diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 62a0e3ac7..d983ed83c 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -7989,6 +7989,9 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 	}
 
 	{
+                btSoftBody* psb = NULL;
+                btScalar spring_elastic_stiffness, spring_damping_stiffness;
+
 		CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
 		char relativeFileName[1024];
 		char pathPrefix[1024];
@@ -7997,39 +8000,57 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 		{
 			b3FileUtils::extractPath(relativeFileName, pathPrefix, 1024);
 		}
+
+                // add _sim.vtk postfix 
+                char relativeSimFileName[1024];
+                char sim_file_ending[9] = "_sim.vtk";
+                strncpy(relativeSimFileName, relativeFileName, strlen(relativeFileName));
+                strncpy(relativeSimFileName + strlen(relativeFileName)-4, sim_file_ending, sizeof(sim_file_ending));
+
 		const std::string& error_message_prefix = "";
 		std::string out_found_filename;
-		int out_type=0;
+		std::string out_found_sim_filename;
+		int out_type, out_sim_type;
+
+                bool render_mesh_is_sim_mesh = true;
 
 		bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeFileName, error_message_prefix, &out_found_filename, &out_type);
-		btSoftBody* psb = NULL;
-		if (foundFile)
-		{
-		btScalar spring_elastic_stiffness, spring_damping_stiffness;
-		if (out_type == UrdfGeometry::FILE_OBJ)
-		{
-			std::vector<tinyobj::shape_t> shapes;
-			tinyobj::attrib_t attribute;
-			std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
-			if (!shapes.empty())
-			{
-				const tinyobj::shape_t& shape = shapes[0];
-				btAlignedObjectArray<btScalar> vertices;
-				btAlignedObjectArray<int> indices;
-				for (int i = 0; i < attribute.vertices.size(); i++)
-				{
-					vertices.push_back(attribute.vertices[i]);
-				}
-				for (int i = 0; i < shape.mesh.indices.size(); i++)
-				{
-					indices.push_back(shape.mesh.indices[i].vertex_index);
-				}
-				int numTris = shape.mesh.indices.size() / 3;
-				if (numTris > 0)
-				{
-					psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
-				}
-			}
+                if (out_type == UrdfGeometry::FILE_OBJ)
+                {
+		    bool foundFile = UrdfFindMeshFile(fileIO, pathPrefix, relativeSimFileName, error_message_prefix, &out_found_sim_filename, &out_sim_type);
+                    render_mesh_is_sim_mesh = !foundFile;
+                }
+
+                if (render_mesh_is_sim_mesh)
+                {
+                    out_sim_type = out_type;
+                    out_found_sim_filename = out_found_filename;
+                }
+                    
+                if (out_sim_type == UrdfGeometry::FILE_OBJ)
+                {
+		    std::vector<tinyobj::shape_t> shapes;
+		    tinyobj::attrib_t attribute;
+		    std::string err = tinyobj::LoadObj(attribute, shapes, out_found_sim_filename.c_str(), "", fileIO);
+		    if (!shapes.empty())
+		    {
+		    	const tinyobj::shape_t& shape = shapes[0];
+		    	btAlignedObjectArray<btScalar> vertices;
+		    	btAlignedObjectArray<int> indices;
+		    	for (int i = 0; i < attribute.vertices.size(); i++)
+		    	{
+		    		vertices.push_back(attribute.vertices[i]);
+		    	}
+		    	for (int i = 0; i < shape.mesh.indices.size(); i++)
+		    	{
+		    		indices.push_back(shape.mesh.indices[i].vertex_index);
+		    	}
+		    	int numTris = shape.mesh.indices.size() / 3;
+		    	if (numTris > 0)
+		    	{
+		    		psb = btSoftBodyHelpers::CreateFromTriMesh(m_data->m_dynamicsWorld->getWorldInfo(), &vertices[0], &indices[0], numTris);
+                        }
+                    }
 #ifndef SKIP_DEFORMABLE_BODY
 			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
 			{
@@ -8038,151 +8059,153 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 				m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, false));
 			}
 #endif
-		}
-		else if (out_type == UrdfGeometry::FILE_VTK)
-		{
+                }
+                else if (out_sim_type == UrdfGeometry::FILE_VTK)
+                {
 #ifndef SKIP_DEFORMABLE_BODY
-			psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_filename.c_str());
-			btScalar corotated_mu, corotated_lambda;
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
-			{
-				corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
-				corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
-				m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
-			}
-			btScalar neohookean_mu, neohookean_lambda;
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
-			{
-				neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
-				neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
-				m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda));
-			}
-			btScalar spring_elastic_stiffness, spring_damping_stiffness;
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
-			{
-				spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
-				spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
-				m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true));
-			}
+                    psb = btSoftBodyHelpers::CreateFromVtkFile(m_data->m_dynamicsWorld->getWorldInfo(), out_found_sim_filename.c_str());
+                    btScalar corotated_mu, corotated_lambda;
+                    if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_COROTATED_FORCE)
+                    {
+                            corotated_mu = clientCmd.m_loadSoftBodyArguments.m_corotatedMu;
+                            corotated_lambda = clientCmd.m_loadSoftBodyArguments.m_corotatedLambda;
+                            m_data->m_dynamicsWorld->addForce(psb, new btDeformableCorotatedForce(corotated_mu, corotated_lambda));
+                    }
+                    btScalar neohookean_mu, neohookean_lambda;
+                    if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE)
+                    {
+                            neohookean_mu = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanMu;
+                            neohookean_lambda = clientCmd.m_loadSoftBodyArguments.m_NeoHookeanLambda;
+                            m_data->m_dynamicsWorld->addForce(psb, new btDeformableNeoHookeanForce(neohookean_mu, neohookean_lambda));
+                    }
+                    btScalar spring_elastic_stiffness, spring_damping_stiffness;
+                    if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE)
+                    {
+                            spring_elastic_stiffness = clientCmd.m_loadSoftBodyArguments.m_springElasticStiffness;
+                            spring_damping_stiffness = clientCmd.m_loadSoftBodyArguments.m_springDampingStiffness;
+                            m_data->m_dynamicsWorld->addForce(psb, new btDeformableMassSpringForce(spring_elastic_stiffness, spring_damping_stiffness, true));
+                    }
 #endif
 		}
 		}
 		if (psb != NULL)
 		{
 #ifndef SKIP_DEFORMABLE_BODY
-			btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
-			{
-				m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
-			}
-			btScalar collision_hardness = 1;
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_COLLISION_HARDNESS)
-			{
-				collision_hardness = loadSoftBodyArgs.m_collisionHardness;
-			}
-			psb->m_cfg.kKHR = collision_hardness;
-			psb->m_cfg.kCHR = collision_hardness;
+                    if (!render_mesh_is_sim_mesh)
+                    {
+                            // load render mesh
+                            btSoftBodyHelpers::readRenderMeshFromObj(out_found_filename.c_str(), psb);
+                            btSoftBodyHelpers::interpolateBarycentricWeights(psb);
+                    }
+                    btVector3 gravity = m_data->m_dynamicsWorld->getGravity();
+                    if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_GRAVITY_FORCE)
+                    {
+                            m_data->m_dynamicsWorld->addForce(psb, new btDeformableGravityForce(gravity));
+                    }
+                    btScalar collision_hardness = 1;
+                    psb->m_cfg.kKHR = collision_hardness;
+                    psb->m_cfg.kCHR = collision_hardness;
 
-			btScalar friction_coeff = 0;
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
-			{
-				friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
-			}
-			psb->m_cfg.kDF = friction_coeff;
+                    btScalar friction_coeff = 0;
+                    if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT)
+                    {
+                            friction_coeff = loadSoftBodyArgs.m_frictionCoeff;
+                    }
+                    psb->m_cfg.kDF = friction_coeff;
+                    
+                    bool use_bending_spring = true;
+                    if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
+                    {
+                            use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
+                    }
+		    btSoftBody::Material* pm = psb->appendMaterial();
+		    pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
+                    if (use_bending_spring)
+                    {
+                            psb->generateBendingConstraints(2,pm);
+                    }
 
-			bool use_bending_spring = true;
-			if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_ADD_BENDING_SPRINGS)
-			{
-				use_bending_spring = loadSoftBodyArgs.m_useBendingSprings;
-			}
-			btSoftBody::Material* pm = psb->appendMaterial();
-			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
-			if (use_bending_spring)
-			{
-				psb->generateBendingConstraints(2, pm);
-			}
-
-			// turn on the collision flag for deformable
-			// collision
-			psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
-			psb->setCollisionFlags(0);
-			psb->setTotalMass(mass);
+                    // turn on the collision flag for deformable
+                    // collision
+                    psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
+                    psb->setCollisionFlags(0);
+		    psb->setTotalMass(mass);
 #else
-			btSoftBody::Material* pm = psb->appendMaterial();
-			pm->m_kLST = 0.5;
-			pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
-			psb->generateBendingConstraints(2, pm);
-			psb->m_cfg.piterations = 20;
-			psb->m_cfg.kDF = 0.5;
-			//turn on softbody vs softbody collision
-			psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
-			psb->randomizeConstraints();
-			psb->setTotalMass(mass, true);
+		    btSoftBody::Material* pm = psb->appendMaterial();
+		    pm->m_kLST = 0.5;
+		    pm->m_flags -= btSoftBody::fMaterial::DebugDraw;
+		    psb->generateBendingConstraints(2, pm);
+		    psb->m_cfg.piterations = 20;
+		    psb->m_cfg.kDF = 0.5;
+		    //turn on softbody vs softbody collision
+		    psb->m_cfg.collisions |= btSoftBody::fCollision::VF_SS;
+		    psb->randomizeConstraints();
+		    psb->setTotalMass(mass, true);
 #endif
-			psb->scale(btVector3(scale, scale, scale));
-			psb->rotate(initialOrn);
-			psb->translate(initialPos);
+		    psb->scale(btVector3(scale, scale, scale));
+		    psb->rotate(initialOrn);
+		    psb->translate(initialPos);
 
-			psb->getCollisionShape()->setMargin(collisionMargin);
-			psb->getCollisionShape()->setUserPointer(psb);
-			m_data->m_dynamicsWorld->addSoftBody(psb);
-			m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
-			m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
-			int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
-			InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-			bodyHandle->m_softBody = psb;
+		    psb->getCollisionShape()->setMargin(collisionMargin);
+		    psb->getCollisionShape()->setUserPointer(psb);
+		    m_data->m_dynamicsWorld->addSoftBody(psb);
+		    m_data->m_guiHelper->createCollisionShapeGraphicsObject(psb->getCollisionShape());
+		    m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
+		    int bodyUniqueId = m_data->m_bodyHandles.allocHandle();
+		    InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+		    bodyHandle->m_softBody = psb;
 
-			b3VisualShapeData visualShape;
+		    b3VisualShapeData visualShape;
 
-			visualShape.m_objectUniqueId = bodyUniqueId;
-			visualShape.m_linkIndex = -1;
-			visualShape.m_visualGeometryType = URDF_GEOM_MESH;
-			//dimensions just contains the scale
-			visualShape.m_dimensions[0] = scale;
-			visualShape.m_dimensions[1] = scale;
-			visualShape.m_dimensions[2] = scale;
-			//filename
-			strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
-			visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
-			//position and orientation
-			visualShape.m_localVisualFrame[0] = initialPos[0];
-			visualShape.m_localVisualFrame[1] = initialPos[1];
-			visualShape.m_localVisualFrame[2] = initialPos[2];
-			visualShape.m_localVisualFrame[3] = initialOrn[0];
-			visualShape.m_localVisualFrame[4] = initialOrn[1];
-			visualShape.m_localVisualFrame[5] = initialOrn[2];
-			visualShape.m_localVisualFrame[6] = initialOrn[3];
-			//color and ids to be set by the renderer
-			visualShape.m_rgbaColor[0] = 0;
-			visualShape.m_rgbaColor[1] = 0;
-			visualShape.m_rgbaColor[2] = 0;
-			visualShape.m_rgbaColor[3] = 1;
-			visualShape.m_tinyRendererTextureId = -1;
-			visualShape.m_textureUniqueId = -1;
-			visualShape.m_openglTextureId = -1;
+		    visualShape.m_objectUniqueId = bodyUniqueId;
+		    visualShape.m_linkIndex = -1;
+		    visualShape.m_visualGeometryType = URDF_GEOM_MESH;
+		    //dimensions just contains the scale
+		    visualShape.m_dimensions[0] = scale;
+		    visualShape.m_dimensions[1] = scale;
+		    visualShape.m_dimensions[2] = scale;
+		    //filename
+		    strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
+		    visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
+		    //position and orientation
+		    visualShape.m_localVisualFrame[0] = initialPos[0];
+		    visualShape.m_localVisualFrame[1] = initialPos[1];
+		    visualShape.m_localVisualFrame[2] = initialPos[2];
+		    visualShape.m_localVisualFrame[3] = initialOrn[0];
+		    visualShape.m_localVisualFrame[4] = initialOrn[1];
+		    visualShape.m_localVisualFrame[5] = initialOrn[2];
+		    visualShape.m_localVisualFrame[6] = initialOrn[3];
+		    //color and ids to be set by the renderer
+		    visualShape.m_rgbaColor[0] = 0;
+		    visualShape.m_rgbaColor[1] = 0;
+		    visualShape.m_rgbaColor[2] = 0;
+		    visualShape.m_rgbaColor[3] = 1;
+		    visualShape.m_tinyRendererTextureId = -1;
+		    visualShape.m_textureUniqueId  =-1;
+		    visualShape.m_openglTextureId = -1;
 
-			m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO);
+		    m_data->m_pluginManager.getRenderInterface()->addVisualShape(&visualShape, fileIO);
 
-			serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
-			serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
+		    serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
+		    serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_COMPLETED;
 
-			int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
-			serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
+		    int streamSizeInBytes = createBodyInfoStream(bodyUniqueId, bufferServerToClient, bufferSizeInBytes);
+		    serverStatusOut.m_numDataStreamBytes = streamSizeInBytes;
 
 #ifdef ENABLE_LINK_MAPPER
-			if (m_data->m_urdfLinkNameMapper.size())
-			{
-				serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize();
-			}
+                    if (m_data->m_urdfLinkNameMapper.size())
+                    {
+                      serverStatusOut.m_numDataStreamBytes = m_data->m_urdfLinkNameMapper.at(m_data->m_urdfLinkNameMapper.size() - 1)->m_memSerializer->getCurrentBufferSize();
+                    }
 #endif
-			serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
-			InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
-			strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
+                    serverStatusOut.m_dataStreamArguments.m_bodyUniqueId = bodyUniqueId;
+                    InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
+                    strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 
-			b3Notification notification;
-			notification.m_notificationType = BODY_ADDED;
-			notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId;
-			m_data->m_pluginManager.addNotification(notification);
+		    b3Notification notification;
+		    notification.m_notificationType = BODY_ADDED;
+		    notification.m_bodyArgs.m_bodyUniqueId = bodyUniqueId;
+		    m_data->m_pluginManager.addNotification(notification);
 		}
 	}
 #endif