diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index 0a9cfa805..df914fafe 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -526,6 +526,18 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
             b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
             break;
         }
+		case CMD_UPDATE_VISUAL_SHAPE:
+		{
+			int objectUniqueId = 0;
+			int linkIndex = -1;
+			int shapeIndex = -1;
+			int textureIndex = -1;
+			double rgbaColor[4] = {0.0, 1.0, 0.0, 1.0};
+			b3SharedMemoryCommandHandle commandHandle = b3InitUpdateVisualShape(m_physicsClientHandle, objectUniqueId, linkIndex, shapeIndex, textureIndex);
+			b3UpdateVisualShapeRGBAColor(commandHandle, rgbaColor);
+			b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+			break;
+		}
 
         default:
         {
@@ -604,6 +616,7 @@ void	PhysicsClientExample::createButtons()
         createButton("Load SDF",CMD_LOAD_SDF,  isTrigger);
 		createButton("Save World",CMD_SAVE_WORLD,  isTrigger);
         createButton("Set Shadow",CMD_SET_SHADOW, isTrigger);
+		createButton("Update Visual Shape",CMD_UPDATE_VISUAL_SHAPE, isTrigger);
         createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
 		createButton("Realtime Sim",CMD_CUSTOM_SET_REALTIME_SIMULATION,  isTrigger);
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index d1e3d4ddc..0f5538d6e 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -5631,7 +5631,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 								{
 									if (bodyHandle->m_multiBody->getBaseCollider())
 									{
-										//m_data->m_visualConverter.changeRGBAColor(...)
+										m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										int graphicsIndex = bodyHandle->m_multiBody->getBaseCollider()->getUserIndex();
 										m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 									}
@@ -5641,7 +5641,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 									{
 										if (bodyHandle->m_multiBody->getLink(linkIndex).m_collider)
 										{
-											//m_data->m_visualConverter.changeRGBAColor(...)
+											m_data->m_visualConverter.changeRGBAColor(bodyUniqueId,linkIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 											int graphicsIndex = bodyHandle->m_multiBody->getLink(linkIndex).m_collider->getUserIndex();
 											m_data->m_guiHelper->changeRGBAColor(graphicsIndex,clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
 										}
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
index a9bcd3256..4be708af7 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
@@ -671,6 +671,34 @@ int TinyRendererVisualShapeConverter::getVisualShapesData(int bodyUniqueId, int
 	return 0;
 }
 
+void TinyRendererVisualShapeConverter::changeRGBAColor(int bodyUniqueId, int linkIndex, const double rgbaColor[4])
+{
+	int start = -1;
+	for (int i = 0; i < m_data->m_visualShapes.size(); i++)
+	{
+		if (m_data->m_visualShapes[i].m_objectUniqueId == bodyUniqueId && m_data->m_visualShapes[i].m_linkIndex == linkIndex)
+		{
+			start = i;
+			m_data->m_visualShapes[i].m_rgbaColor[0] = rgbaColor[0];
+			m_data->m_visualShapes[i].m_rgbaColor[1] = rgbaColor[1];
+			m_data->m_visualShapes[i].m_rgbaColor[2] = rgbaColor[2];
+			m_data->m_visualShapes[i].m_rgbaColor[3] = rgbaColor[3];
+			break;
+		}
+	}
+	
+	TinyRendererObjectArray** visualArrayPtr = m_data->m_swRenderInstances.getAtIndex(start);
+	TinyRendererObjectArray* visualArray = *visualArrayPtr;
+	
+	btHashPtr colObjHash = m_data->m_swRenderInstances.getKeyAtIndex(start);
+	const btCollisionObject* colObj = (btCollisionObject*) colObjHash.getPointer();
+	
+	float rgba[4] = {rgbaColor[0], rgbaColor[1], rgbaColor[2], rgbaColor[3]};
+	for (int v=0;v<visualArray->m_renderObjects.size();v++)
+	{
+		visualArray->m_renderObjects[v]->m_model->setColorRGBA(rgba);
+	}
+}
 
 void TinyRendererVisualShapeConverter::setUpAxis(int axis)
 {
diff --git a/examples/SharedMemory/TinyRendererVisualShapeConverter.h b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
index 9af426fda..4c979ae13 100644
--- a/examples/SharedMemory/TinyRendererVisualShapeConverter.h
+++ b/examples/SharedMemory/TinyRendererVisualShapeConverter.h
@@ -21,6 +21,8 @@ struct TinyRendererVisualShapeConverter : public LinkVisualShapesConverter
 	virtual int getNumVisualShapes(int bodyUniqueId);
 
 	virtual int getVisualShapesData(int bodyUniqueId, int shapeIndex, struct b3VisualShapeData* shapeData);
+	
+	virtual void changeRGBAColor(int bodyUniqueId, int shapeIndex, const double rgbaColor[4]);
 
 	virtual void removeVisualShape(class btCollisionObject* colObj);