diff --git a/data/stadium.sdf b/data/stadium.sdf
index 04ee4ea52..585b4eb16 100644
--- a/data/stadium.sdf
+++ b/data/stadium.sdf
@@ -48,12 +48,11 @@
 			</inertia>
 			</inertial>
 			<collision name='collision_1'>
-			<pose frame=''>0 0 -0.5 0 0 0</pose>
 			<geometry>
-				
-            <box>
-              <size>100 100 1</size>
-            </box>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
           </geometry>
 			  </collision>
 			<visual name='visual'>
diff --git a/data/two_cubes.sdf b/data/two_cubes.sdf
index 98ae9f995..7fda241bd 100644
--- a/data/two_cubes.sdf
+++ b/data/two_cubes.sdf
@@ -89,6 +89,7 @@
  <static>1</static>
       <pose frame=''>0.512455 -1.58317 0.5 0 -0 0</pose>
       <link name='unit_box_0::link'>
+      
         <inertial>
           <mass>1</mass>
           <inertia>
@@ -102,8 +103,6 @@
         </inertial>
         <collision name='collision'>
           <geometry>
-          <pose frame=''>0 0 -1 0 0 0</pose>
-      
             <box>
               <size>1 1 1</size>
             </box>
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 6ae007607..72aaecfce 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -568,6 +568,15 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 
     switch (collision->m_geometry.m_type)
     {
+	case URDF_GEOM_PLANE:
+		{
+			btVector3 planeNormal = collision->m_geometry.m_planeNormal;
+			btScalar planeConstant = 0;//not available?
+			btStaticPlaneShape* plane = new btStaticPlaneShape(planeNormal,planeConstant);
+			shape = plane;
+			shape ->setMargin(gUrdfDefaultCollisionMargin);
+			break;
+		}
 		case URDF_GEOM_CAPSULE:
         {
 			btScalar radius = collision->m_geometry.m_capsuleRadius;
@@ -789,7 +798,7 @@ upAxisMat.setIdentity();
 
         default:
 		b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
-		// for example, URDF_GEOM_PLANE
+		
 	}
 	return shape;
 }
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index 5a5cca73d..b73b9c823 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -413,10 +413,10 @@ bool GLInstancingRenderer::readSingleInstanceTransformToCPU(float* position, flo
 	return false;
 }
 
-void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* position, const float* orientation, int srcIndex2)
 {
 
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 
 	if (pg==0)
@@ -439,9 +439,9 @@ void GLInstancingRenderer::writeSingleInstanceTransformToCPU(const float* positi
 }
 
 
-void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId, float* position, float* orientation)
+void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int srcIndex2, float* position, float* orientation)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -457,9 +457,9 @@ void GLInstancingRenderer::readSingleInstanceTransformFromCPU(int bodyUniqueId,
 	orientation[2] = m_data->m_instance_quaternion_ptr[srcIndex*4+2];
 	orientation[3] = m_data->m_instance_quaternion_ptr[srcIndex*4+3];
 }
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -469,9 +469,9 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const double* color, in
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=float(color[3]);
 }
 
-void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -481,9 +481,9 @@ void GLInstancingRenderer::writeSingleInstanceColorToCPU(const float* color, int
 	m_data->m_instance_colors_ptr[srcIndex*4+3]=color[3];
 }
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -492,11 +492,11 @@ void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const float* scale, int
 	m_data->m_instance_scale_ptr[srcIndex*3+2]=scale[2];
 }
 
-void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
-	int srcIndex = pg->m_internalInstanceIndex;
+	int graphicsIndex = pg->m_internalInstanceIndex;
 
 	int totalNumInstances = 0;
 
@@ -505,7 +505,7 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* s
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
-		if (srcIndex<totalNumInstances)
+		if (srcIndex2<totalNumInstances)
 		{
 			gfxObjIndex = i;
 			break;
@@ -518,9 +518,9 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const double* s
 		m_graphicsInstances[gfxObjIndex]->m_materialSpecularColor[2] = specular[2];
 	}
 }
-void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* specular, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -531,7 +531,7 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* sp
 	for (int i=0;i<m_graphicsInstances.size();i++)
 	{
 		totalNumInstances+=m_graphicsInstances[i]->m_numGraphicsInstances;
-		if (srcIndex<totalNumInstances)
+		if (srcIndex2<totalNumInstances)
 		{
 			gfxObjIndex = i;
 			break;
@@ -546,9 +546,9 @@ void GLInstancingRenderer::writeSingleInstanceSpecularColorToCPU(const float* sp
 }
 
 
-void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int bodyUniqueId)
+void GLInstancingRenderer::writeSingleInstanceScaleToCPU(const double* scale, int srcIndex2)
 {
-	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+	b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 	b3Assert(pg);
 	int srcIndex = pg->m_internalInstanceIndex;
 
@@ -765,8 +765,8 @@ void GLInstancingRenderer::rebuildGraphicsInstances()
 
 	for (int i=0;i<usedObjects.size();i++)
 	{
-		int bodyUniqueId = usedObjects[i];
-		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
+		int srcIndex2 = usedObjects[i];
+		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
 		b3Assert(pg);
 		int srcIndex = pg->m_internalInstanceIndex;
 
@@ -793,9 +793,9 @@ void GLInstancingRenderer::rebuildGraphicsInstances()
 	}
 	for (int i=0;i<usedObjects.size();i++)
 	{
-		int bodyUniqueId = usedObjects[i];
-		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(bodyUniqueId);
-		m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(bodyUniqueId);
+		int srcIndex2 = usedObjects[i];
+		b3PublicGraphicsInstance* pg = m_data->m_publicGraphicsInstances.getHandle(srcIndex2);
+		m_graphicsInstances[pg->m_shapeIndex]->m_tempObjectUids.push_back(srcIndex2);
 	}
 
 	int curOffset = 0;
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.h b/examples/OpenGLWindow/GLInstancingRenderer.h
index 3233c32cf..3716b32a6 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.h
+++ b/examples/OpenGLWindow/GLInstancingRenderer.h
@@ -103,8 +103,8 @@ public:
 	virtual void writeSingleInstanceColorToCPU(const float* color, int srcIndex);
 	virtual void writeSingleInstanceColorToCPU(const double* color, int srcIndex);
 
-	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex);
-	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex);
+	virtual void writeSingleInstanceSpecularColorToCPU(const double* specular, int srcIndex2);
+	virtual void writeSingleInstanceSpecularColorToCPU(const float* specular, int srcIndex2);
 
 	virtual void writeSingleInstanceScaleToCPU(const float* scale, int srcIndex);
 	virtual void writeSingleInstanceScaleToCPU(const double* scale, int srcIndex);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index ed7d238f6..431abcb95 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -3940,38 +3940,40 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 						}
 						else
 						{
-							if (mb->getLinkCollider(linkIndex))
+							if (linkIndex >= 0 && linkIndex < mb->getNumLinks())
 							{
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+								if (mb->getLinkCollider(linkIndex))
 								{
-									mb->getLinkCollider(linkIndex)->setRestitution(restitution);
-								}
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
-								{
-									mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
-								}
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
-								{
-									mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
-								}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_RESTITUTION)
+									{
+										mb->getLinkCollider(linkIndex)->setRestitution(restitution);
+									}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_SPINNING_FRICTION)
+									{
+										mb->getLinkCollider(linkIndex)->setSpinningFriction(spinningFriction);
+									}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_ROLLING_FRICTION)
+									{
+										mb->getLinkCollider(linkIndex)->setRollingFriction(rollingFriction);
+									}
 
-								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
-								{
-									mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
-								}
+									if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_LATERAL_FRICTION)
+									{
+										mb->getLinkCollider(linkIndex)->setFriction(lateralFriction);
+									}
 								
 			
-							}
-							if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
-							{
-								mb->getLink(linkIndex).m_mass = mass;
-								if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
-								{
-									btVector3 localInertia;
-									mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
-									mb->getLink(linkIndex).m_inertiaLocal = localInertia;
 								}
-
+								if (clientCmd.m_updateFlags & CHANGE_DYNAMICS_INFO_SET_MASS)
+								{
+									mb->getLink(linkIndex).m_mass = mass;
+									if (mb->getLinkCollider(linkIndex) && mb->getLinkCollider(linkIndex)->getCollisionShape())
+									{
+										btVector3 localInertia;
+										mb->getLinkCollider(linkIndex)->getCollisionShape()->calculateLocalInertia(mass,localInertia);
+										mb->getLink(linkIndex).m_inertiaLocal = localInertia;
+									}
+								}
 							}
 						}
 					} else
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index 2280242e6..2108477f2 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -94,7 +94,7 @@ public:
 	void logObjectStates(btScalar timeStep);
 	void processCollisionForces(btScalar timeStep);
 
-	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrEvents, int numVREvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
+	virtual void stepSimulationRealTime(double dtInSec,	const struct b3VRControllerEvent* vrControllerEvents, int numVRControllerEvents, const struct b3KeyboardEvent* keyEvents, int numKeyEvents);
 	virtual void enableRealTimeSimulation(bool enableRealTimeSim);
 	virtual bool isRealTimeSimulationEnabled() const;
 
@@ -103,10 +103,10 @@ public:
 	virtual void setTimeOut(double timeOutInSeconds);
 
 	virtual const btVector3& getVRTeleportPosition() const;
-	virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
+	virtual void setVRTeleportPosition(const btVector3& vrTeleportPos);
 
 	virtual const btQuaternion& getVRTeleportOrientation() const;
-	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
+	virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
 };
 
 #endif //PHYSICS_SERVER_COMMAND_PROCESSOR_H
diff --git a/examples/SharedMemory/PhysicsServerSharedMemory.h b/examples/SharedMemory/PhysicsServerSharedMemory.h
index 0fcd534b4..b53df5537 100644
--- a/examples/SharedMemory/PhysicsServerSharedMemory.h
+++ b/examples/SharedMemory/PhysicsServerSharedMemory.h
@@ -41,10 +41,10 @@ public:
 	virtual void removePickingConstraint();
 
 	virtual const btVector3& getVRTeleportPosition() const;
-	virtual void setVRTeleportPosition(const btVector3& vrReleportPos);
+	virtual void setVRTeleportPosition(const btVector3& vrTeleportPos);
 
 	virtual const btQuaternion& getVRTeleportOrientation() const;
-	virtual void setVRTeleportOrientation(const btQuaternion& vrReleportOrn);
+	virtual void setVRTeleportOrientation(const btQuaternion& vrTeleportOrn);
 
 	
 
diff --git a/examples/pybullet/examples/humanoid_knee_position_control.py b/examples/pybullet/examples/humanoid_knee_position_control.py
index a75c66263..b62bd76a1 100644
--- a/examples/pybullet/examples/humanoid_knee_position_control.py
+++ b/examples/pybullet/examples/humanoid_knee_position_control.py
@@ -13,7 +13,7 @@ p.setRealTimeSimulation(useRealTime)
 
 p.setGravity(0,0,-10)
 
-p.loadURDF("plane.urdf")
+p.loadSDF("stadium.sdf")
 
 obUids = p.loadMJCF("mjcf/humanoid_fixed.xml")
 human = obUids[0]
diff --git a/examples/pybullet/tensorflow/humanoid_running.py b/examples/pybullet/tensorflow/humanoid_running.py
index 8dea38298..c4c741f10 100644
--- a/examples/pybullet/tensorflow/humanoid_running.py
+++ b/examples/pybullet/tensorflow/humanoid_running.py
@@ -1,21 +1,30 @@
 import tensorflow as tf
 import sys
 import numpy as np
-
+import argparse
 import pybullet as p
 import time
-p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	cid = p.connect(p.GUI) #DIRECT is much faster, but GUI shows the running gait
+
 p.setGravity(0,0,-9.8)
 p.setPhysicsEngineParameter(fixedTimeStep=1.0/60., numSolverIterations=5, numSubSteps=2)
 #this mp4 recording requires ffmpeg installed
 #mp4log = p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4,"humanoid.mp4")
 
+p.loadSDF("stadium.sdf")
+#p.loadURDF("plane.urdf")
 
-plane, human  = p.loadMJCF("mjcf/humanoid_symmetric.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
-
+objs = p.loadMJCF("mjcf/humanoid_symmetric_no_ground.xml",flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+human  = objs[0]
 ordered_joints = []
 ordered_joint_indices = []
 
+parser = argparse.ArgumentParser()
+parser.add_argument('--profile')
+
 
 jdict = {}
 for j in range( p.getNumJoints(human) ):
@@ -175,7 +184,7 @@ def demo_run():
 		p.setJointMotorControlArray(human, motors,controlMode=p.TORQUE_CONTROL, forces=forces)
 
 		p.stepSimulation()
-		#time.sleep(0.01)
+		time.sleep(0.01)
 		distance=5
 		yaw = 0
 		humanPos, humanOrn = p.getBasePositionAndOrientation(human)
diff --git a/setup.py b/setup.py
index f509fe88f..8c81da317 100644
--- a/setup.py
+++ b/setup.py
@@ -418,7 +418,7 @@ else:
 
 setup(
 	name = 'pybullet',
-	version='1.1.0',
+	version='1.1.1',
 	description='Official Python Interface for the Bullet Physics SDK Robotics Simulator',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and machine learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',
diff --git a/src/BulletDynamics/Featherstone/btMultiBody.h b/src/BulletDynamics/Featherstone/btMultiBody.h
index 8d89cac7d..6dad0afeb 100644
--- a/src/BulletDynamics/Featherstone/btMultiBody.h
+++ b/src/BulletDynamics/Featherstone/btMultiBody.h
@@ -142,7 +142,11 @@ public:
 
 	btMultiBodyLinkCollider* getLinkCollider(int index)
 	{
-		return m_colliders[index];
+		if (index >= 0 && index < m_colliders.size())
+		{
+			return m_colliders[index];
+		}
+		return 0;
 	}
 
     //