diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index 0af4728bd..48c451bf3 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -474,7 +474,7 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
     return true;
 }
 
-static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale)
+static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t>& shapes, const btVector3& geomScale, int flags)
 {
 	B3_PROFILE("createConvexHullFromShapes");
 	btCompoundShape* compound = new btCompoundShape();
@@ -513,7 +513,11 @@ static btCollisionShape* createConvexHullFromShapes(std::vector<tinyobj::shape_t
 
 		convexHull->recalcLocalAabb();
 		convexHull->optimizeConvexHull();
-		convexHull->initializePolyhedralFeatures();
+		if (flags & CUF_INITIALIZE_SAT_FEATURES)
+		{
+			convexHull->initializePolyhedralFeatures();
+		}
+
 		compound->addChildShape(identity,convexHull);
 	}
 
@@ -683,7 +687,10 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 				btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
 				cylZShape->setMargin(gUrdfDefaultCollisionMargin);
 				cylZShape->recalcLocalAabb();
-				cylZShape->initializePolyhedralFeatures();
+				if (m_data->m_flags & CUF_INITIALIZE_SAT_FEATURES)
+				{
+					cylZShape->initializePolyhedralFeatures();
+				}
 				cylZShape->optimizeConvexHull();
 				shape = cylZShape;
 			}
@@ -695,7 +702,10 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 			btVector3 extents = collision->m_geometry.m_boxSize;
 			btBoxShape* boxShape = new btBoxShape(extents*0.5f);
 			//btConvexShape* boxShape = new btConeShapeX(extents[2]*0.5,extents[0]*0.5);
-			boxShape->initializePolyhedralFeatures();
+			if (m_data->m_flags & CUF_INITIALIZE_SAT_FEATURES)
+			{
+				boxShape->initializePolyhedralFeatures();
+			}
             shape = boxShape;
 			shape ->setMargin(gUrdfDefaultCollisionMargin);
             break;
@@ -779,7 +789,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(const UrdfColl
 				std::string err = tinyobj::LoadObj(shapes, collision->m_geometry.m_meshFileName.c_str());
 				//create a convex hull for each shape, and store it in a btCompoundShape
 
-				shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale);
+				shape = createConvexHullFromShapes(shapes, collision->m_geometry.m_meshScale, m_data->m_flags);
 				m_data->m_bulletCollisionShape2UrdfCollision.insert(shape, *collision);
 				return shape;
 			}
@@ -907,7 +917,10 @@ upAxisMat.setIdentity();
 			BT_PROFILE("convert btConvexHullShape");
 			btConvexHullShape* convexHull = new btConvexHullShape(&convertedVerts[0].getX(), convertedVerts.size(), sizeof(btVector3));
 			convexHull->optimizeConvexHull();
-			convexHull->initializePolyhedralFeatures();
+			if (m_data->m_flags & CUF_INITIALIZE_SAT_FEATURES)
+			{
+				convexHull->initializePolyhedralFeatures();
+			}
 			convexHull->setMargin(gUrdfDefaultCollisionMargin);
 			convexHull->recalcLocalAabb();
 			//convexHull->setLocalScaling(collision->m_geometry.m_meshScale);
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
index deca1c3b9..87fd698b9 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -30,6 +30,7 @@ enum ConvertURDFFlags {
   CUF_MJCF_COLORS_FROM_FILE=512,
   CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
   CUF_ENABLE_SLEEPING=2048,
+  CUF_INITIALIZE_SAT_FEATURES=4096,
 };
 
 struct UrdfVisualShapeCache
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 933d5b266..f5682b1a2 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -723,6 +723,7 @@ enum eURDF_Flags
 	MJCF_COLORS_FROM_FILE=512,
 	URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
     URDF_ENABLE_SLEEPING=2048,
+	URDF_INITIALIZE_SAT_FEATURES = 4096,
 };
 
 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
diff --git a/examples/pybullet/examples/satCollision.py b/examples/pybullet/examples/satCollision.py
index 84111bf6c..847d2b8e6 100644
--- a/examples/pybullet/examples/satCollision.py
+++ b/examples/pybullet/examples/satCollision.py
@@ -4,11 +4,13 @@ import time
 p.connect(p.GUI)
 p.setGravity(0,0,-10)
 p.setPhysicsEngineParameter(enableSAT=1)
-p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True)
-p.loadURDF("cube.urdf",[0,0,1], globalScaling=1)
-p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1)
+p.loadURDF("cube_concave.urdf",[0,0,-25], globalScaling=50, useFixedBase=True, flags=p.URDF_INITIALIZE_SAT_FEATURES)
+p.loadURDF("cube.urdf",[0,0,1], globalScaling=1,flags=p.URDF_INITIALIZE_SAT_FEATURES)
+p.loadURDF("duck_vhacd.urdf",[1,0,1], globalScaling=1,flags=p.URDF_INITIALIZE_SAT_FEATURES)
 
 while (p.isConnected()):
 	p.stepSimulation()
+	pts = p.getContactPoints()
+	#print("num contacts = ", len(pts))
 	time.sleep(1./240.)
 	
\ No newline at end of file
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 5d027125d..09bd9cef8 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9616,7 +9616,8 @@ initpybullet(void)
 	PyModule_AddIntConstant(m, "MJCF_COLORS_FROM_FILE", MJCF_COLORS_FROM_FILE);
 	PyModule_AddIntConstant(m, "URDF_ENABLE_CACHED_GRAPHICS_SHAPES", URDF_ENABLE_CACHED_GRAPHICS_SHAPES);
 	PyModule_AddIntConstant(m, "URDF_ENABLE_SLEEPING", URDF_ENABLE_SLEEPING);
-
+	PyModule_AddIntConstant(m, "URDF_INITIALIZE_SAT_FEATURES", URDF_INITIALIZE_SAT_FEATURES);
+	
 
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);