diff --git a/data/init_physics.lua b/data/init_physics.lua
index 12ff73f07..9d764533f 100644
--- a/data/init_physics.lua
+++ b/data/init_physics.lua
@@ -1,8 +1,6 @@
 -- Very basic Lua script to create some Bullet objects. 
--- See also Demos3/AllBullet2Demos using Demos3/bullet2/LuaDemo
+-- See also examples/LuaDemo
 
---right now we cannot interleave adding instances of different shapes, they have to be added in-order
---hence the two loops. this will be fixed soon
 
 world = createDefaultDynamicsWorld()
 
diff --git a/data/init_urdf.lua b/data/init_urdf.lua
index 681ed21d3..7997a8fdd 100644
--- a/data/init_urdf.lua
+++ b/data/init_urdf.lua
@@ -14,7 +14,7 @@ body = createRigidBody(world,cubeshape,mass,pos,orn)
 
 pos={0,10,0}
 orn = {0,0,0,1}
-mb = loadUrdf(world,"r2d2.urdf", pos, orn);
+mb = loadMultiBodyFromUrdf(world,"r2d2.urdf", pos, orn);
 pos={2,2,0}
 orn = {0,0,0,1}
-mb = loadUrdf(world,"r2d2.urdf", pos, orn);
+mb = loadMultiBodyFromUrdf(world,"r2d2.urdf", pos, orn);
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
index c0f60066d..60226271b 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
@@ -20,7 +20,7 @@ MyMultiBodyCreator::MyMultiBodyCreator(GUIHelperInterface* guiHelper)
     
  class btMultiBody* MyMultiBodyCreator::allocateMultiBody(int /* urdfLinkIndex */, int totalNumJoints,btScalar mass, const btVector3& localInertiaDiagonal, bool isFixedBase, bool canSleep, bool multiDof)
 {
-	m_urdf2mbLink.resize(totalNumJoints+1,-2);
+//	m_urdf2mbLink.resize(totalNumJoints+1,-2);
     m_mb2urdfLink.resize(totalNumJoints+1,-2);
 
     m_bulletMultiBody = new btMultiBody(totalNumJoints,mass,localInertiaDiagonal,isFixedBase,canSleep,multiDof);
@@ -50,7 +50,7 @@ class btGeneric6DofSpring2Constraint* MyMultiBodyCreator::allocateGeneric6DofSpr
 
 void MyMultiBodyCreator::addLinkMapping(int urdfLinkIndex, int mbLinkIndex) 
 {
-    m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;
+//    m_urdf2mbLink[urdfLinkIndex] = mbLinkIndex;
     m_mb2urdfLink[mbLinkIndex] = urdfLinkIndex;
 }
 
diff --git a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
index f28360313..71b2f18f2 100644
--- a/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
+++ b/examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h
@@ -19,7 +19,6 @@ class MyMultiBodyCreator : public MultiBodyCreationInterface
 
 public:
 
-	btAlignedObjectArray<int> m_urdf2mbLink;
     btAlignedObjectArray<int> m_mb2urdfLink;
   
 
diff --git a/examples/LuaDemo/LuaPhysicsSetup.cpp b/examples/LuaDemo/LuaPhysicsSetup.cpp
index 5d9a4f39b..bb55e54a6 100644
--- a/examples/LuaDemo/LuaPhysicsSetup.cpp
+++ b/examples/LuaDemo/LuaPhysicsSetup.cpp
@@ -269,7 +269,7 @@ static int gCreateRigidBody (lua_State *L)
 
 		if (!lua_isuserdata(L,2))
 		{
-			std::cerr << "error: second argument to b3CreateRigidbody should be world";
+			std::cerr << "error: second argument to b3CreateRigidbody should be collision shape";
 			return 0;
 		}
 
@@ -291,7 +291,6 @@ static int gCreateRigidBody (lua_State *L)
 		}
 
 
-
 		btRigidBody* body = new btRigidBody(mass,0,colShape,inertia);
 		body->getWorldTransform().setOrigin(pos);
 		body->getWorldTransform().setRotation(orn);
@@ -409,7 +408,8 @@ void LuaPhysicsSetup::initPhysics()
 		lua_register(L, "deleteDynamicsWorld", gDeleteDynamicsWorld);
 		lua_register(L, "createCubeShape", gCreateCubeShape);
 		lua_register(L, "createSphereShape", gCreateSphereShape);
-		lua_register(L, "loadUrdf",gLoadMultiBodyFromUrdf);
+		lua_register(L, "loadMultiBodyFromUrdf",gLoadMultiBodyFromUrdf);
+
 		lua_register(L, "createRigidBody", gCreateRigidBody);
 		lua_register(L, "setBodyPosition", gSetBodyPosition);
 		lua_register(L, "setBodyOrientation", gSetBodyOrientation);