diff --git a/data/kitchens/1.sdf b/data/kitchens/1.sdf
index 5f1046837..0bf6112e9 100644
--- a/data/kitchens/1.sdf
+++ b/data/kitchens/1.sdf
@@ -16,7 +16,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_0'>
+			<collision concave='yes' name='collision_0'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -55,7 +55,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_1'>
+			<collision concave='yes' name='collision_1'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -94,7 +94,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_2'>
+			<collision concave='yes' name='collision_2'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -133,7 +133,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_3'>
+			<collision concave='yes' name='collision_3'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -172,7 +172,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_4'>
+			<collision concave='yes' name='collision_4'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -211,7 +211,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_5'>
+			<collision concave='yes' name='collision_5'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -250,7 +250,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_6'>
+			<collision concave='yes' name='collision_6'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -289,7 +289,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_7'>
+			<collision concave='yes' name='collision_7'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -328,7 +328,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_8'>
+			<collision concave='yes' name='collision_8'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -367,7 +367,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_9'>
+			<collision concave='yes' name='collision_9'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -406,7 +406,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_10'>
+			<collision concave='yes' name='collision_10'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -445,7 +445,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_11'>
+			<collision concave='yes' name='collision_11'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -484,7 +484,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_12'>
+			<collision concave='yes' name='collision_12'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -523,7 +523,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_13'>
+			<collision concave='yes' name='collision_13'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -562,7 +562,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_14'>
+			<collision concave='yes' name='collision_14'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -601,7 +601,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_15'>
+			<collision concave='yes' name='collision_15'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -640,7 +640,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_16'>
+			<collision concave='yes' name='collision_16'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -679,7 +679,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_17'>
+			<collision concave='yes' name='collision_17'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -718,7 +718,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_18'>
+			<collision concave='yes' name='collision_18'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -757,7 +757,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_19'>
+			<collision concave='yes' name='collision_19'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -796,7 +796,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_20'>
+			<collision concave='yes' name='collision_20'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -835,7 +835,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_21'>
+			<collision concave='yes' name='collision_21'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -874,7 +874,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_22'>
+			<collision concave='yes' name='collision_22'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -913,7 +913,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_23'>
+			<collision concave='yes' name='collision_23'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -952,7 +952,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_24'>
+			<collision concave='yes' name='collision_24'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -991,7 +991,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_25'>
+			<collision concave='yes' name='collision_25'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1030,7 +1030,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_26'>
+			<collision concave='yes' name='collision_26'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1069,7 +1069,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_27'>
+			<collision concave='yes' name='collision_27'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1108,7 +1108,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_28'>
+			<collision concave='yes' name='collision_28'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1147,7 +1147,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_29'>
+			<collision concave='yes' name='collision_29'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1186,7 +1186,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_30'>
+			<collision concave='yes' name='collision_30'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1225,7 +1225,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_31'>
+			<collision concave='yes' name='collision_31'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1264,7 +1264,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_32'>
+			<collision concave='yes' name='collision_32'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1303,7 +1303,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_33'>
+			<collision concave='yes' name='collision_33'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1342,7 +1342,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_34'>
+			<collision concave='yes' name='collision_34'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1381,7 +1381,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_35'>
+			<collision concave='yes' name='collision_35'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1420,7 +1420,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_36'>
+			<collision concave='yes' name='collision_36'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1459,7 +1459,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_37'>
+			<collision concave='yes' name='collision_37'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1498,7 +1498,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_38'>
+			<collision concave='yes' name='collision_38'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1537,7 +1537,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_39'>
+			<collision concave='yes' name='collision_39'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1576,7 +1576,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_40'>
+			<collision concave='yes' name='collision_40'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1615,7 +1615,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_41'>
+			<collision concave='yes' name='collision_41'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1654,7 +1654,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_42'>
+			<collision concave='yes' name='collision_42'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1693,7 +1693,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_43'>
+			<collision concave='yes' name='collision_43'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1732,7 +1732,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_44'>
+			<collision concave='yes' name='collision_44'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1771,7 +1771,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_45'>
+			<collision concave='yes' name='collision_45'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1810,7 +1810,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_46'>
+			<collision concave='yes' name='collision_46'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1849,7 +1849,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_47'>
+			<collision concave='yes' name='collision_47'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1888,7 +1888,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_48'>
+			<collision concave='yes' name='collision_48'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1927,7 +1927,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_49'>
+			<collision concave='yes' name='collision_49'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -1966,7 +1966,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_50'>
+			<collision concave='yes' name='collision_50'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2005,7 +2005,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_51'>
+			<collision concave='yes' name='collision_51'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2044,7 +2044,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_52'>
+			<collision concave='yes' name='collision_52'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2083,7 +2083,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_53'>
+			<collision concave='yes' name='collision_53'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2122,7 +2122,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_54'>
+			<collision concave='yes' name='collision_54'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2161,7 +2161,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_55'>
+			<collision concave='yes' name='collision_55'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2200,7 +2200,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_56'>
+			<collision concave='yes' name='collision_56'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2239,7 +2239,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_57'>
+			<collision concave='yes' name='collision_57'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2278,7 +2278,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_58'>
+			<collision concave='yes' name='collision_58'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2317,7 +2317,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_59'>
+			<collision concave='yes' name='collision_59'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2356,7 +2356,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_60'>
+			<collision concave='yes' name='collision_60'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2395,7 +2395,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_61'>
+			<collision concave='yes' name='collision_61'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2434,7 +2434,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_62'>
+			<collision concave='yes' name='collision_62'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2473,7 +2473,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_63'>
+			<collision concave='yes' name='collision_63'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2512,7 +2512,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_64'>
+			<collision concave='yes' name='collision_64'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2551,7 +2551,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_65'>
+			<collision concave='yes' name='collision_65'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2590,7 +2590,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_66'>
+			<collision concave='yes' name='collision_66'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2629,7 +2629,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_67'>
+			<collision concave='yes' name='collision_67'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2668,7 +2668,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_68'>
+			<collision concave='yes' name='collision_68'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2707,7 +2707,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_69'>
+			<collision concave='yes' name='collision_69'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2746,7 +2746,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_70'>
+			<collision concave='yes' name='collision_70'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2785,7 +2785,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_71'>
+			<collision concave='yes' name='collision_71'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2824,7 +2824,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_72'>
+			<collision concave='yes' name='collision_72'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2863,7 +2863,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_73'>
+			<collision concave='yes' name='collision_73'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2902,7 +2902,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_74'>
+			<collision concave='yes' name='collision_74'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2941,7 +2941,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_75'>
+			<collision concave='yes' name='collision_75'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -2980,7 +2980,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_76'>
+			<collision concave='yes' name='collision_76'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3019,7 +3019,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_77'>
+			<collision concave='yes' name='collision_77'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3058,7 +3058,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_78'>
+			<collision concave='yes' name='collision_78'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3097,7 +3097,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_79'>
+			<collision concave='yes' name='collision_79'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3136,7 +3136,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_80'>
+			<collision concave='yes' name='collision_80'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3175,7 +3175,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_81'>
+			<collision concave='yes' name='collision_81'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3214,7 +3214,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_82'>
+			<collision concave='yes' name='collision_82'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3253,7 +3253,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_83'>
+			<collision concave='yes' name='collision_83'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3292,7 +3292,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_84'>
+			<collision concave='yes' name='collision_84'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3331,7 +3331,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_85'>
+			<collision concave='yes' name='collision_85'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3370,7 +3370,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_86'>
+			<collision concave='yes' name='collision_86'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3409,7 +3409,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_87'>
+			<collision concave='yes' name='collision_87'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3448,7 +3448,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_88'>
+			<collision concave='yes' name='collision_88'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3487,7 +3487,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_89'>
+			<collision concave='yes' name='collision_89'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3526,7 +3526,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_90'>
+			<collision concave='yes' name='collision_90'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3565,7 +3565,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_91'>
+			<collision concave='yes' name='collision_91'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3604,7 +3604,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_92'>
+			<collision concave='yes' name='collision_92'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3643,7 +3643,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_93'>
+			<collision concave='yes' name='collision_93'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3682,7 +3682,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_94'>
+			<collision concave='yes' name='collision_94'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3721,7 +3721,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_95'>
+			<collision concave='yes' name='collision_95'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3760,7 +3760,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_96'>
+			<collision concave='yes' name='collision_96'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3799,7 +3799,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_97'>
+			<collision concave='yes' name='collision_97'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3838,7 +3838,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_98'>
+			<collision concave='yes' name='collision_98'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3877,7 +3877,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_99'>
+			<collision concave='yes' name='collision_99'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3916,7 +3916,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_100'>
+			<collision concave='yes' name='collision_100'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3955,7 +3955,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_101'>
+			<collision concave='yes' name='collision_101'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -3994,7 +3994,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_102'>
+			<collision concave='yes' name='collision_102'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4033,7 +4033,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_103'>
+			<collision concave='yes' name='collision_103'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4072,7 +4072,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_104'>
+			<collision concave='yes' name='collision_104'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4111,7 +4111,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_105'>
+			<collision concave='yes' name='collision_105'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4150,7 +4150,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_106'>
+			<collision concave='yes' name='collision_106'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4189,7 +4189,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_107'>
+			<collision concave='yes' name='collision_107'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4228,7 +4228,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_108'>
+			<collision concave='yes' name='collision_108'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4267,7 +4267,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_109'>
+			<collision concave='yes' name='collision_109'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4306,7 +4306,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_110'>
+			<collision concave='yes' name='collision_110'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4345,7 +4345,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_111'>
+			<collision concave='yes' name='collision_111'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4384,7 +4384,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_112'>
+			<collision concave='yes' name='collision_112'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4423,7 +4423,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_113'>
+			<collision concave='yes' name='collision_113'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4462,7 +4462,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_114'>
+			<collision concave='yes' name='collision_114'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4501,7 +4501,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_115'>
+			<collision concave='yes' name='collision_115'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4540,7 +4540,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_116'>
+			<collision concave='yes' name='collision_116'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4579,7 +4579,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_117'>
+			<collision concave='yes' name='collision_117'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4618,7 +4618,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_118'>
+			<collision concave='yes' name='collision_118'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4657,7 +4657,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_119'>
+			<collision concave='yes' name='collision_119'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4696,7 +4696,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_120'>
+			<collision concave='yes' name='collision_120'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4735,7 +4735,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_121'>
+			<collision concave='yes' name='collision_121'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4774,7 +4774,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_122'>
+			<collision concave='yes' name='collision_122'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4813,7 +4813,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_123'>
+			<collision concave='yes' name='collision_123'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4852,7 +4852,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_124'>
+			<collision concave='yes' name='collision_124'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4891,7 +4891,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_125'>
+			<collision concave='yes' name='collision_125'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4930,7 +4930,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_126'>
+			<collision concave='yes' name='collision_126'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -4969,7 +4969,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_127'>
+			<collision concave='yes' name='collision_127'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5008,7 +5008,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_128'>
+			<collision concave='yes' name='collision_128'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5047,7 +5047,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_129'>
+			<collision concave='yes' name='collision_129'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5086,7 +5086,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_130'>
+			<collision concave='yes' name='collision_130'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5125,7 +5125,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_131'>
+			<collision concave='yes' name='collision_131'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5164,7 +5164,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_132'>
+			<collision concave='yes' name='collision_132'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5203,7 +5203,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_133'>
+			<collision concave='yes' name='collision_133'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5242,7 +5242,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_134'>
+			<collision concave='yes' name='collision_134'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5281,7 +5281,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_135'>
+			<collision concave='yes' name='collision_135'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5320,7 +5320,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_136'>
+			<collision concave='yes' name='collision_136'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5359,7 +5359,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_137'>
+			<collision concave='yes' name='collision_137'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5398,7 +5398,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_138'>
+			<collision concave='yes' name='collision_138'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5437,7 +5437,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_139'>
+			<collision concave='yes' name='collision_139'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5476,7 +5476,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_140'>
+			<collision concave='yes' name='collision_140'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5515,7 +5515,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_141'>
+			<collision concave='yes' name='collision_141'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5554,7 +5554,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_142'>
+			<collision concave='yes' name='collision_142'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5593,7 +5593,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_143'>
+			<collision concave='yes' name='collision_143'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5632,7 +5632,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_144'>
+			<collision concave='yes' name='collision_144'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5671,7 +5671,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_145'>
+			<collision concave='yes' name='collision_145'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5741,7 +5741,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_147'>
+			<collision concave='yes' name='collision_147'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5780,7 +5780,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_148'>
+			<collision concave='yes' name='collision_148'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5819,7 +5819,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_149'>
+			<collision concave='yes' name='collision_149'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5858,7 +5858,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_150'>
+			<collision concave='yes' name='collision_150'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5897,7 +5897,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_151'>
+			<collision concave='yes' name='collision_151'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5936,7 +5936,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_152'>
+			<collision concave='yes' name='collision_152'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -5975,7 +5975,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_153'>
+			<collision concave='yes' name='collision_153'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6014,7 +6014,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_154'>
+			<collision concave='yes' name='collision_154'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6053,7 +6053,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_155'>
+			<collision concave='yes' name='collision_155'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6092,7 +6092,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_156'>
+			<collision concave='yes' name='collision_156'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6131,7 +6131,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_157'>
+			<collision concave='yes' name='collision_157'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6170,7 +6170,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_158'>
+			<collision concave='yes' name='collision_158'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6209,7 +6209,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_159'>
+			<collision concave='yes' name='collision_159'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6248,7 +6248,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_160'>
+			<collision concave='yes' name='collision_160'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6287,7 +6287,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_161'>
+			<collision concave='yes' name='collision_161'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6326,7 +6326,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_162'>
+			<collision concave='yes' name='collision_162'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6365,7 +6365,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_163'>
+			<collision concave='yes' name='collision_163'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6404,7 +6404,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_164'>
+			<collision concave='yes' name='collision_164'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6443,7 +6443,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_165'>
+			<collision concave='yes' name='collision_165'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6482,7 +6482,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_166'>
+			<collision concave='yes' name='collision_166'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6521,7 +6521,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_167'>
+			<collision concave='yes' name='collision_167'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6560,7 +6560,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_168'>
+			<collision concave='yes' name='collision_168'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6599,7 +6599,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_169'>
+			<collision concave='yes' name='collision_169'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6638,7 +6638,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_170'>
+			<collision concave='yes' name='collision_170'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6677,7 +6677,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_171'>
+			<collision concave='yes' name='collision_171'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6716,7 +6716,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_172'>
+			<collision concave='yes' name='collision_172'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
@@ -6755,7 +6755,7 @@
 			<izz>0.166667</izz>
 			</inertia>
 			</inertial>
-			<collision name='collision_173'>
+			<collision concave='yes' name='collision_173'>
 			<geometry>
 			<mesh>
 			<scale>.1 .1 .1</scale>
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index c0465f7fb..1566dfc9f 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -3055,8 +3055,8 @@ static PyObject* pybullet_configureDebugVisualizer(PyObject* self, PyObject* arg
 static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* args, PyObject *keywds)
 {
     float cameraDistance = -1;
-	float cameraYaw = -1;
-	float cameraPitch = -1;
+	float cameraYaw = 35;
+	float cameraPitch = 50;
 	PyObject* cameraTargetPosObj=0;
 
     int physicsClientId = 0;
@@ -3076,7 +3076,7 @@ static PyObject* pybullet_resetDebugVisualizerCamera(PyObject* self, PyObject* a
    
     {
         b3SharedMemoryCommandHandle commandHandle = b3InitConfigureOpenGLVisualizer(sm);
-		if ((cameraDistance>=0) && (cameraYaw>=0) &&  (cameraPitch>=0))
+		if ((cameraDistance>=0))
 		{
 			float cameraTargetPosition[3];
 			if (pybullet_internalSetVector(cameraTargetPosObj,cameraTargetPosition))
diff --git a/examples/pybullet/testrender_np.py b/examples/pybullet/testrender_np.py
index c008da09f..9f84fbed9 100644
--- a/examples/pybullet/testrender_np.py
+++ b/examples/pybullet/testrender_np.py
@@ -43,8 +43,8 @@ for pitch in range (0,360,10) :
     print ('width = %d height = %d' % (w,h))
 
     #note that sending the data to matplotlib is really slow
-    
-	plt.imshow(rgb,interpolation='none')    
+
+    plt.imshow(rgb,interpolation='none')
     plt.pause(0.001)
 
 main_stop = time.time()