diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
index cc32a3913..ee6a20989 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.cpp
@@ -1270,6 +1270,7 @@ bool b3RobotSimulatorClientAPI_NoGUI::getDynamicsInfo(int bodyUniqueId, int link
 		status_handle = b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, cmd_handle);
 		status_type = b3GetStatusType(status_handle);
 		if (status_type == CMD_GET_DYNAMICS_INFO_COMPLETED) {
+			b3GetDynamicsInfo(status_handle, dynamicsInfo);
 			return true;
 		} else {
 			b3Warning("getDynamicsInfo did not complete");
@@ -1626,6 +1627,10 @@ bool b3RobotSimulatorClientAPI_NoGUI::setPhysicsEngineParameter(struct b3RobotSi
 		b3PhysicsParamSetDefaultFrictionERP(command,args.m_frictionERP);
 	}
 
+	if (args.m_solverResidualThreshold >= 0) {
+		b3PhysicsParamSetSolverResidualThreshold(command, args.m_solverResidualThreshold);
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	return true;
 }
@@ -2060,4 +2065,53 @@ void b3RobotSimulatorClientAPI_NoGUI::setGuiHelper(struct GUIHelperInterface* gu
 struct GUIHelperInterface* b3RobotSimulatorClientAPI_NoGUI::getGuiHelper()
 {
 	return m_data->m_guiHelper;
-}
\ No newline at end of file
+}
+
+bool b3RobotSimulatorClientAPI_NoGUI::getCollisionShapeData(int bodyUniqueId, int linkIndex,
+															b3CollisionShapeInformation &collisionShapeInfo)
+{
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0) {
+		b3Warning("Not connected");
+		return false;
+	}
+	b3SharedMemoryCommandHandle command;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+
+	{
+		command = b3InitRequestCollisionShapeInformation(sm, bodyUniqueId, linkIndex);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
+		statusType = b3GetStatusType(statusHandle);
+	}
+
+	btAssert(statusType == CMD_COLLISION_SHAPE_INFO_COMPLETED);
+	if (statusType == CMD_COLLISION_SHAPE_INFO_COMPLETED) {
+		b3GetCollisionShapeInformation(sm, &collisionShapeInfo);
+	}
+	return true;
+}
+
+bool b3RobotSimulatorClientAPI_NoGUI::getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo)
+{
+	b3PhysicsClientHandle sm = m_data->m_physicsClientHandle;
+	if (sm == 0) {
+		b3Warning("Not connected");
+		return false;
+	}
+	b3SharedMemoryCommandHandle commandHandle;
+	b3SharedMemoryStatusHandle statusHandle;
+	int statusType;
+
+	{
+		commandHandle = b3InitRequestVisualShapeInformation(sm, bodyUniqueId);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+		statusType = b3GetStatusType(statusHandle);
+
+		btAssert(statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED);
+		if (statusType == CMD_VISUAL_SHAPE_INFO_COMPLETED) {
+			b3GetVisualShapeInformation(sm, &visualShapeInfo);
+		}
+		return true;
+	}
+}
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
index 02594cf40..2a3dcc328 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI_NoGUI.h
@@ -152,7 +152,14 @@ struct b3RobotSimulatorJointMotorArrayArgs
 	double *m_forces;
 
 	b3RobotSimulatorJointMotorArrayArgs(int controlMode, int numControlledDofs)
-		: m_controlMode(controlMode), m_numControlledDofs(numControlledDofs)
+		: m_controlMode(controlMode),
+		  m_numControlledDofs(numControlledDofs),
+		  m_jointIndices(NULL),
+		  m_targetPositions(NULL),
+		  m_kps(NULL),
+		  m_targetVelocities(NULL),
+		  m_kds(NULL),
+		  m_forces(NULL)
 	{
 	}
 };
@@ -204,6 +211,7 @@ struct b3RobotSimulatorSetPhysicsEngineParameters
 	double m_erp;
 	double m_contactERP;
 	double m_frictionERP;
+	double m_solverResidualThreshold;
 
 	b3RobotSimulatorSetPhysicsEngineParameters()
 		: m_fixedTimeStep(-1),
@@ -218,7 +226,8 @@ struct b3RobotSimulatorSetPhysicsEngineParameters
 		m_restitutionVelocityThreshold(-1),
 		m_erp(-1),
 		m_contactERP(-1),
-		m_frictionERP(-1)
+		m_frictionERP(-1),
+	  	m_solverResidualThreshold(-1)
 	{}
 };
 
@@ -566,6 +575,10 @@ public:
 	
 	virtual void setGuiHelper(struct GUIHelperInterface* guiHelper);
 	virtual struct GUIHelperInterface* getGuiHelper();
+
+	bool getCollisionShapeData(int bodyUniqueId, int linkIndex, b3CollisionShapeInformation &collisionShapeInfo);
+
+	bool getVisualShapeData(int bodyUniqueId, b3VisualShapeInformation &visualShapeInfo);
 	
 };