diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index fdb5bbe87..dee00ed27 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -256,8 +256,14 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
         
         case  CMD_LOAD_SDF:
         {
+            /*
             b3SharedMemoryCommandHandle commandHandle = b3LoadSdfCommandInit(m_physicsClientHandle, "two_cubes.sdf");//kuka_iiwa/model.sdf");
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            */
+            b3SharedMemoryCommandHandle commandHandle = b3LoadUrdfCommandInit(m_physicsClientHandle, "sphere_big.urdf");
+            //setting the initial position, orientation and other arguments are optional
+            b3LoadUrdfCommandSetStartPosition(commandHandle,0.5,0.5,0.5);
+            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
         case CMD_REQUEST_CAMERA_IMAGE_DATA:
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 58e164ca7..73d6935a4 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -34,6 +34,7 @@ subject to the following restrictions:
 #include "../Importers/ImportURDFDemo/UrdfParser.h"
 #include "../SharedMemory/SharedMemoryPublic.h"//for b3VisualShapeData
 #include "../TinyRenderer/model.h"
+#include "../ThirdPartyLibs/stb_image/stb_image.h"
 
 
 enum MyFileType
@@ -833,9 +834,14 @@ void TinyRendererVisualShapeConverter::resetAll()
 // Get shapeUniqueId from getVisualShapesData?
 void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, int textureUniqueId)
 {
+    int width,height,n;
+    const char filename[] = "/Users/yunfeibai/Documents/dev/bullet-change-texture/bullet3/data/checker_huge.gif";
+    unsigned char* image=0;
+    
+	image = stbi_load(filename, &width, &height, &n, 3);
     
     // Use shapeUniqueId?
-    int objectArrayIndex = 1;
+    int objectArrayIndex = 8;
     int objectIndex = 0;
     printf("num m_swRenderInstances = %d\n", m_data->m_swRenderInstances.size());
     TinyRendererObjectArray** ptrptr = m_data->m_swRenderInstances.getAtIndex(objectArrayIndex);
@@ -845,7 +851,8 @@ void TinyRendererVisualShapeConverter::activateShapeTexture(int shapeUniqueId, i
         unsigned char textureImage[3] = {255, 0, 0};
         int textureWidth = 1;
         int textureHeight = 1;
-        ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
+        //ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(textureImage,textureWidth,textureHeight);
+        ptr->m_renderObjects[objectIndex]->m_model->setDiffuseTextureFromData(image,width,height);
     }
 
     
diff --git a/examples/TinyRenderer/model.cpp b/examples/TinyRenderer/model.cpp
index 7bbd5b357..f0ef25563 100644
--- a/examples/TinyRenderer/model.cpp
+++ b/examples/TinyRenderer/model.cpp
@@ -57,12 +57,12 @@ void Model::setDiffuseTextureFromData(unsigned char* textureImage,int textureWid
 		for (int j=0;j<textureHeight;j++)
 		{
 			TGAColor color;
-            //color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
-            //color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
-            //color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
-            color.bgra[0] = textureImage[0];
-            color.bgra[1] = textureImage[1];
-            color.bgra[2] = textureImage[2];
+            color.bgra[0] = textureImage[(i+j*textureWidth)*3+0];
+            color.bgra[1] = textureImage[(i+j*textureWidth)*3+1];
+            color.bgra[2] = textureImage[(i+j*textureWidth)*3+2];
+            //color.bgra[0] = textureImage[0];
+            //color.bgra[1] = textureImage[1];
+            //color.bgra[2] = textureImage[2];
 			color.bgra[3] = 255;
 
 			color.bytespp = 3;