diff --git a/examples/pybullet/examples/jointFrictionDamping.py b/examples/pybullet/examples/jointFrictionDamping.py
new file mode 100644
index 000000000..efe34e12f
--- /dev/null
+++ b/examples/pybullet/examples/jointFrictionDamping.py
@@ -0,0 +1,28 @@
+import pybullet as p
+import time
+
+p.connect(p.GUI)
+p.loadURDF("plane.urdf",[0,0,-0.25])
+minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf",useFixedBase=True)
+print(p.getNumJoints(minitaur))
+p.resetDebugVisualizerCamera(cameraDistance=1, cameraYaw=23.2, cameraPitch=-6.6,cameraTargetPosition=[-0.064,.621,-0.2])
+motorJointId = 1
+p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=100000,force=0)
+
+p.resetJointState(minitaur,motorJointId,targetValue=0, targetVelocity=1)
+angularDampingSlider = p.addUserDebugParameter("angularDamping", 0,1,0)
+jointFrictionForceSlider = p.addUserDebugParameter("jointFrictionForce", 0,0.1,0)
+
+textId = p.addUserDebugText("jointVelocity=0",[0,0,-0.2])
+p.setRealTimeSimulation(1)
+while (1):
+    frictionForce = p.readUserDebugParameter(jointFrictionForceSlider)
+    angularDamping = p.readUserDebugParameter(angularDampingSlider)
+    p.setJointMotorControl2(minitaur,motorJointId,p.VELOCITY_CONTROL,targetVelocity=0,force=frictionForce)
+    p.changeDynamics(minitaur,motorJointId,linearDamping=0, angularDamping=angularDamping)
+
+    time.sleep(0.01)
+    txt = "jointVelocity="+str(p.getJointState(minitaur,motorJointId)[1])
+    prevTextId = textId
+    textId = p.addUserDebugText(txt,[0,0,-0.2])
+    p.removeUserDebugItem(prevTextId) 
diff --git a/examples/pybullet/examples/testrender.py b/examples/pybullet/examples/testrender.py
index 72fa9e27e..55eecd07c 100644
--- a/examples/pybullet/examples/testrender.py
+++ b/examples/pybullet/examples/testrender.py
@@ -3,6 +3,7 @@ import matplotlib.pyplot as plt
 import pybullet
 
 pybullet.connect(pybullet.GUI)
+pybullet.loadURDF("plane.urdf")
 pybullet.loadURDF("r2d2.urdf")
 
 camTargetPos = [0.,0.,0.]
@@ -18,8 +19,8 @@ pixelWidth = 320
 pixelHeight = 240
 nearPlane = 0.01
 farPlane = 1000
-lightDirection = [0,1,0]
-lightColor = [1,1,1]#optional argument
+lightDirection = [0.4,0.4,0]
+lightColor = [.3,.3,.3]#1,1,1]#optional argument
 fov = 60
 
 #img_arr = pybullet.renderImage(pixelWidth, pixelHeight)
@@ -30,7 +31,7 @@ for pitch in range (0,360,10) :
     aspect = pixelWidth / pixelHeight;
     projectionMatrix = pybullet.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);
     #getCameraImage can also use renderer=pybullet.ER_BULLET_HARDWARE_OPENGL
-    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightDirection,lightColor,renderer=pybullet.ER_TINY_RENDERER)
+    img_arr = pybullet.getCameraImage(pixelWidth, pixelHeight, viewMatrix,projectionMatrix, lightAmbientCoeff = 0.3, lightDiffuseCoeff = 0.4, shadow=1, renderer=pybullet.ER_TINY_RENDERER)
     w=img_arr[0]
     h=img_arr[1]
     rgb=img_arr[2]