diff --git a/examples/SharedMemory/PhysicsClient.cpp b/examples/SharedMemory/PhysicsClient.cpp
index 70ae962b2..37d01c739 100644
--- a/examples/SharedMemory/PhysicsClient.cpp
+++ b/examples/SharedMemory/PhysicsClient.cpp
@@ -225,6 +225,9 @@ void	PhysicsClient::stepSimulation(float deltaTime)
 						{
 							m_testBlock1->m_clientCommands[0].m_type =CMD_LOAD_URDF;
 							sprintf(m_testBlock1->m_clientCommands[0].m_urdfArguments.m_urdfFileName,"r2d2.urdf");
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useFixedBase = false;
+							m_testBlock1->m_clientCommands[0].m_urdfArguments.m_useMultiBody = true;
+
 							m_testBlock1->m_numClientCommands++;
 							b3Printf("Client created CMD_LOAD_URDF");
 							m_waitingForServer = true;
diff --git a/examples/SharedMemory/PhysicsServer.cpp b/examples/SharedMemory/PhysicsServer.cpp
index 3a72a907e..1f0165d4f 100644
--- a/examples/SharedMemory/PhysicsServer.cpp
+++ b/examples/SharedMemory/PhysicsServer.cpp
@@ -15,6 +15,8 @@ class PhysicsServer : public SharedMemoryCommon
 {
 	SharedMemoryInterface* m_sharedMemory;
     SharedMemoryExampleData* m_testBlock1;
+
+	btAlignedObjectArray<btJointFeedback*> m_jointFeedbacks;
 	bool m_wantsShutdown;
 
 public:
@@ -88,8 +90,10 @@ void	PhysicsServer::initPhysics()
 	m_guiHelper->setUpAxis(upAxis);
 
     createEmptyDynamicsWorld();
+	//todo: create a special debug drawer that will cache the lines, so we can send the debug info over the wire
+	m_guiHelper->createPhysicsDebugDrawer(m_dynamicsWorld);
 	btVector3 grav(0,0,0);
-	grav[upAxis] = -10;
+	grav[upAxis] = -9.8;
 	this->m_dynamicsWorld->setGravity(grav);
     
     m_testBlock1 = (SharedMemoryExampleData*) m_sharedMemory->allocateSharedMemory(SHARED_MEMORY_KEY, SHARED_MEMORY_SIZE);
@@ -142,8 +146,29 @@ bool PhysicsServer::loadUrdf(const char* fileName, const btVector3& pos, const b
         
         ConvertURDF2Bullet(u2b,creation, tr,m_dynamicsWorld,useMultiBody,u2b.getPathPrefix());
         btMultiBody* mb = creation.getBulletMultiBody();
+		if (useMultiBody)
+		{
+			if (mb)
+			{
+				return true;
+			} else
+			{
+				b3Warning("No multibody loaded from URDF");
+				return false;
+			}
+		} else
+		{
+			for (int i=0;i<m_dynamicsWorld->getNumConstraints();i++)
+			{
+				btTypedConstraint* c = m_dynamicsWorld->getConstraint(i);
+				btJointFeedback* fb = new btJointFeedback();
+				m_jointFeedbacks.push_back(fb);
+				c->setJointFeedback(fb);
 
-        return true;
+			}
+			return true;
+		}
+        
     }
     
     return false;
@@ -176,8 +201,9 @@ void	PhysicsServer::stepSimulation(float deltaTime)
                     //load the actual URDF and send a report: completed or failed
 
                     
+					
                     bool completedOk = loadUrdf(clientCmd.m_urdfArguments.m_urdfFileName,
-                                               btVector3(0,0,0), btQuaternion(0,0,0,1),true,true );
+                                               btVector3(0,0,0), btQuaternion(0,0,0,1),clientCmd.m_urdfArguments.m_useMultiBody,clientCmd.m_urdfArguments.m_useFixedBase);
                     SharedMemoryCommand& serverCmd =m_testBlock1->m_serverCommands[0];
  
                     if (completedOk)
@@ -202,7 +228,24 @@ void	PhysicsServer::stepSimulation(float deltaTime)
                     
                     serverCmd.m_type =CMD_STEP_FORWARD_SIMULATION_COMPLETED;
                     m_testBlock1->m_numServerCommands++;
- 
+
+					//now we send back the actual q, q' and force/torque and IMU sensor values
+					for (int i=0;i<m_jointFeedbacks.size();i++)
+					{
+						printf("Applied force A:(%f,%f,%f), torque A:(%f,%f,%f)\nForce B:(%f,%f,%f), torque B:(%f,%f,%f)\n", 
+							m_jointFeedbacks[i]->m_appliedForceBodyA.x(),
+							m_jointFeedbacks[i]->m_appliedForceBodyA.y(),
+							m_jointFeedbacks[i]->m_appliedForceBodyA.z(),
+							m_jointFeedbacks[i]->m_appliedTorqueBodyA.x(),
+							m_jointFeedbacks[i]->m_appliedTorqueBodyA.y(),
+							m_jointFeedbacks[i]->m_appliedTorqueBodyA.z(),
+							m_jointFeedbacks[i]->m_appliedForceBodyB.x(),
+							m_jointFeedbacks[i]->m_appliedForceBodyB.y(),
+							m_jointFeedbacks[i]->m_appliedForceBodyB.z(),
+							m_jointFeedbacks[i]->m_appliedTorqueBodyB.x(),
+							m_jointFeedbacks[i]->m_appliedTorqueBodyB.y(),
+							m_jointFeedbacks[i]->m_appliedTorqueBodyB.z());
+					}
                     break;
                 }
                 case CMD_SHUTDOWN:
diff --git a/examples/SharedMemory/SharedMemoryInterface.h b/examples/SharedMemory/SharedMemoryInterface.h
index cd060788d..c69dad4ec 100644
--- a/examples/SharedMemory/SharedMemoryInterface.h
+++ b/examples/SharedMemory/SharedMemoryInterface.h
@@ -31,6 +31,8 @@ enum SharedMemoryClientCommand{
 struct UrdfCommandArgument
 {
     char m_urdfFileName[MAX_URDF_FILENAME_LENGTH];
+	bool m_useMultiBody;
+	bool m_useFixedBase;
 };
 
 struct StepSimulationCommandArgument