diff --git a/examples/collisionshapes/Scene.cpp b/examples/collisionshapes/Scene.cpp
index 440ec5a6..c6fc330e 100644
--- a/examples/collisionshapes/Scene.cpp
+++ b/examples/collisionshapes/Scene.cpp
@@ -46,7 +46,7 @@ Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::str
     mViewer->setScenePosition(center, radiusScene);
 
     // Gravity vector in the dynamics world
-    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+    rp3d::Vector3 gravity(0, -9.81, 0);
 
     // Time step for the physics simulation
     rp3d::decimal timeStep = 1.0f / 60.0f;
@@ -67,7 +67,7 @@ Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath, const std::str
         // Position
         float angle = i * 30.0f;
         openglframework::Vector3 position(radius * cos(angle),
-                                          80 + i * (DUMBBELL_HEIGHT + 0.3f),
+                                          100 + i * (DUMBBELL_HEIGHT + 0.3f),
                                           radius * sin(angle));
 
         // Create a convex mesh and a corresponding rigid in the dynamics world
diff --git a/examples/collisionshapes/Scene.h b/examples/collisionshapes/Scene.h
index afc0537c..0fe055bf 100644
--- a/examples/collisionshapes/Scene.h
+++ b/examples/collisionshapes/Scene.h
@@ -41,12 +41,12 @@
 
 // Constants
 const int NB_BOXES = 2;
-const int NB_SPHERES = 3;
-const int NB_CONES = 1;
+const int NB_SPHERES = 1;
+const int NB_CONES = 3;
 const int NB_CYLINDERS = 2;
 const int NB_CAPSULES = 1;
-const int NB_MESHES = 3;
-const int NB_COMPOUND_SHAPES = 1;
+const int NB_MESHES = 2;
+const int NB_COMPOUND_SHAPES = 2;
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);
 const float SPHERE_RADIUS = 1.5f;
 const float CONE_RADIUS = 2.0f;
diff --git a/examples/common/Dumbbell.cpp b/examples/common/Dumbbell.cpp
index d6810d06..595a3915 100644
--- a/examples/common/Dumbbell.cpp
+++ b/examples/common/Dumbbell.cpp
@@ -61,7 +61,7 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
 
     // Initial position and orientation of the rigid body
     rp3d::Vector3 initPosition(position.x, position.y, position.z);
-    rp3d::decimal angleAroundX = rp3d::PI / 4;
+    rp3d::decimal angleAroundX = 0;//rp3d::PI / 2;
     rp3d::Quaternion initOrientation(angleAroundX, 0, 0);
     rp3d::Transform transformBody(initPosition, initOrientation);
 
@@ -78,8 +78,8 @@ Dumbbell::Dumbbell(const openglframework::Vector3 &position,
     mRigidBody = dynamicsWorld->createRigidBody(transformBody);
 
     // Add the three collision shapes to the body and specify the mass and transform of the shapes
-    mRigidBody->addCollisionShape(sphereCollisionShape, 1, transformSphereShape1);
-    mRigidBody->addCollisionShape(sphereCollisionShape, 4, transformSphereShape2);
+    mRigidBody->addCollisionShape(sphereCollisionShape, massSphere, transformSphereShape1);
+    mRigidBody->addCollisionShape(sphereCollisionShape, massSphere, transformSphereShape2);
     mRigidBody->addCollisionShape(cylinderCollisionShape, massCylinder, transformCylinderShape);
 }
 
diff --git a/examples/cubes/Scene.cpp b/examples/cubes/Scene.cpp
index 838f4a0b..240dd757 100644
--- a/examples/cubes/Scene.cpp
+++ b/examples/cubes/Scene.cpp
@@ -46,7 +46,7 @@ Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath)
     mViewer->setScenePosition(center, radiusScene);
 
     // Gravity vector in the dynamics world
-    rp3d::Vector3 gravity(0, rp3d::decimal(-9.81), 0);
+    rp3d::Vector3 gravity(0, rp3d::decimal(-5.81), 0);
 
     // Time step for the physics simulation
     rp3d::decimal timeStep = 1.0f / 60.0f;
@@ -92,6 +92,8 @@ Scene::Scene(Viewer* viewer, const std::string& shaderFolderPath)
 
     // Start the simulation
     startSimulation();
+
+    counter=0;
 }
 
 // Destructor
@@ -129,6 +131,9 @@ void Scene::simulate() {
     // If the physics simulation is running
     if (mIsRunning) {
 
+        counter++;
+        if (counter == 800) mIsRunning = false;
+
         // Take a simulation step
         mDynamicsWorld->update();
 
diff --git a/examples/cubes/Scene.h b/examples/cubes/Scene.h
index f8f0dde0..dc60a127 100644
--- a/examples/cubes/Scene.h
+++ b/examples/cubes/Scene.h
@@ -33,7 +33,7 @@
 #include "Viewer.h"
 
 // Constants
-const int NB_SPHERES = 20;                                 // Number of boxes in the scene
+const int NB_SPHERES = 200;                                 // Number of boxes in the scene
 const openglframework::Vector3 BOX_SIZE(2, 2, 2);          // Box dimensions in meters
 const openglframework::Vector3 FLOOR_SIZE(50, 0.5f, 50);   // Floor dimensions in meters
 const float BOX_MASS = 1.0f;                               // Box mass in kilograms
@@ -46,6 +46,8 @@ class Scene {
 
         // -------------------- Attributes -------------------- //
 
+        int counter;
+
         /// Pointer to the viewer
         Viewer* mViewer;