diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
index 6b4ca19bb..1a7bf5b77 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.cpp
@@ -1143,7 +1143,7 @@ void b3RobotSimulatorClientAPI::submitProfileTiming(const std::string&  profileN
 	b3SubmitClientCommandAndWaitStatus(m_data->m_physicsClientHandle, commandHandle);
 }
 
-void b3RobotSimulatorClientAPI::loadSoftBody(double scale, double mass, double collisionMargin)
+void b3RobotSimulatorClientAPI::loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin)
 {
 	if (!isConnected())
 	{
@@ -1151,7 +1151,7 @@ void b3RobotSimulatorClientAPI::loadSoftBody(double scale, double mass, double c
 		return;
 	}
 
-    b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle);
+    b3SharedMemoryCommandHandle command = b3LoadSoftBodyCommandInit(m_data->m_physicsClientHandle, fileName.c_str());
     b3LoadSoftBodySetScale(command, scale);
     b3LoadSoftBodySetMass(command, mass);
     b3LoadSoftBodySetCollisionMargin(command, collisionMargin);
diff --git a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
index 372fbb4a9..d2bee5338 100644
--- a/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
+++ b/examples/RobotSimulator/b3RobotSimulatorClientAPI.h
@@ -229,7 +229,7 @@ public:
 
 	//////////////// INTERNAL
 
-	void loadSoftBody(double scale, double mass, double collisionMargin);
+	void loadSoftBody(const std::string& fileName, double scale, double mass, double collisionMargin);
 
 	//setGuiHelper is only used when embedded in existing example browser
 	void setGuiHelper(struct GUIHelperInterface* guiHelper);
diff --git a/examples/RoboticsLearning/GripperGraspExample.cpp b/examples/RoboticsLearning/GripperGraspExample.cpp
index 5869ba7fb..222114779 100644
--- a/examples/RoboticsLearning/GripperGraspExample.cpp
+++ b/examples/RoboticsLearning/GripperGraspExample.cpp
@@ -336,7 +336,7 @@ public:
                 
             }
             m_robotSim.setGravity(b3MakeVector3(0,0,-10));
-            m_robotSim.loadSoftBody(0.1,0.1,0.02);
+            m_robotSim.loadSoftBody("bunny.obj",0.1,0.1,0.02);
             
             b3JointInfo revoluteJoint1;
             revoluteJoint1.m_parentFrame[0] = -0.055;
@@ -412,7 +412,7 @@ public:
                 m_robotSim.loadURDF("plane.urdf", args);
             }
             m_robotSim.setGravity(b3MakeVector3(0,0,-10));
-            m_robotSim.loadSoftBody(0.3,10.0,0.1);
+            m_robotSim.loadSoftBody("bunny.obj",0.3,10.0,0.1);
         }
     }
     virtual void    exitPhysics()
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index bccd60a32..827efa0be 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -256,18 +256,31 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
 	}
 }
 
-B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient)
+B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
 {
     PhysicsClient* cl = (PhysicsClient* ) physClient;
     b3Assert(cl);
     b3Assert(cl->canSubmitCommand());
-    
-    struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
-    b3Assert(command);
-    command->m_type = CMD_LOAD_SOFT_BODY;
-    command->m_updateFlags = 0;
-    
-    return (b3SharedMemoryCommandHandle) command;
+	
+	if (cl->canSubmitCommand())
+	{
+		struct SharedMemoryCommand* command = cl->getAvailableSharedMemoryCommand();
+		b3Assert(command);
+		command->m_type = CMD_LOAD_SOFT_BODY;
+		int len = strlen(fileName);
+		if (len < MAX_FILENAME_LENGTH)
+		{
+			strcpy(command->m_loadSoftBodyArguments.m_fileName, fileName);
+		}
+		else
+		{
+			command->m_loadSoftBodyArguments.m_fileName[0] = 0;
+		}
+		command->m_updateFlags = LOAD_SOFT_BODY_FILE_NAME;
+		
+		return (b3SharedMemoryCommandHandle) command;
+	}
+	return 0;
 }
 
 B3_SHARED_API int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale)
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 177d4e492..c2f11006f 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -512,7 +512,7 @@ B3_SHARED_API	void b3ApplyExternalForce(b3SharedMemoryCommandHandle commandHandl
 B3_SHARED_API	void b3ApplyExternalTorque(b3SharedMemoryCommandHandle commandHandle, int bodyUniqueId, int linkId, const double torque[/*3*/], int flag);
 
 ///experiments of robots interacting with non-rigid objects (such as btSoftBody)
-B3_SHARED_API	b3SharedMemoryCommandHandle	b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient);
+B3_SHARED_API	b3SharedMemoryCommandHandle	b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 B3_SHARED_API	int b3LoadSoftBodySetScale(b3SharedMemoryCommandHandle commandHandle, double scale);
 B3_SHARED_API	int b3LoadSoftBodySetMass(b3SharedMemoryCommandHandle commandHandle, double mass);
 B3_SHARED_API	int b3LoadSoftBodySetCollisionMargin(b3SharedMemoryCommandHandle commandHandle, double collisionMargin);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 874cc7929..84247f9e7 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5668,6 +5668,14 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
     double scale = 0.1;
     double mass = 0.1;
     double collisionMargin = 0.02;
+	const LoadSoftBodyArgs& loadSoftBodyArgs = clientCmd.m_loadSoftBodyArguments;
+	if (m_data->m_verboseOutput)
+	{
+		b3Printf("Processed CMD_LOAD_SOFT_BODY:%s", loadSoftBodyArgs.m_fileName);
+	}
+	btAssert((clientCmd.m_updateFlags & LOAD_SOFT_BODY_FILE_NAME) !=0);
+	btAssert(loadSoftBodyArgs.m_fileName);
+
     if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_UPDATE_SCALE)
     {
         scale = clientCmd.m_loadSoftBodyArguments.m_scale;
@@ -5693,7 +5701,7 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 		char relativeFileName[1024];
 		char pathPrefix[1024];
 		pathPrefix[0] = 0;
-		if (b3ResourcePath::findResourcePath("bunny.obj", relativeFileName, 1024))
+		if (b3ResourcePath::findResourcePath(loadSoftBodyArgs.m_fileName, relativeFileName, 1024))
 		{
 			b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 		}
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index e4f27b6e6..202556d73 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -430,9 +430,10 @@ enum EnumSimParamUpdateFlags
 
 enum EnumLoadSoftBodyUpdateFlags
 {
-    LOAD_SOFT_BODY_UPDATE_SCALE=1,
-    LOAD_SOFT_BODY_UPDATE_MASS=2,
-    LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN=4
+	LOAD_SOFT_BODY_FILE_NAME=1,
+    LOAD_SOFT_BODY_UPDATE_SCALE=2,
+    LOAD_SOFT_BODY_UPDATE_MASS=4,
+    LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN=8
 };
 
 enum EnumSimParamInternalSimFlags
@@ -446,6 +447,7 @@ enum EnumSimParamInternalSimFlags
 
 struct LoadSoftBodyArgs
 {
+	char m_fileName[MAX_FILENAME_LENGTH];
     double m_scale;
     double m_mass;
     double m_collisionMargin;