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 b2ad0f70f..56cdb8af6 100644
Binary files a/docs/pybullet_quickstartguide.pdf and b/docs/pybullet_quickstartguide.pdf differ
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/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/pybullet.c b/examples/pybullet/pybullet.c
index e024318ed..b1629971f 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);
 			}
@@ -4905,7 +4918,7 @@ 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,