diff --git a/examples/pybullet/examples/shiftCenterOfMass.py b/examples/pybullet/examples/shiftCenterOfMass.py
new file mode 100644
index 000000000..c77629b32
--- /dev/null
+++ b/examples/pybullet/examples/shiftCenterOfMass.py
@@ -0,0 +1,22 @@
+import pybullet as p
+import time
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
+p.loadURDF("plane.urdf")
+p.setGravity(0,0,-10)
+visualShift = [0,0,0]
+collisionShift = [0,0,0]
+inertiaShift = [0,0,-0.5]
+
+meshScale=[1,1,1]
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="cube.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFramePosition=visualShift, meshScale=meshScale)
+collisionShapeId = p.createCollisionShape(shapeType=p.GEOM_MESH, fileName="cube.obj", collisionFramePosition=collisionShift,meshScale=meshScale)
+
+p.createMultiBody(baseMass=1,baseInertialFramePosition=inertiaShift,baseCollisionShapeIndex=collisionShapeId, baseVisualShapeIndex = visualShapeId, basePosition = [0,0,1], useMaximalCoordinates=False)
+while (1):
+	p.stepSimulation()
+	time.sleep(1./240.)
+		
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