diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 9add4bddc..bf2e74ed2 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -28,7 +28,7 @@ subject to the following restrictions:
 #include "../../Utils/b3ResourcePath.h"
 #include "../../Utils/b3BulletDefaultFileIO.h"
 
-
+#include "../OpenGLWindow/ShapeData.h"
 
 #include "URDF2Bullet.h"  //for flags
 #include "../ImportMeshUtility/b3ImportMeshUtility.h"
@@ -919,10 +919,40 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 		case URDF_GEOM_BOX:
 		{
 			btVector3 extents = visual->m_geometry.m_boxSize;
-			btBoxShape* boxShape = new btBoxShape(extents * 0.5f);
-			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
-			convexColShape = boxShape;
-			convexColShape->setMargin(gUrdfDefaultCollisionMargin);
+			int strideInBytes = 9 * sizeof(float);
+			int numVertices = sizeof(cube_vertices_textured) / strideInBytes;
+			int numIndices = sizeof(cube_indices) / sizeof(int);
+			glmesh = new GLInstanceGraphicsShape;
+			glmesh->m_indices = new b3AlignedObjectArray<int>();
+			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+			glmesh->m_indices->resize(numIndices);
+			for (int k = 0; k < numIndices; k++)
+			{
+				glmesh->m_indices->at(k) = cube_indices[k];
+			}
+			glmesh->m_vertices->resize(numVertices);
+
+			btScalar halfExtentsX = extents[0] * 0.5;
+			btScalar halfExtentsY = extents[1] * 0.5;
+			btScalar halfExtentsZ = extents[2] * 0.5;
+			GLInstanceVertex* verts = &glmesh->m_vertices->at(0);
+			btScalar textureScaling = 1;
+
+			for (int i = 0; i < numVertices; i++)
+			{
+				verts[i].xyzw[0] = halfExtentsX * cube_vertices_textured[i * 9];
+				verts[i].xyzw[1] = halfExtentsY * cube_vertices_textured[i * 9 + 1];
+				verts[i].xyzw[2] = halfExtentsZ * cube_vertices_textured[i * 9 + 2];
+				verts[i].xyzw[3] = cube_vertices_textured[i * 9 + 3];
+				verts[i].normal[0] = cube_vertices_textured[i * 9 + 4];
+				verts[i].normal[1] = cube_vertices_textured[i * 9 + 5];
+				verts[i].normal[2] = cube_vertices_textured[i * 9 + 6];
+				verts[i].uv[0] = cube_vertices_textured[i * 9 + 7] * textureScaling;
+				verts[i].uv[1] = cube_vertices_textured[i * 9 + 8] * textureScaling;
+			}
+			
+			glmesh->m_numIndices = numIndices;
+			glmesh->m_numvertices = numVertices;
 			break;
 		}
 
@@ -1102,8 +1132,10 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
 				vtx.normal[0] = pos.x();
 				vtx.normal[1] = pos.y();
 				vtx.normal[2] = pos.z();
-				vtx.uv[0] = 0.5f;
-				vtx.uv[1] = 0.5f;
+				btScalar u = btAtan2(vtx.normal[0], vtx.normal[2]) / (2 * SIMD_PI) + 0.5;
+				btScalar v = vtx.normal[1] * 0.5 + 0.5;
+				vtx.uv[0] = u;
+				vtx.uv[1] = v;
 				glmesh->m_vertices->push_back(vtx);
 			}
 
diff --git a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
index 399725ab2..e3b5d7992 100644
--- a/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
+++ b/examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
@@ -32,7 +32,7 @@ subject to the following restrictions:
 #include "../SharedMemory/SharedMemoryPublic.h"  //for b3VisualShapeData
 #include "../TinyRenderer/model.h"
 #include "stb_image/stb_image.h"
-
+#include "../OpenGLWindow/ShapeData.h"
 struct MyTexture2
 {
 	unsigned char* textureData1;
@@ -293,10 +293,47 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
 
 			btVector3 extents = visual->m_geometry.m_boxSize;
 
-			btBoxShape* boxShape = new btBoxShape(extents * 0.5f);
-			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
-			convexColShape = boxShape;
-			convexColShape->setMargin(0.001);
+			
+			int strideInBytes = 9 * sizeof(float);
+			int numVertices = sizeof(cube_vertices_textured) / strideInBytes;
+			int numIndices = sizeof(cube_indices) / sizeof(int);
+
+			glmesh = new GLInstanceGraphicsShape;
+			//		int index = 0;
+			glmesh->m_indices = new b3AlignedObjectArray<int>();
+			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+
+			glmesh->m_indices->resize(numIndices);
+			for (int k = 0; k < numIndices; k++)
+			{
+				glmesh->m_indices->at(k) = cube_indices[k];
+			}
+			glmesh->m_vertices->resize(numVertices);
+
+			btScalar halfExtentsX = extents[0] * 0.5;
+			btScalar halfExtentsY = extents[1] * 0.5;
+			btScalar halfExtentsZ = extents[2] * 0.5;
+			GLInstanceVertex* verts = &glmesh->m_vertices->at(0);
+			btScalar textureScaling = 1;
+
+			for (int i = 0; i < numVertices; i++)
+			{
+
+				verts[i].xyzw[0] = halfExtentsX * cube_vertices_textured[i * 9];
+				verts[i].xyzw[1] = halfExtentsY * cube_vertices_textured[i * 9 + 1];
+				verts[i].xyzw[2] = halfExtentsZ * cube_vertices_textured[i * 9 + 2];
+				verts[i].xyzw[3] = cube_vertices_textured[i * 9 + 3];
+				verts[i].normal[0] = cube_vertices_textured[i * 9 + 4];
+				verts[i].normal[1] = cube_vertices_textured[i * 9 + 5];
+				verts[i].normal[2] = cube_vertices_textured[i * 9 + 6];
+				verts[i].uv[0] = cube_vertices_textured[i * 9 + 7] * textureScaling;
+				verts[i].uv[1] = cube_vertices_textured[i * 9 + 8] * textureScaling;
+			}
+
+			glmesh->m_numIndices = numIndices;
+			glmesh->m_numvertices = numVertices;
+
+			
 			break;
 		}
 		case URDF_GEOM_SPHERE: