbuffer, int* segmentationMaskBuffer, const Matrix& viewPortMatrix, int objectIndex) {
 	mat<3,4,float> pts  = (viewPortMatrix*clipc).transpose(); // transposed to ease access to each of the points
     
-	//we don't clip triangles that cross the near plane, just discard them instead of showing artifacts
-	if (pts[0][3]<0 || pts[1][3] <0 || pts[2][3] <0)
-		return;
+	
 
 	mat<3,2,float> pts2;
     for (int i=0; i<3; i++) pts2[i] = proj<2>(pts[i]/pts[i][3]);