diff --git a/data/sphere2_rolling_friction.urdf b/data/sphere2_rolling_friction.urdf
index e4ff66341..e5785e3cd 100644
--- a/data/sphere2_rolling_friction.urdf
+++ b/data/sphere2_rolling_friction.urdf
@@ -3,6 +3,7 @@
   <link name="base_link">
     <contact>
       <rolling_friction value="0.3"/>
+      <spinning_friction value="0.3"/>
     </contact>
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index 8f49ec179..56cdb8af6 100644
Binary files a/docs/pybullet_quickstartguide.pdf and b/docs/pybullet_quickstartguide.pdf differ
diff --git a/examples/Benchmarks/BenchmarkDemo.cpp b/examples/Benchmarks/BenchmarkDemo.cpp
index fdacc0347..d9a1b3ef0 100644
--- a/examples/Benchmarks/BenchmarkDemo.cpp
+++ b/examples/Benchmarks/BenchmarkDemo.cpp
@@ -210,9 +210,13 @@ public:
     {
         for ( int i = iBegin; i < iEnd; ++i )
         {
+			
 			btCollisionWorld::ClosestRayResultCallback cb(source[i], dest[i]);
 			
-			cw->rayTest (source[i], dest[i], cb);
+			{
+				BT_PROFILE("cw->rayTest");
+				cw->rayTest(source[i], dest[i], cb);
+			}
 			if (cb.hasHit ())
 			{
 				hit[i] = cb.m_hitPointWorld;
@@ -241,6 +245,8 @@ public:
 
 	void cast (btCollisionWorld* cw, bool multiThreading = false)
 	{
+		BT_PROFILE("cast");
+
 #ifdef USE_BT_CLOCK
 		frame_timer.reset ();
 #endif //USE_BT_CLOCK
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index db8f3c498..37cf5eb70 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -295,8 +295,19 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
             inertia.m_izz  = urdfLexicalCast<double>(izz->GetText());
         } else
         {
-            logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz child elements");
-            return false;
+			if (ixx && iyy && izz)
+			{
+				inertia.m_ixx  = urdfLexicalCast<double>(ixx->GetText());
+				inertia.m_ixy  = 0;
+				inertia.m_ixz  = 0;
+				inertia.m_iyy  = urdfLexicalCast<double>(iyy->GetText());
+				inertia.m_iyz  = 0;
+				inertia.m_izz  = urdfLexicalCast<double>(izz->GetText());
+			} else
+			{
+	            logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz child elements");
+		        return false;
+			}
         }
     } else
     {
@@ -304,15 +315,29 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
             inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") &&
             inertia_xml->Attribute("izz")))
         {
-          logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
-          return false;
-        }
-        inertia.m_ixx  = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
-        inertia.m_ixy  = urdfLexicalCast<double>(inertia_xml->Attribute("ixy"));
-        inertia.m_ixz  = urdfLexicalCast<double>(inertia_xml->Attribute("ixz"));
-        inertia.m_iyy  = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
-        inertia.m_iyz  = urdfLexicalCast<double>(inertia_xml->Attribute("iyz"));
-        inertia.m_izz  = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
+			if ((inertia_xml->Attribute("ixx") && inertia_xml->Attribute("iyy") &&
+            inertia_xml->Attribute("izz")))
+			{
+				inertia.m_ixx  = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
+				inertia.m_ixy  = 0;
+				inertia.m_ixz  = 0;
+				inertia.m_iyy  = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
+				inertia.m_iyz  = 0;
+				inertia.m_izz  = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
+			} else
+			{
+	          logger->reportError("Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes");
+		      return false;
+			}
+        } else
+		{
+			inertia.m_ixx  = urdfLexicalCast<double>(inertia_xml->Attribute("ixx"));
+			inertia.m_ixy  = urdfLexicalCast<double>(inertia_xml->Attribute("ixy"));
+			inertia.m_ixz  = urdfLexicalCast<double>(inertia_xml->Attribute("ixz"));
+			inertia.m_iyy  = urdfLexicalCast<double>(inertia_xml->Attribute("iyy"));
+			inertia.m_iyz  = urdfLexicalCast<double>(inertia_xml->Attribute("iyz"));
+			inertia.m_izz  = urdfLexicalCast<double>(inertia_xml->Attribute("izz"));
+		}
     }
 	return true;
     
diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
index 6a7634618..17c5f802d 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.cpp
@@ -611,6 +611,7 @@ btConstraintSolver* createSolverByType( SolverType t )
     case SOLVER_TYPE_MLCP_LEMKE:
         mlcpSolver = new btLemkeSolver();
         break;
+    default: {}
     }
     if (mlcpSolver)
     {
diff --git a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
index a399c032e..0695b88c0 100644
--- a/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
+++ b/examples/MultiThreadedDemo/CommonRigidBodyMTBase.h
@@ -31,6 +31,7 @@ inline const char* getSolverTypeName( SolverType t )
     case SOLVER_TYPE_MLCP_PGS: return "MLCP ProjectedGaussSeidel";
     case SOLVER_TYPE_MLCP_DANTZIG: return "MLCP Dantzig";
     case SOLVER_TYPE_MLCP_LEMKE: return "MLCP Lemke";
+    default:{}
     }
     btAssert( !"unhandled solver type in switch" );
     return "???";
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 40e60c3bb..913fe086b 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -189,6 +189,11 @@ struct b3BodyInfo
 };
 
 
+// copied from btMultiBodyLink.h
+enum SensorType {
+	eSensorForceTorqueType = 1,
+};
+
 
 struct b3JointSensorState
 {
diff --git a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
index 16b0522ea..7483936ba 100644
--- a/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
+++ b/examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
@@ -211,7 +211,7 @@ updateVertex(
   positions.push_back(in_positions[3*i.v_idx+1]);
   positions.push_back(in_positions[3*i.v_idx+2]);
 
-  if (i.vn_idx >= 0) {
+  if (i.vn_idx >= 0 && ((3*i.vn_idx+2)<in_normals.size())) {
     normals.push_back(in_normals[3*i.vn_idx+0]);
     normals.push_back(in_normals[3*i.vn_idx+1]);
     normals.push_back(in_normals[3*i.vn_idx+2]);
diff --git a/examples/pybullet/forcetorquesensor.py b/examples/pybullet/forcetorquesensor.py
new file mode 100644
index 000000000..9e0f343a3
--- /dev/null
+++ b/examples/pybullet/forcetorquesensor.py
@@ -0,0 +1,26 @@
+import pybullet as p
+p.connect(p.DIRECT)
+hinge = p.loadURDF("hinge.urdf")
+print("mass of linkA = 1kg, linkB = 1kg, total mass = 2kg")
+
+hingeJointIndex = 0
+
+#by default, joint motors are enabled, maintaining zero velocity
+p.setJointMotorControl2(hinge,hingeJointIndex,p.VELOCITY_CONTROL,0,0,0)
+
+p.setGravity(0,0,-10)
+p.stepSimulation()
+print("joint state without sensor")
+
+print(p.getJointState(0,0))
+p.enableJointForceTorqueSensor(hinge,hingeJointIndex)
+p.stepSimulation()
+print("joint state with force/torque sensor, gravity [0,0,-10]")
+print(p.getJointState(0,0))
+p.setGravity(0,0,0)
+p.stepSimulation()
+print("joint state with force/torque sensor, no gravity")
+print(p.getJointState(0,0))
+
+p.disconnect()
+
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 718f5cb9f..e600d0355 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2668,7 +2668,7 @@ static PyObject* pybullet_rayTest(PyObject* self, PyObject* args, PyObject *keyw
 	return Py_None;
 }
 
-static PyObject* pybullet_getMatrixFromQuaterion(PyObject* self, PyObject* args) 
+static PyObject* pybullet_getMatrixFromQuaternion(PyObject* self, PyObject* args)
 {
 	PyObject* quatObj;
 	double quat[4];
@@ -2907,7 +2907,7 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 			pyResultList = PyTuple_New(visualShapeInfo.m_numVisualShapes);
 			for (i = 0; i < visualShapeInfo.m_numVisualShapes; i++)
 			{
-				PyObject* visualShapeObList = PyTuple_New(7);
+				PyObject* visualShapeObList = PyTuple_New(8);
 				PyObject* item;
 				item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_objectUniqueId);
 				PyTuple_SetItem(visualShapeObList, 0, item);
@@ -2920,11 +2920,11 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 
 				{
 					PyObject* vec = PyTuple_New(3);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[0]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_dimensions[0]);
 					PyTuple_SetItem(vec, 0, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[1]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_dimensions[1]);
 					PyTuple_SetItem(vec, 1, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_dimensions[2]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_dimensions[2]);
 					PyTuple_SetItem(vec, 2, item);
 					PyTuple_SetItem(visualShapeObList, 3, vec);
 				}
@@ -2934,28 +2934,41 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 
 				{
 					PyObject* vec = PyTuple_New(3);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[0]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[0]);
 					PyTuple_SetItem(vec, 0, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[1]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[1]);
 					PyTuple_SetItem(vec, 1, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[2]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[2]);
 					PyTuple_SetItem(vec, 2, item);
 					PyTuple_SetItem(visualShapeObList, 5, vec);
 				}
 
 				{
 					PyObject* vec = PyTuple_New(4);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[3]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[3]);
 					PyTuple_SetItem(vec, 0, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[4]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[4]);
 					PyTuple_SetItem(vec, 1, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[5]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[5]);
 					PyTuple_SetItem(vec, 2, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[6]);
+					item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[6]);
 					PyTuple_SetItem(vec, 3, item);
 					PyTuple_SetItem(visualShapeObList, 6, vec);
 				}
 
+                {
+                    PyObject* rgba = PyTuple_New(4);
+                    item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[0]);
+                    PyTuple_SetItem(rgba, 0, item);
+                    item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[1]);
+                    PyTuple_SetItem(rgba, 1, item);
+                    item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[2]);
+                    PyTuple_SetItem(rgba, 2, item);
+                    item = PyFloat_FromDouble(visualShapeInfo.m_visualShapeData[i].m_rgbaColor[3]);
+                    PyTuple_SetItem(rgba, 3, item);
+                    PyTuple_SetItem(visualShapeObList, 7, rgba);
+                }
+                
 
 				PyTuple_SetItem(pyResultList, i, visualShapeObList);
 			}
@@ -3362,6 +3375,63 @@ static PyObject* pybullet_updateUserConstraint(PyObject* self, PyObject* args, P
 }
 */
 
+static PyObject* pybullet_enableJointForceTorqueSensor(PyObject* self, PyObject* args, PyObject *keywds)
+{
+	int bodyUniqueId = -1;
+	int jointIndex = -1;
+	int enableSensor = 1;
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+	int numJoints = -1;
+
+	static char *kwlist[] = {"bodyUniqueId", "jointIndex" ,"enableSensor", "physicsClientId" };
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "ii|ii", kwlist, &bodyUniqueId, &jointIndex, &enableSensor,&physicsClientId))
+	{
+		return NULL;
+	}
+
+	sm = getPhysicsClient(physicsClientId);
+	if (sm == 0)
+	{
+		PyErr_SetString(SpamError, "Not connected to physics server.");
+		return NULL;
+	}
+
+	
+	if (bodyUniqueId < 0)
+	{
+		PyErr_SetString(SpamError, "Error: invalid bodyUniqueId");
+		return NULL;
+	}
+	numJoints = b3GetNumJoints(sm, bodyUniqueId);
+	if ((jointIndex < 0) || (jointIndex >= numJoints))
+	{
+		PyErr_SetString(SpamError, "Error: invalid jointIndex.");
+		return NULL;
+	}
+
+	{
+		b3SharedMemoryCommandHandle commandHandle;
+		b3SharedMemoryStatusHandle statusHandle;
+		int statusType;
+
+		commandHandle = b3CreateSensorCommandInit(sm, bodyUniqueId);
+		b3CreateSensorEnable6DofJointForceTorqueSensor(commandHandle, jointIndex, enableSensor);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+		if (statusType == CMD_CLIENT_COMMAND_COMPLETED)
+		{
+			Py_INCREF(Py_None);
+			return Py_None;
+		}
+	}
+
+	PyErr_SetString(SpamError, "Error creating sensor.");
+	return NULL;
+}
+
+
 static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, PyObject *keywds) 
 {
   
@@ -3455,15 +3525,11 @@ static PyObject* pybullet_createUserConstraint(PyObject* self, PyObject* args, P
 		int userConstraintUid = b3GetStatusUserConstraintUniqueId(statusHandle);
 		PyObject* ob = PyLong_FromLong(userConstraintUid);
 		return ob;
-	} else
-	{
-		PyErr_SetString(SpamError, "createConstraint failed.");
-		return NULL;
 	}
 
-  Py_INCREF(Py_None);
-  return Py_None;
 
+	PyErr_SetString(SpamError, "createConstraint failed.");
+	return NULL;
 }
 
 static PyObject* pybullet_getContactPointData(PyObject* self, PyObject* args, PyObject *keywds) {
@@ -4690,6 +4756,10 @@ static PyMethodDef SpamMethods[] = {
      "Remove a constraint using its unique id."
      },
 	
+	 { "enableJointForceTorqueSensor", (PyCFunction)pybullet_enableJointForceTorqueSensor, METH_VARARGS | METH_KEYWORDS,
+		"Enable or disable a joint force/torque sensor measuring the joint reaction forces."
+	 },
+
 	{"saveWorld", (PyCFunction)pybullet_saveWorld, METH_VARARGS| METH_KEYWORDS,
      "Save a approximate Python file to reproduce the current state of the world: saveWorld"
 	"(filename). (very preliminary and approximately)"},
@@ -4868,7 +4938,7 @@ static PyMethodDef SpamMethods[] = {
      "Convert quaternion [x,y,z,w] to Euler [roll, pitch, yaw] as in URDF/SDF "
      "convention"},
 
-	 {"getMatrixFromQuaterion", pybullet_getMatrixFromQuaterion,METH_VARARGS,
+	 {"getMatrixFromQuaternion", pybullet_getMatrixFromQuaternion,METH_VARARGS,
 		"Compute the 3x3 matrix from a quaternion, as a list of 9 values (row-major)"},
 
     {"calculateInverseDynamics", (PyCFunction)pybullet_calculateInverseDynamics, METH_VARARGS| METH_KEYWORDS,
@@ -4954,6 +5024,9 @@ initpybullet(void)
   PyModule_AddIntConstant(m, "JOINT_FIXED", eFixedType);        // user read
   PyModule_AddIntConstant(m, "JOINT_POINT2POINT", ePoint2PointType);        // user read
 
+  PyModule_AddIntConstant(m, "SENSOR_FORCE_TORQUE", eSensorForceTorqueType);        // user read
+
+
   PyModule_AddIntConstant(m, "TORQUE_CONTROL", CONTROL_MODE_TORQUE);
   PyModule_AddIntConstant(m, "VELOCITY_CONTROL",
                           CONTROL_MODE_VELOCITY);  // user read