diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 7fb2fb30a..be95bab46 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1208,13 +1208,17 @@ int	b3GetNumJoints(b3PhysicsClientHandle physClient, int bodyId)
 	return cl->getNumJoints(bodyId);
 }
 
-
 int	b3GetJointInfo(b3PhysicsClientHandle physClient, int bodyIndex, int jointIndex, struct b3JointInfo* info)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
 	return cl->getJointInfo(bodyIndex, jointIndex, *info);
 }
 
+int b3GetDynamicInfo(b3PhysicsClientHandle physClient, int bodyUniqueId, int linkIndex, struct b3DynamicInfo* info)
+{
+	return 0;
+}
+
 b3SharedMemoryCommandHandle b3InitResetDynamicInfo(b3PhysicsClientHandle physClient)
 {
 	PhysicsClient* cl = (PhysicsClient* ) physClient;
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index d0090f6b5..b744a2d0b 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -53,6 +53,9 @@ protected:
 	int m_canvasRGBIndex;
 	int m_canvasDepthIndex;
 	int m_canvasSegMaskIndex;
+
+	float m_lightPos[3];
+	float m_specularCoeff;
 	
 	void	createButton(const char* name, int id, bool isTrigger );
 
@@ -257,7 +260,7 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         case  CMD_LOAD_SDF:
         {
 #ifdef BT_DEBUG
-			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");
+			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kuka_iiwa/model.sdf");
 #else
 			b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "kitchens/1.sdf");//two_cubes.sdf");//kitchens/1.sdf");//kuka_iiwa/model.sdf");
 #endif
@@ -278,6 +281,8 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             
             b3RequestCameraImageSetCameraMatrices(commandHandle, viewMatrix,projectionMatrix);
 						b3RequestCameraImageSetPixelResolution(commandHandle, camVisualizerWidth,camVisualizerHeight);
+			b3RequestCameraImageSetLightDirection(commandHandle, m_lightPos);
+			b3RequestCameraImageSetLightSpecularCoeff(commandHandle, m_specularCoeff);
 						b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
 		        break;
         }
@@ -522,6 +527,7 @@ m_canvas(0),
 m_canvasRGBIndex(-1),
 m_canvasDepthIndex(-1),
 m_canvasSegMaskIndex(-1),
+m_specularCoeff(1.0),
 m_numMotors(0),
 m_options(options),
 m_isOptionalServerConnected(false)
@@ -660,6 +666,29 @@ void	PhysicsClientExample::createButtons()
 				}
 			}
 		}
+		
+		{
+			SliderParams sliderLightPosX("light source position x",&m_lightPos[0]);
+			SliderParams sliderLightPosY("light source position y",&m_lightPos[1]);
+			SliderParams sliderLightPosZ("light source position z",&m_lightPos[2]);
+			SliderParams sliderSpecularCoeff("specular coefficient",&m_specularCoeff);
+			sliderLightPosX.m_minVal=-1.5;
+			sliderLightPosX.m_maxVal=1.5;
+			sliderLightPosY.m_minVal=-1.5;
+			sliderLightPosY.m_maxVal=1.5;
+			sliderLightPosZ.m_minVal=-1.5;
+			sliderLightPosZ.m_maxVal=1.5;
+			sliderSpecularCoeff.m_minVal=0;
+			sliderSpecularCoeff.m_maxVal=5.0;
+			if (m_guiHelper && m_guiHelper->getParameterInterface())
+			{
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosX);
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosY);
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderLightPosZ);
+				m_guiHelper->getParameterInterface()->registerSliderFloatParameter(sliderSpecularCoeff);
+			}
+
+		}
     }
 }
 
@@ -684,6 +713,10 @@ void	PhysicsClientExample::initPhysics()
 
 	m_selectedBody = -1;
 	m_prevSelectedBody = -1;
+	
+	m_lightPos[0] = 1.0;
+	m_lightPos[1] = 1.0;
+	m_lightPos[2] = 1.0;
 
 	{
 		m_canvas = m_guiHelper->get2dCanvasInterface();
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index c0a7a3315..5e339430a 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -832,6 +832,7 @@ struct SharedMemoryStatus
 		struct StateLoggingResultArgs m_stateLoggingResultArgs;
 		struct b3OpenGLVisualizerCameraInfo m_visualizerCameraResultArgs;
 		struct b3ObjectArgs m_removeObjectArgs;
+		struct b3DynamicInfo m_dynamicInfo;
 	};
 };
 
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 410ca5d3e..7602e309e 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -224,6 +224,7 @@ struct b3DynamicInfo
 {
 	double m_mass;
 	double m_localInertialPosition[3];
+	double m_lateralFrictionCoeff;
 };
 
 // copied from btMultiBodyLink.h
diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index 056ed001f..25c7701df 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -167,8 +167,12 @@ Vec2f Model::uv(int iface, int nthvert) {
 }
 
 float Model::specular(Vec2f uvf) {
-    Vec2i uv(uvf[0]*specularmap_.get_width(), uvf[1]*specularmap_.get_height());
-    return specularmap_.get(uv[0], uv[1])[0]/1.f;
+	if (specularmap_.get_width() && specularmap_.get_height())
+	{
+		Vec2i uv(uvf[0]*specularmap_.get_width(), uvf[1]*specularmap_.get_height());
+		return specularmap_.get(uv[0], uv[1])[0]/1.f;
+	}
+	return 2.0;
 }
 
 Vec3f Model::normal(int iface, int nthvert) {