diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 6fbce838b..d3cfa2d5b 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -8246,9 +8246,9 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 							int optionFlags = clientCmd.m_userDebugDrawArgs.m_optionFlags;
 
-							if (clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)
+							if ((clientCmd.m_updateFlags & USER_DEBUG_HAS_TEXT_ORIENTATION)==0)
 							{
-								optionFlags |= DEB_DEBUG_TEXT_USE_ORIENTATION;
+								optionFlags |= DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA;
 							}
 
 
diff --git a/examples/SharedMemory/PhysicsServerExample.cpp b/examples/SharedMemory/PhysicsServerExample.cpp
index deae2e936..342f32574 100644
--- a/examples/SharedMemory/PhysicsServerExample.cpp
+++ b/examples/SharedMemory/PhysicsServerExample.cpp
@@ -2441,22 +2441,26 @@ void PhysicsServerExample::drawUserDebugLines()
 		for (int i = 0; i<m_multiThreadedHelper->m_userDebugText.size(); i++)
 		{
 
-//			int optionFlag = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera|CommonGraphicsApp::eDrawText3D_TrueType;
+			//int optionFlag = 0;//CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera|CommonGraphicsApp::eDrawText3D_TrueType;
+			//int optionFlag = CommonGraphicsApp::eDrawText3D_TrueType;
+			float orientation[4] = {0,0,0,1};
+			
 			//int optionFlag = CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
 			int optionFlag = 0;
-			float orientation[4] = {0,0,0,1};
+			
 			if (m_multiThreadedHelper->m_userDebugText[i].m_optionFlags&CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera)
+			{
+				optionFlag |= CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
+			} else
 			{
 				orientation[0] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[0];
 				orientation[1] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[1];
 				orientation[2] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[2];
 				orientation[3] = m_multiThreadedHelper->m_userDebugText[i].m_textOrientation[3];
 				optionFlag |= CommonGraphicsApp::eDrawText3D_TrueType;
-			} else
-			{
-				optionFlag |= CommonGraphicsApp::eDrawText3D_OrtogonalFaceCamera;
+				
 			}
-
+			
 			float colorRGBA[4] = {
 				m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[0],
 				m_multiThreadedHelper->m_userDebugText[i].m_textColorRGB[1],
@@ -2526,7 +2530,6 @@ void PhysicsServerExample::renderScene()
 
 	B3_PROFILE("PhysicsServerExample::RenderScene");
 
-	drawUserDebugLines();
 
 	if (m_physicsServer.isRealTimeSimulationEnabled())
 	{
@@ -2679,6 +2682,7 @@ void PhysicsServerExample::renderScene()
 		}
 	}
 
+	drawUserDebugLines();
 
 
 	//m_args[0].m_cs->unlock();
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 621751e69..b3b223ae1 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -583,7 +583,7 @@ enum b3ConfigureDebugVisualizerEnum
 
 enum b3AddUserDebugItemEnum
 {
-	DEB_DEBUG_TEXT_USE_ORIENTATION=1,
+	DEB_DEBUG_TEXT_ALWAYS_FACE_CAMERA=1,
 	DEB_DEBUG_TEXT_USE_TRUE_TYPE_FONTS=2,
 	DEB_DEBUG_TEXT_HAS_TRACKING_OBJECT=4,
 };
diff --git a/examples/pybullet/examples/createVisualShape.py b/examples/pybullet/examples/createVisualShape.py
index 3dd212832..6e13b6c28 100644
--- a/examples/pybullet/examples/createVisualShape.py
+++ b/examples/pybullet/examples/createVisualShape.py
@@ -20,7 +20,9 @@ def getRayFromTo(mouseX,mouseY):
 					rayFrom[2]+rayForward[2]  - 0.5 * horizon[2] + 0.5 * vertical[2]+float(mouseX)*dHor[2]-float(mouseY)*dVer[2]]
 	return rayFrom,rayTo
 
-p.connect(p.GUI)
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
 p.setPhysicsEngineParameter(numSolverIterations=10)
 p.setTimeStep(1./120.)
 logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")
diff --git a/examples/pybullet/examples/debugDrawItems.py b/examples/pybullet/examples/debugDrawItems.py
index 3aa1e44ae..e493f1dad 100644
--- a/examples/pybullet/examples/debugDrawItems.py
+++ b/examples/pybullet/examples/debugDrawItems.py
@@ -1,6 +1,9 @@
 import pybullet as p
 import time
-p.connect(p.GUI)
+
+cid = p.connect(p.SHARED_MEMORY)
+if (cid<0):
+	p.connect(p.GUI)
 p.loadURDF("plane.urdf")
 kuka = p.loadURDF("kuka_iiwa/model.urdf")
 p.addUserDebugText("tip", [0,0,0.1],textColorRGB=[1,0,0],textSize=1.5,parentObjectUniqueId=kuka, parentLinkIndex=6)
diff --git a/setup.py b/setup.py
index aacca7f02..4362b92a3 100644
--- a/setup.py
+++ b/setup.py
@@ -441,7 +441,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.5.6',
+	version='1.5.7',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',