diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 071d371eb..40e60c3bb 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -329,7 +329,7 @@ struct b3VisualShapeData
 	int m_visualGeometryType;//box primitive, sphere primitive, triangle mesh
 	double m_dimensions[3];//meaning depends on m_visualGeometryType
 	char m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN];
-	double m_localInertiaFrame[7];//pos[3], orn[4]
+    double m_localVisualFrame[7];//pos[3], orn[4]
 	//todo: add more data if necessary (material color etc, although material can be in asset file .obj file)
     double m_rgbaColor[4];
 };
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index 13d616be6..5ae682fc2 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -289,7 +289,14 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 					visualShapeOut.m_dimensions[0] = visual->m_geometry.m_meshScale[0];
 					visualShapeOut.m_dimensions[1] = visual->m_geometry.m_meshScale[1];
 					visualShapeOut.m_dimensions[2] = visual->m_geometry.m_meshScale[2];
-
+                    visualShapeOut.m_localVisualFrame[0] = visual->m_linkLocalFrame.getOrigin()[0];
+                    visualShapeOut.m_localVisualFrame[1] = visual->m_linkLocalFrame.getOrigin()[1];
+                    visualShapeOut.m_localVisualFrame[2] = visual->m_linkLocalFrame.getOrigin()[2];
+                    visualShapeOut.m_localVisualFrame[3] = visual->m_linkLocalFrame.getRotation()[0];
+                    visualShapeOut.m_localVisualFrame[4] = visual->m_linkLocalFrame.getRotation()[1];
+                    visualShapeOut.m_localVisualFrame[5] = visual->m_linkLocalFrame.getRotation()[2];
+                    visualShapeOut.m_localVisualFrame[6] = visual->m_linkLocalFrame.getRotation()[3];
+                    
 					int sl = strlen(fullPath);
 					if (sl < (VISUAL_SHAPE_MAX_PATH_LEN-1))
 					{
@@ -550,7 +557,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
 
 		const UrdfLink* link = *linkPtr;
 	
-		for (int v = 0; v < link->m_visualArray.size();v++)
+		for (int v1 = 0; v1 < link->m_visualArray.size();v1++)
 		{
 			btAlignedObjectArray<MyTexture2> textures;
 			btAlignedObjectArray<GLInstanceVertex> vertices;
@@ -558,7 +565,7 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
 			btTransform startTrans; startTrans.setIdentity();
 			//int graphicsIndex = -1;
 
-			const UrdfVisual& vis = link->m_visualArray[v];
+			const UrdfVisual& vis = link->m_visualArray[v1];
 			btTransform childTrans = vis.m_linkLocalFrame;
 			btHashString matName(vis.m_materialName.c_str());
 			UrdfMaterial *const * matPtr = model.m_materials[matName];
@@ -586,13 +593,13 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(int linkIndex, const
 			b3VisualShapeData visualShape;
 			visualShape.m_objectUniqueId = bodyUniqueId;
 			visualShape.m_linkIndex = linkIndex;
-			visualShape.m_localInertiaFrame[0] = localInertiaFrame.getOrigin()[0];
-			visualShape.m_localInertiaFrame[1] = localInertiaFrame.getOrigin()[1];
-			visualShape.m_localInertiaFrame[2] = localInertiaFrame.getOrigin()[2];
-			visualShape.m_localInertiaFrame[3] = localInertiaFrame.getRotation()[0];
-			visualShape.m_localInertiaFrame[4] = localInertiaFrame.getRotation()[1];
-			visualShape.m_localInertiaFrame[5] = localInertiaFrame.getRotation()[2];
-			visualShape.m_localInertiaFrame[6] = localInertiaFrame.getRotation()[3];
+            visualShape.m_localVisualFrame[0] = vis.m_linkLocalFrame.getOrigin()[0];
+            visualShape.m_localVisualFrame[1] = vis.m_linkLocalFrame.getOrigin()[1];
+			visualShape.m_localVisualFrame[2] = vis.m_linkLocalFrame.getOrigin()[2];
+			visualShape.m_localVisualFrame[3] = vis.m_linkLocalFrame.getRotation()[0];
+			visualShape.m_localVisualFrame[4] = vis.m_linkLocalFrame.getRotation()[1];
+			visualShape.m_localVisualFrame[5] = vis.m_linkLocalFrame.getRotation()[2];
+			visualShape.m_localVisualFrame[6] = vis.m_linkLocalFrame.getRotation()[3];
             visualShape.m_rgbaColor[0] = rgbaColor[0];
             visualShape.m_rgbaColor[1] = rgbaColor[1];
             visualShape.m_rgbaColor[2] = rgbaColor[2];
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 87706aad8..06c76c8fd 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -2931,24 +2931,24 @@ static PyObject* pybullet_getVisualShapeData(PyObject* self, PyObject* args, PyO
 
 				{
 					PyObject* vec = PyTuple_New(3);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[0]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[0]);
 					PyTuple_SetItem(vec, 0, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[1]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[1]);
 					PyTuple_SetItem(vec, 1, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[2]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[2]);
 					PyTuple_SetItem(vec, 2, item);
 					PyTuple_SetItem(visualShapeObList, 5, vec);
 				}
 
 				{
 					PyObject* vec = PyTuple_New(4);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[3]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[3]);
 					PyTuple_SetItem(vec, 0, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[4]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[4]);
 					PyTuple_SetItem(vec, 1, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[5]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[5]);
 					PyTuple_SetItem(vec, 2, item);
-					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localInertiaFrame[6]);
+					item = PyInt_FromLong(visualShapeInfo.m_visualShapeData[i].m_localVisualFrame[6]);
 					PyTuple_SetItem(vec, 3, item);
 					PyTuple_SetItem(visualShapeObList, 6, vec);
 				}