diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index abf228607..33ca652e1 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -1232,6 +1232,7 @@ int b3ResetDynamicInfoSetMass(b3SharedMemoryCommandHandle commandHandle, int bod
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*) commandHandle;
 	b3Assert(command->m_type == CMD_RESET_DYNAMIC_INFO);
+	b3Assert(mass > 0);
 	command->m_resetDynamicInfoArgs.m_bodyUniqueId = bodyUniqueId;
 	command->m_resetDynamicInfoArgs.m_linkIndex = linkIndex;
 	command->m_resetDynamicInfoArgs.m_mass = mass;
diff --git a/examples/pybullet/examples/reset_dynamic_info.py b/examples/pybullet/examples/reset_dynamic_info.py
new file mode 100644
index 000000000..fc0f3cea1
--- /dev/null
+++ b/examples/pybullet/examples/reset_dynamic_info.py
@@ -0,0 +1,18 @@
+import pybullet as p
+import time
+import math
+
+p.connect(p.GUI)
+
+p.loadURDF(fileName="plane.urdf",baseOrientation=[0.25882,0,0,0.96593])
+p.loadURDF(fileName="cube.urdf",baseOrientation=[0.25882,0,0,0.96593],basePosition=[0,0,2])
+p.loadURDF(fileName="cube.urdf",baseOrientation=[0,0,0,1],basePosition=[0,0,4])
+p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=0.1)
+#p.resetDynamicInfo(bodyUniqueId=2,linkIndex=-1,mass=100.0)
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(0)
+t=0
+while 1:
+	t=t+1
+	time.sleep(.01)
+	p.stepSimulation()