diff --git a/data/husky/husky.urdf b/data/husky/husky.urdf
index e9762701b..4fab377ae 100644
--- a/data/husky/husky.urdf
+++ b/data/husky/husky.urdf
@@ -102,6 +102,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
     </gazebo>
   <!-- Husky wheel macros -->
   <link name="front_left_wheel_link">
+  	<contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
     <inertial>
       <mass value="2.637"/>
       <origin xyz="0 0 0"/>
@@ -146,6 +153,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
     </joint>
   </transmission>
   <link name="front_right_wheel_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
     <inertial>
       <mass value="2.637"/>
       <origin xyz="0 0 0"/>
@@ -190,6 +204,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
     </joint>
   </transmission>
   <link name="rear_left_wheel_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
     <inertial>
       <mass value="2.637"/>
       <origin xyz="0 0 0"/>
@@ -234,6 +255,13 @@ ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSI
     </joint>
   </transmission>
   <link name="rear_right_wheel_link">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <stiffness value="30000"/>
+      <damping value="1000"/>
+    </contact>
+    
     <inertial>
       <mass value="2.637"/>
       <origin xyz="0 0 0"/>
diff --git a/examples/OpenGLWindow/GLInstancingRenderer.cpp b/examples/OpenGLWindow/GLInstancingRenderer.cpp
index e9c5e38fa..5107ed758 100644
--- a/examples/OpenGLWindow/GLInstancingRenderer.cpp
+++ b/examples/OpenGLWindow/GLInstancingRenderer.cpp
@@ -17,9 +17,9 @@ subject to the following restrictions:
 
 ///todo: make this configurable in the gui
 bool useShadowMap = true;// true;//false;//true;
-int shadowMapWidth=4096;//8192;
-int shadowMapHeight= 4096;
-float shadowMapWorldSize=25;
+int shadowMapWidth= 2048;//8192;
+int shadowMapHeight= 2048;
+float shadowMapWorldSize=5;
 
 #define MAX_POINTS_IN_BATCH 1024
 #define MAX_LINES_IN_BATCH 1024
@@ -1475,7 +1475,7 @@ void GLInstancingRenderer::renderSceneInternal(int renderMode)
 //		m_data->m_shadowMap->disable();
 	//	return;
 		glEnable(GL_CULL_FACE);
-		glCullFace(GL_BACK); // Cull back-facing triangles -> draw only front-facing triangles
+		glCullFace(GL_FRONT); // Cull back-facing triangles -> draw only front-facing triangles
 
 	b3Assert(glGetError() ==GL_NO_ERROR);
 	} else
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index 0ff5b4f93..73901c659 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -139,6 +139,7 @@ void	MotionThreadFunc(void* userPtr,void* lsMemory)
 
 				skip++;
 				skip1++;
+				if (skip1>5)
 				{
 					b3Clock::usleep(250);
 				}