diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index c70889872..bf2b71c3e 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -260,6 +260,17 @@ B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle command
 	}
 }
 
+B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_MJCF);
+	if (command->m_type == CMD_LOAD_MJCF)
+	{
+		command->m_updateFlags |= URDF_ARGS_USE_MULTIBODY;
+		command->m_mjcfArguments.m_useMultiBody = useMultiBody;
+	}
+}
+
 B3_SHARED_API b3SharedMemoryCommandHandle b3LoadSoftBodyCommandInit(b3PhysicsClientHandle physClient, const char* fileName)
 {
 	PhysicsClient* cl = (PhysicsClient*)physClient;
diff --git a/examples/SharedMemory/PhysicsClientC_API.h b/examples/SharedMemory/PhysicsClientC_API.h
index 101868028..49b76eca0 100644
--- a/examples/SharedMemory/PhysicsClientC_API.h
+++ b/examples/SharedMemory/PhysicsClientC_API.h
@@ -415,6 +415,8 @@ extern "C"
 	B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit(b3PhysicsClientHandle physClient, const char* fileName);
 	B3_SHARED_API b3SharedMemoryCommandHandle b3LoadMJCFCommandInit2(b3SharedMemoryCommandHandle commandHandle, const char* fileName);
 	B3_SHARED_API void b3LoadMJCFCommandSetFlags(b3SharedMemoryCommandHandle commandHandle, int flags);
+	B3_SHARED_API void b3LoadMJCFCommandSetUseMultiBody(b3SharedMemoryCommandHandle commandHandle, int useMultiBody);
+	
 
 	///compute the forces to achieve an acceleration, given a state q and qdot using inverse dynamics
 	B3_SHARED_API b3SharedMemoryCommandHandle b3CalculateInverseDynamicsCommandInit(b3PhysicsClientHandle physClient, int bodyUniqueId,
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index d4d45db6e..8dfb0f06c 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -1336,9 +1336,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	PyObject* pylist = 0;
 	int physicsClientId = 0;
 	int flags = -1;
+	int useMultiBody = -1;
 
-	static char* kwlist[] = {"mjcfFileName", "flags", "physicsClientId", NULL};
-	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|ii", kwlist, &mjcfFileName, &flags, &physicsClientId))
+	static char* kwlist[] = {"mjcfFileName", "flags", "useMultiBody", "physicsClientId", NULL};
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|iii", kwlist, &mjcfFileName, &flags, &useMultiBody, &physicsClientId))
 	{
 		return NULL;
 	}
@@ -1354,6 +1355,11 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	{
 		b3LoadMJCFCommandSetFlags(command, flags);
 	}
+	if (useMultiBody>=0)
+	{
+		b3LoadMJCFCommandSetUseMultiBody(command, useMultiBody);
+	}
+
 	statusHandle = b3SubmitClientCommandAndWaitStatus(sm, command);
 	statusType = b3GetStatusType(statusHandle);
 	if (statusType != CMD_MJCF_LOADING_COMPLETED)
@@ -1361,7 +1367,7 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 		PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
 		return NULL;
 	}
-
+	
 	numBodies =
 		b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
 	if (numBodies > MAX_SDF_BODIES)