diff --git a/Extras/InverseDynamics/btMultiBodyFromURDF.hpp b/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
index 978bad743..3e5f43978 100644
--- a/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
+++ b/Extras/InverseDynamics/btMultiBodyFromURDF.hpp
@@ -11,6 +11,7 @@
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
 
 /// Create a btMultiBody model from URDF.
 /// This is adapted from Bullet URDF loader example
@@ -44,7 +45,8 @@ public:
     void init() {
         this->createEmptyDynamicsWorld();
         m_dynamicsWorld->setGravity(m_gravity);
-        BulletURDFImporter urdf_importer(&m_nogfx);
+		DefaultVisualShapeConverter visualConverter(&m_nogfx);
+        BulletURDFImporter urdf_importer(&m_nogfx, &visualConverter);
         URDFImporterInterface &u2b(urdf_importer);
         bool loadOk = u2b.loadURDF(m_filename.c_str(), m_base_fixed);
 
diff --git a/data/kuka_iiwa/model.urdf b/data/kuka_iiwa/model.urdf
index 0b290946a..56123c36d 100644
--- a/data/kuka_iiwa/model.urdf
+++ b/data/kuka_iiwa/model.urdf
@@ -47,6 +47,10 @@
   <material name="Orange">
     <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
   </material>
+  <material name="Blue">
+  <color rgba="0.5 0.7 1.0 1.0"/>      
+</material>
+
   <!--Import the lbr iiwa macro -->
   <!--Import Transmissions -->
   <!--Include Utilities -->
@@ -97,7 +101,7 @@
       <geometry>
         <mesh filename="meshes/link_1.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -126,7 +130,7 @@
       <geometry>
         <mesh filename="meshes/link_2.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -184,7 +188,7 @@
       <geometry>
         <mesh filename="meshes/link_4.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -213,7 +217,7 @@
       <geometry>
         <mesh filename="meshes/link_5.stl"/>
       </geometry>
-      <material name="Orange"/>
+      <material name="Blue"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
diff --git a/examples/ExampleBrowser/CMakeLists.txt b/examples/ExampleBrowser/CMakeLists.txt
index 7dc6326b6..8d27fd502 100644
--- a/examples/ExampleBrowser/CMakeLists.txt
+++ b/examples/ExampleBrowser/CMakeLists.txt
@@ -246,6 +246,8 @@ SET(BulletExampleBrowser_SRCS
  ../Importers/ImportURDFDemo/urdfStringSplit.h
   ../Importers/ImportURDFDemo/BulletUrdfImporter.cpp
   ../Importers/ImportURDFDemo/BulletUrdfImporter.h
+  ../Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
+  ../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
   ../VoronoiFracture/VoronoiFractureDemo.cpp
   ../VoronoiFracture/VoronoiFractureDemo.h
   ../VoronoiFracture/btConvexConvexMprAlgorithm.cpp
diff --git a/examples/ExampleBrowser/OpenGLGuiHelper.cpp b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
index baf20915e..ae90f8d0b 100644
--- a/examples/ExampleBrowser/OpenGLGuiHelper.cpp
+++ b/examples/ExampleBrowser/OpenGLGuiHelper.cpp
@@ -238,8 +238,6 @@ void OpenGLGuiHelper::createCollisionShapeGraphicsObject(btCollisionShape* colli
             {
                 gfxVertices[i].uv[j] = 0.5;//we don't have UV info...
             }
-            
-            
         }
     }
     
diff --git a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
index deabf1dac..f8e61c032 100644
--- a/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
+++ b/examples/Importers/ImportSDFDemo/ImportSDFSetup.cpp
@@ -12,7 +12,7 @@
 #include "../../Utils/b3ResourcePath.h"
 
 #include "../ImportURDFDemo/BulletUrdfImporter.h"
-
+#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
 
 #include "../ImportURDFDemo/URDF2Bullet.h"
 
@@ -203,7 +203,8 @@ void ImportSDFSetup::initPhysics()
 
 	m_dynamicsWorld->setGravity(gravity);
 
-    BulletURDFImporter u2b(m_guiHelper);
+	DefaultVisualShapeConverter visualConverter(m_guiHelper);
+    BulletURDFImporter u2b(m_guiHelper, &visualConverter);
     
     bool loadOk =  u2b.loadSDF(m_fileName);
 
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
index b409551f3..d0238abea 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
@@ -37,8 +37,10 @@ struct BulletURDFInternalData
 	UrdfParser m_urdfParser;
 	struct GUIHelperInterface* m_guiHelper;
 	char m_pathPrefix[1024];
-	btHashMap<btHashInt,btVector4> m_linkColors;
+	
     btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
+	
+	LinkVisualShapesConverter* m_customVisualShapesConverter;
 };
 
 
@@ -57,13 +59,13 @@ enum MyFileType
 
 
     
-BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper)
+BulletURDFImporter::BulletURDFImporter(struct GUIHelperInterface* helper, LinkVisualShapesConverter* customConverter)
 {
 	m_data = new BulletURDFInternalData;
 	
 	m_data->m_guiHelper = helper;
 	m_data->m_pathPrefix[0]=0;
-
+	m_data->m_customVisualShapesConverter = customConverter;
 
   
 }
@@ -98,7 +100,6 @@ struct BulletErrorLogger : public ErrorLogger
 bool BulletURDFImporter::loadURDF(const char* fileName, bool forceFixedBase)
 {
 
-	m_data->m_linkColors.clear();
 	
 
 //int argc=0;
@@ -153,9 +154,6 @@ void BulletURDFImporter::activateModel(int modelIndex)
 bool BulletURDFImporter::loadSDF(const char* fileName, bool forceFixedBase)
 {
     
-    m_data->m_linkColors.clear();
-    
-    
     //int argc=0;
     char relativeFileName[1024];
     
@@ -236,11 +234,9 @@ void BulletURDFImporter::getLinkChildIndices(int linkIndex, btAlignedObjectArray
 
 bool BulletURDFImporter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
 {
-	btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
-	if (rgbaPtr)
+	if (m_data->m_customVisualShapesConverter)
 	{
-		colorRGBA = *rgbaPtr;
-		return true;
+		return m_data->m_customVisualShapesConverter->getLinkColor(linkIndex, colorRGBA);
 	}
 	return false;
 }
@@ -339,327 +335,6 @@ bool BulletURDFImporter::getRootTransformInWorld(btTransform& rootTransformInWor
     return true;
 }
 
-void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
-{
-
-	
-	GLInstanceGraphicsShape* glmesh = 0;
-
-	btConvexShape* convexColShape = 0;
-
-	switch (visual->m_geometry.m_type)
-	{
-		case URDF_GEOM_CYLINDER:
-		{
-			btAlignedObjectArray<btVector3> vertices;
-		
-			//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
-			int numSteps = 32;
-			for (int i = 0; i<numSteps; i++)
-			{
-
-				btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
-				btScalar cylLength = visual->m_geometry.m_cylinderLength;
-				
-				btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
-				vertices.push_back(vert);
-				vert[2] = -cylLength / 2.;
-				vertices.push_back(vert);
-			}
-
-			btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
-			cylZShape->setMargin(0.001);
-			convexColShape = cylZShape;
-			break;
-		}
-		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(0.001);
-			break;
-		}
-		case URDF_GEOM_SPHERE:
-		{
-			btScalar radius = visual->m_geometry.m_sphereRadius;
-			btSphereShape* sphereShape = new btSphereShape(radius);
-			convexColShape = sphereShape;
-			convexColShape->setMargin(0.001);
-			break;
-
-			break;
-		}
-		case URDF_GEOM_MESH:
-		{
-			if (visual->m_name.length())
-			{
-				//b3Printf("visual->name=%s\n", visual->m_name.c_str());
-			}
-			if (1)//visual->m_geometry)
-			{
-				if (visual->m_geometry.m_meshFileName.length())
-				{
-					const char* filename = visual->m_geometry.m_meshFileName.c_str();
-					//b3Printf("mesh->filename=%s\n", filename);
-					char fullPath[1024];
-					int fileType = 0;
-                    
-                    char tmpPathPrefix[1024];
-                    std::string xml_string;
-                    int maxPathLen = 1024;
-                    b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
-                   
-                    char visualPathPrefix[1024];
-                    sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
-                    
-                    
-					sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
-					b3FileUtils::toLower(fullPath);
-					if (strstr(fullPath, ".dae"))
-					{
-						fileType = FILE_COLLADA;
-					}
-					if (strstr(fullPath, ".stl"))
-					{
-						fileType = FILE_STL;
-					}
-                    if (strstr(fullPath,".obj"))
-                    {
-                        fileType = FILE_OBJ;
-                    }
-
-
-					sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
-					FILE* f = fopen(fullPath, "rb");
-					if (f)
-					{
-						fclose(f);
-						
-
-
-						switch (fileType)
-						{
-                            case FILE_OBJ:
-                            {
-                                glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
-                                break;
-                            }
-                           
-						case FILE_STL:
-						{
-							glmesh = LoadMeshFromSTL(fullPath);
-							break;
-						}
-						case FILE_COLLADA:
-						{
-
-							btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
-							btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
-							btTransform upAxisTrans; upAxisTrans.setIdentity();
-							float unitMeterScaling = 1;
-							int upAxis = 2;
-
-							LoadMeshFromCollada(fullPath,
-								visualShapes,
-								visualShapeInstances,
-								upAxisTrans,
-								unitMeterScaling,
-												upAxis);
-
-							glmesh = new GLInstanceGraphicsShape;
-					//		int index = 0;
-							glmesh->m_indices = new b3AlignedObjectArray<int>();
-							glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
-
-							for (int i = 0; i<visualShapeInstances.size(); i++)
-							{
-								ColladaGraphicsInstance* instance = &visualShapeInstances[i];
-								GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
-
-								b3AlignedObjectArray<GLInstanceVertex> verts;
-								verts.resize(gfxShape->m_vertices->size());
-
-								int baseIndex = glmesh->m_vertices->size();
-
-								for (int i = 0; i<gfxShape->m_vertices->size(); i++)
-								{
-									verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
-									verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
-									verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
-									verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
-									verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
-									verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
-									verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
-									verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
-									verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
-
-								}
-
-								int curNumIndices = glmesh->m_indices->size();
-								int additionalIndices = gfxShape->m_indices->size();
-								glmesh->m_indices->resize(curNumIndices + additionalIndices);
-								for (int k = 0; k<additionalIndices; k++)
-								{
-									glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
-								}
-
-								//compensate upAxisTrans and unitMeterScaling here
-								btMatrix4x4 upAxisMat;
-								upAxisMat.setIdentity();
-//								upAxisMat.setPureRotation(upAxisTrans.getRotation());
-								btMatrix4x4 unitMeterScalingMat;
-								unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
-								btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
-								//btMatrix4x4 worldMat = instance->m_worldTransform;
-								int curNumVertices = glmesh->m_vertices->size();
-								int additionalVertices = verts.size();
-								glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
-
-								for (int v = 0; v<verts.size(); v++)
-								{
-									btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
-									pos = worldMat*pos;
-									verts[v].xyzw[0] = float(pos[0]);
-									verts[v].xyzw[1] = float(pos[1]);
-									verts[v].xyzw[2] = float(pos[2]);
-									glmesh->m_vertices->push_back(verts[v]);
-								}
-							}
-							glmesh->m_numIndices = glmesh->m_indices->size();
-							glmesh->m_numvertices = glmesh->m_vertices->size();
-							//glmesh = LoadMeshFromCollada(fullPath);
-
-							break;
-						}
-						default:
-						{
-                            b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
-                            btAssert(0);
-						}
-						}
-
-
-						if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
-						{
-						    //apply the geometry scaling
-						    for (int i=0;i<glmesh->m_vertices->size();i++)
-                            {
-                                glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
-                                glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
-                                glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
-                            }
-						    
-						}
-						else
-						{
-							b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
-						}
-
-					}
-					else
-					{
-						b3Warning("mesh geometry not found %s\n", fullPath);
-					}
-
-
-				}
-			}
-
-
-			break;
-		}
-		default:
-		{
-			b3Warning("Error: unknown visual geometry type\n");
-		}
-	}
-
-	//if we have a convex, tesselate into localVertices/localIndices
-	if ((glmesh==0) && convexColShape)
-	{
-		btShapeHull* hull = new btShapeHull(convexColShape);
-		hull->buildHull(0.0);
-		{
-			//	int strideInBytes = 9*sizeof(float);
-			int numVertices = hull->numVertices();
-			int numIndices = hull->numIndices();
-
-			
-			glmesh = new GLInstanceGraphicsShape;
-		//	int index = 0;
-			glmesh->m_indices = new b3AlignedObjectArray<int>();
-			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
-
-
-			for (int i = 0; i < numVertices; i++)
-			{
-				GLInstanceVertex vtx;
-				btVector3 pos = hull->getVertexPointer()[i];
-				vtx.xyzw[0] = pos.x();
-				vtx.xyzw[1] = pos.y();
-				vtx.xyzw[2] = pos.z();
-				vtx.xyzw[3] = 1.f;
-				pos.normalize();
-				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;
-				glmesh->m_vertices->push_back(vtx);
-			}
-
-			btAlignedObjectArray<int> indices;
-			for (int i = 0; i < numIndices; i++)
-			{
-				glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
-			}
-			
-			glmesh->m_numvertices = glmesh->m_vertices->size();
-			glmesh->m_numIndices = glmesh->m_indices->size();
-		}
-        delete hull;
-		delete convexColShape;
-		convexColShape = 0;
-
-	}
-	
-	if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
-	{
-
-		int baseIndex = verticesOut.size();
-
-
-
-		for (int i = 0; i < glmesh->m_indices->size(); i++)
-		{
-			indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
-		}
-
-		for (int i = 0; i < glmesh->m_vertices->size(); i++)
-		{
-			GLInstanceVertex& v = glmesh->m_vertices->at(i);
-			btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
-			btVector3 vt = visualTransform*vert;
-			v.xyzw[0] = vt[0];
-			v.xyzw[1] = vt[1];
-			v.xyzw[2] = vt[2];
-			btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
-			triNormal = visualTransform.getBasis()*triNormal;
-			v.normal[0] = triNormal[0];
-			v.normal[1] = triNormal[1];
-			v.normal[2] = triNormal[2];
-			verticesOut.push_back(v);
-		}
-	}
-    delete glmesh;
-    
-}
-
-
 
 
 btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, const char* urdfPathPrefix)
@@ -910,61 +585,17 @@ btCollisionShape* convertURDFToCollisionShape(const UrdfCollision* collision, co
 	return shape;
 }
 
-
-
-
-int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const
+int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const
 {
-    btAlignedObjectArray<GLInstanceVertex> vertices;
-    btAlignedObjectArray<int> indices;
-    btTransform startTrans; startTrans.setIdentity();
-    int graphicsIndex = -1;
-#if USE_ROS_URDF_PARSER
-    for (int v = 0; v < (int)m_data->m_links[linkIndex]->visual_array.size(); v++)
-    {
-        const Visual* vis = m_data->m_links[linkIndex]->visual_array[v].get();
-        btVector3 childPos(vis->origin.position.x, vis->origin.position.y, vis->origin.position.z);
-        btQuaternion childOrn(vis->origin.rotation.x, vis->origin.rotation.y, vis->origin.rotation.z, vis->origin.rotation.w);
-        btTransform childTrans;
-        childTrans.setOrigin(childPos);
-        childTrans.setRotation(childOrn);
-            
-        convertURDFToVisualShape(vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
-            
-    }
-#else
-	const UrdfModel& model = m_data->m_urdfParser.getModel();
-	UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
-	if (linkPtr)
-	{
+	int graphicsIndex = -1;
 
-		const UrdfLink* link = *linkPtr;
-		
-		for (int v = 0; v < link->m_visualArray.size();v++)
-		{
-			const UrdfVisual& vis = link->m_visualArray[v];
-            btTransform childTrans = vis.m_linkLocalFrame;
-			btHashString matName(vis.m_materialName.c_str());
-			UrdfMaterial *const * matPtr = model.m_materials[matName];
-			if (matPtr)
-			{
-				UrdfMaterial *const  mat = *matPtr;
-				//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
-				m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
-			}
-			convertURDFToVisualShape(&vis, pathPrefix, inertialFrame.inverse()*childTrans, vertices, indices);
-			
-			
-		}
+  	if (m_data->m_customVisualShapesConverter)
+	{
+		const UrdfModel& model = m_data->m_urdfParser.getModel();
+		graphicsIndex  = m_data->m_customVisualShapesConverter->convertVisualShapes(linkIndex,pathPrefix,localInertiaFrame, model, colShape);
 	}
-#endif
-    if (vertices.size() && indices.size())
-    {
-        graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
-    }
-        
     return graphicsIndex;
-        
+
 }
 
 int BulletURDFImporter::getNumAllocatedCollisionShapes() const
@@ -985,25 +616,6 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
     m_data->m_allocatedCollisionShapes.push_back(compoundShape);
     
     compoundShape->setMargin(0.001);
-#if USE_ROS_URDF_PARSER
-    for (int v=0;v<(int)m_data->m_links[linkIndex]->collision_array.size();v++)
-    {
-        const Collision* col = m_data->m_links[linkIndex]->collision_array[v].get();
-        btCollisionShape* childShape = convertURDFToCollisionShape(col ,pathPrefix);
-            
-        if (childShape)
-        {
-            btVector3 childPos(col->origin.position.x, col->origin.position.y, col->origin.position.z);
-            btQuaternion childOrn(col->origin.rotation.x, col->origin.rotation.y, col->origin.rotation.z, col->origin.rotation.w);
-            btTransform childTrans;
-            childTrans.setOrigin(childPos);
-            childTrans.setRotation(childOrn);
-            compoundShape->addChildShape(localInertiaFrame.inverse()*childTrans,childShape);
-                
-        }
-    }
-#else
-	
 	UrdfLink* const* linkPtr = m_data->m_urdfParser.getModel().m_links.getAtIndex(linkIndex);
 	btAssert(linkPtr);
 	if (linkPtr)
@@ -1025,8 +637,6 @@ btCollisionShape* BulletURDFImporter::getAllocatedCollisionShape(int index)
            		}
 		}
 	}
-
-#endif
 	
     return compoundShape;
 }
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
index 5e1437158..469c5a43c 100644
--- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
+++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.h
@@ -3,6 +3,8 @@
 
 #include "URDFImporterInterface.h"
 
+#include "LinkVisualShapesConverter.h"
+
 
 ///BulletURDFImporter can deal with URDF and (soon) SDF files
 class BulletURDFImporter : public URDFImporterInterface
@@ -13,7 +15,7 @@ class BulletURDFImporter : public URDFImporterInterface
 
 public:
 
-	BulletURDFImporter(struct GUIHelperInterface* guiHelper);
+	BulletURDFImporter(struct GUIHelperInterface* guiHelper, LinkVisualShapesConverter* customConverter);
 
 	virtual ~BulletURDFImporter();
 
@@ -44,7 +46,7 @@ public:
     
     virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const;
 
-	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const;
+	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, class btCollisionShape* colShape) const;
 
     ///todo(erwincoumans) refactor this convertLinkCollisionShapes/memory allocation
     
diff --git a/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp b/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
new file mode 100644
index 000000000..594a8bd5c
--- /dev/null
+++ b/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
@@ -0,0 +1,436 @@
+/* Copyright (C) 2016 Google
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+*/
+
+
+#include "DefaultVisualShapeConverter.h"
+
+
+
+#include "URDFImporterInterface.h"
+#include "btBulletCollisionCommon.h"
+#include "../ImportObjDemo/LoadMeshFromObj.h"
+#include "../ImportSTLDemo/LoadMeshFromSTL.h"
+#include "../ImportColladaDemo/LoadMeshFromCollada.h"
+#include "BulletCollision/CollisionShapes/btShapeHull.h"//to create a tesselation of a generic btConvexShape
+#include "../../CommonInterfaces/CommonGUIHelperInterface.h"
+#include "Bullet3Common/b3FileUtils.h"
+#include <string>
+#include "../../Utils/b3ResourcePath.h"
+
+
+
+#include <iostream>
+#include <fstream>
+#include "UrdfParser.h"
+
+
+enum MyFileType
+{
+	MY_FILE_STL=1,
+	MY_FILE_COLLADA=2,
+    MY_FILE_OBJ=3,
+};
+
+
+struct DefaultVisualShapeConverterInternalData
+{
+	struct GUIHelperInterface* m_guiHelper;
+	//char m_pathPrefix[1024];
+	btHashMap<btHashInt,btVector4> m_linkColors;
+};
+
+
+DefaultVisualShapeConverter::DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper)
+{
+	m_data = new DefaultVisualShapeConverterInternalData();
+	m_data->m_guiHelper = guiHelper;
+}
+DefaultVisualShapeConverter::~DefaultVisualShapeConverter()
+{
+	delete m_data;
+}
+	
+
+
+
+void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPrefix, const btTransform& visualTransform, btAlignedObjectArray<GLInstanceVertex>& verticesOut, btAlignedObjectArray<int>& indicesOut)
+{
+
+	
+	GLInstanceGraphicsShape* glmesh = 0;
+
+	btConvexShape* convexColShape = 0;
+
+	switch (visual->m_geometry.m_type)
+	{
+		case URDF_GEOM_CYLINDER:
+		{
+			btAlignedObjectArray<btVector3> vertices;
+		
+			//int numVerts = sizeof(barrel_vertices)/(9*sizeof(float));
+			int numSteps = 32;
+			for (int i = 0; i<numSteps; i++)
+			{
+
+				btScalar cylRadius = visual->m_geometry.m_cylinderRadius;
+				btScalar cylLength = visual->m_geometry.m_cylinderLength;
+				
+				btVector3 vert(cylRadius*btSin(SIMD_2_PI*(float(i) / numSteps)), cylRadius*btCos(SIMD_2_PI*(float(i) / numSteps)), cylLength / 2.);
+				vertices.push_back(vert);
+				vert[2] = -cylLength / 2.;
+				vertices.push_back(vert);
+			}
+
+			btConvexHullShape* cylZShape = new btConvexHullShape(&vertices[0].x(), vertices.size(), sizeof(btVector3));
+			cylZShape->setMargin(0.001);
+			convexColShape = cylZShape;
+			break;
+		}
+		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(0.001);
+			break;
+		}
+		case URDF_GEOM_SPHERE:
+		{
+			btScalar radius = visual->m_geometry.m_sphereRadius;
+			btSphereShape* sphereShape = new btSphereShape(radius);
+			convexColShape = sphereShape;
+			convexColShape->setMargin(0.001);
+			break;
+
+			break;
+		}
+		case URDF_GEOM_MESH:
+		{
+			if (visual->m_name.length())
+			{
+				//b3Printf("visual->name=%s\n", visual->m_name.c_str());
+			}
+			if (1)//visual->m_geometry)
+			{
+				if (visual->m_geometry.m_meshFileName.length())
+				{
+					const char* filename = visual->m_geometry.m_meshFileName.c_str();
+					//b3Printf("mesh->filename=%s\n", filename);
+					char fullPath[1024];
+					int fileType = 0;
+                    
+                    char tmpPathPrefix[1024];
+                    std::string xml_string;
+                    int maxPathLen = 1024;
+                    b3FileUtils::extractPath(filename,tmpPathPrefix,maxPathLen);
+                   
+                    char visualPathPrefix[1024];
+                    sprintf(visualPathPrefix,"%s%s",urdfPathPrefix,tmpPathPrefix);
+                    
+                    
+					sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
+					b3FileUtils::toLower(fullPath);
+					if (strstr(fullPath, ".dae"))
+					{
+						fileType = MY_FILE_COLLADA;
+					}
+					if (strstr(fullPath, ".stl"))
+					{
+						fileType = MY_FILE_STL;
+					}
+                    if (strstr(fullPath,".obj"))
+                    {
+                        fileType = MY_FILE_OBJ;
+                    }
+
+
+					sprintf(fullPath, "%s%s", urdfPathPrefix, filename);
+					FILE* f = fopen(fullPath, "rb");
+					if (f)
+					{
+						fclose(f);
+						
+
+
+						switch (fileType)
+						{
+                            case MY_FILE_OBJ:
+                            {
+                                glmesh = LoadMeshFromObj(fullPath,visualPathPrefix);
+                                break;
+                            }
+                           
+						case MY_FILE_STL:
+						{
+							glmesh = LoadMeshFromSTL(fullPath);
+							break;
+						}
+						case MY_FILE_COLLADA:
+						{
+
+							btAlignedObjectArray<GLInstanceGraphicsShape> visualShapes;
+							btAlignedObjectArray<ColladaGraphicsInstance> visualShapeInstances;
+							btTransform upAxisTrans; upAxisTrans.setIdentity();
+							float unitMeterScaling = 1;
+							int upAxis = 2;
+
+							LoadMeshFromCollada(fullPath,
+								visualShapes,
+								visualShapeInstances,
+								upAxisTrans,
+								unitMeterScaling,
+												upAxis);
+
+							glmesh = new GLInstanceGraphicsShape;
+					//		int index = 0;
+							glmesh->m_indices = new b3AlignedObjectArray<int>();
+							glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+
+							for (int i = 0; i<visualShapeInstances.size(); i++)
+							{
+								ColladaGraphicsInstance* instance = &visualShapeInstances[i];
+								GLInstanceGraphicsShape* gfxShape = &visualShapes[instance->m_shapeIndex];
+
+								b3AlignedObjectArray<GLInstanceVertex> verts;
+								verts.resize(gfxShape->m_vertices->size());
+
+								int baseIndex = glmesh->m_vertices->size();
+
+								for (int i = 0; i<gfxShape->m_vertices->size(); i++)
+								{
+									verts[i].normal[0] = gfxShape->m_vertices->at(i).normal[0];
+									verts[i].normal[1] = gfxShape->m_vertices->at(i).normal[1];
+									verts[i].normal[2] = gfxShape->m_vertices->at(i).normal[2];
+									verts[i].uv[0] = gfxShape->m_vertices->at(i).uv[0];
+									verts[i].uv[1] = gfxShape->m_vertices->at(i).uv[1];
+									verts[i].xyzw[0] = gfxShape->m_vertices->at(i).xyzw[0];
+									verts[i].xyzw[1] = gfxShape->m_vertices->at(i).xyzw[1];
+									verts[i].xyzw[2] = gfxShape->m_vertices->at(i).xyzw[2];
+									verts[i].xyzw[3] = gfxShape->m_vertices->at(i).xyzw[3];
+
+								}
+
+								int curNumIndices = glmesh->m_indices->size();
+								int additionalIndices = gfxShape->m_indices->size();
+								glmesh->m_indices->resize(curNumIndices + additionalIndices);
+								for (int k = 0; k<additionalIndices; k++)
+								{
+									glmesh->m_indices->at(curNumIndices + k) = gfxShape->m_indices->at(k) + baseIndex;
+								}
+
+								//compensate upAxisTrans and unitMeterScaling here
+								btMatrix4x4 upAxisMat;
+								upAxisMat.setIdentity();
+//								upAxisMat.setPureRotation(upAxisTrans.getRotation());
+								btMatrix4x4 unitMeterScalingMat;
+								unitMeterScalingMat.setPureScaling(btVector3(unitMeterScaling, unitMeterScaling, unitMeterScaling));
+								btMatrix4x4 worldMat = unitMeterScalingMat*upAxisMat*instance->m_worldTransform;
+								//btMatrix4x4 worldMat = instance->m_worldTransform;
+								int curNumVertices = glmesh->m_vertices->size();
+								int additionalVertices = verts.size();
+								glmesh->m_vertices->reserve(curNumVertices + additionalVertices);
+
+								for (int v = 0; v<verts.size(); v++)
+								{
+									btVector3 pos(verts[v].xyzw[0], verts[v].xyzw[1], verts[v].xyzw[2]);
+									pos = worldMat*pos;
+									verts[v].xyzw[0] = float(pos[0]);
+									verts[v].xyzw[1] = float(pos[1]);
+									verts[v].xyzw[2] = float(pos[2]);
+									glmesh->m_vertices->push_back(verts[v]);
+								}
+							}
+							glmesh->m_numIndices = glmesh->m_indices->size();
+							glmesh->m_numvertices = glmesh->m_vertices->size();
+							//glmesh = LoadMeshFromCollada(fullPath);
+
+							break;
+						}
+						default:
+						{
+                            b3Warning("Error: unsupported file type for Visual mesh: %s\n", fullPath);
+                            btAssert(0);
+						}
+						}
+
+
+						if (glmesh && glmesh->m_vertices && (glmesh->m_numvertices>0))
+						{
+						    //apply the geometry scaling
+						    for (int i=0;i<glmesh->m_vertices->size();i++)
+                            {
+                                glmesh->m_vertices->at(i).xyzw[0] *= visual->m_geometry.m_meshScale[0];
+                                glmesh->m_vertices->at(i).xyzw[1] *= visual->m_geometry.m_meshScale[1];
+                                glmesh->m_vertices->at(i).xyzw[2] *= visual->m_geometry.m_meshScale[2];
+                            }
+						    
+						}
+						else
+						{
+							b3Warning("issue extracting mesh from COLLADA/STL file %s\n", fullPath);
+						}
+
+					}
+					else
+					{
+						b3Warning("mesh geometry not found %s\n", fullPath);
+					}
+
+
+				}
+			}
+
+
+			break;
+		}
+		default:
+		{
+			b3Warning("Error: unknown visual geometry type\n");
+		}
+	}
+
+	//if we have a convex, tesselate into localVertices/localIndices
+	if ((glmesh==0) && convexColShape)
+	{
+		btShapeHull* hull = new btShapeHull(convexColShape);
+		hull->buildHull(0.0);
+		{
+			//	int strideInBytes = 9*sizeof(float);
+			int numVertices = hull->numVertices();
+			int numIndices = hull->numIndices();
+
+			
+			glmesh = new GLInstanceGraphicsShape;
+		//	int index = 0;
+			glmesh->m_indices = new b3AlignedObjectArray<int>();
+			glmesh->m_vertices = new b3AlignedObjectArray<GLInstanceVertex>();
+
+
+			for (int i = 0; i < numVertices; i++)
+			{
+				GLInstanceVertex vtx;
+				btVector3 pos = hull->getVertexPointer()[i];
+				vtx.xyzw[0] = pos.x();
+				vtx.xyzw[1] = pos.y();
+				vtx.xyzw[2] = pos.z();
+				vtx.xyzw[3] = 1.f;
+				pos.normalize();
+				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;
+				glmesh->m_vertices->push_back(vtx);
+			}
+
+			btAlignedObjectArray<int> indices;
+			for (int i = 0; i < numIndices; i++)
+			{
+				glmesh->m_indices->push_back(hull->getIndexPointer()[i]);
+			}
+			
+			glmesh->m_numvertices = glmesh->m_vertices->size();
+			glmesh->m_numIndices = glmesh->m_indices->size();
+		}
+        delete hull;
+		delete convexColShape;
+		convexColShape = 0;
+
+	}
+	
+	if (glmesh && glmesh->m_numIndices>0 && glmesh->m_numvertices >0)
+	{
+
+		int baseIndex = verticesOut.size();
+
+
+
+		for (int i = 0; i < glmesh->m_indices->size(); i++)
+		{
+			indicesOut.push_back(glmesh->m_indices->at(i) + baseIndex);
+		}
+
+		for (int i = 0; i < glmesh->m_vertices->size(); i++)
+		{
+			GLInstanceVertex& v = glmesh->m_vertices->at(i);
+			btVector3 vert(v.xyzw[0],v.xyzw[1],v.xyzw[2]);
+			btVector3 vt = visualTransform*vert;
+			v.xyzw[0] = vt[0];
+			v.xyzw[1] = vt[1];
+			v.xyzw[2] = vt[2];
+			btVector3 triNormal(v.normal[0],v.normal[1],v.normal[2]);
+			triNormal = visualTransform.getBasis()*triNormal;
+			v.normal[0] = triNormal[0];
+			v.normal[1] = triNormal[1];
+			v.normal[2] = triNormal[2];
+			verticesOut.push_back(v);
+		}
+	}
+    delete glmesh;
+    
+}
+
+
+
+int DefaultVisualShapeConverter::convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape)
+{
+	btAlignedObjectArray<GLInstanceVertex> vertices;
+	btAlignedObjectArray<int> indices;
+	btTransform startTrans; startTrans.setIdentity();
+	int graphicsIndex = -1;
+
+	UrdfLink* const* linkPtr = model.m_links.getAtIndex(linkIndex);
+	if (linkPtr)
+	{
+
+		const UrdfLink* link = *linkPtr;
+	
+		for (int v = 0; v < link->m_visualArray.size();v++)
+		{
+			const UrdfVisual& vis = link->m_visualArray[v];
+			btTransform childTrans = vis.m_linkLocalFrame;
+			btHashString matName(vis.m_materialName.c_str());
+			UrdfMaterial *const * matPtr = model.m_materials[matName];
+			if (matPtr)
+			{
+				UrdfMaterial *const  mat = *matPtr;
+				//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
+				m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
+			}
+			convertURDFToVisualShape(&vis, pathPrefix, localInertiaFrame.inverse()*childTrans, vertices, indices);
+		
+		
+		}
+	}
+	if (vertices.size() && indices.size())
+	{
+		graphicsIndex  = m_data->m_guiHelper->registerGraphicsShape(&vertices[0].xyzw[0], vertices.size(), &indices[0], indices.size());
+	}
+	return graphicsIndex;
+}
+
+bool DefaultVisualShapeConverter::getLinkColor(int linkIndex, btVector4& colorRGBA) const
+{
+	const btVector4* rgbaPtr = m_data->m_linkColors[linkIndex];
+	if (rgbaPtr)
+	{
+		colorRGBA = *rgbaPtr;
+		return true;
+	}
+	return false;
+}
+
+
diff --git a/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h b/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
new file mode 100644
index 000000000..fc59cd0a7
--- /dev/null
+++ b/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
@@ -0,0 +1,26 @@
+#ifndef DEFAULT_VISUAL_SHAPE_CONVERTER_H
+#define DEFAULT_VISUAL_SHAPE_CONVERTER_H
+
+
+#include "LinkVisualShapesConverter.h"
+
+struct DefaultVisualShapeConverter : public LinkVisualShapesConverter
+{
+	
+	struct DefaultVisualShapeConverterInternalData* m_data;
+	
+	DefaultVisualShapeConverter(struct GUIHelperInterface* guiHelper);
+	
+	virtual ~DefaultVisualShapeConverter();
+	
+	virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame, const UrdfModel& model, class btCollisionShape* colShape);
+	
+	virtual bool getLinkColor(int linkIndex, btVector4& colorRGBA) const;
+	
+	
+};
+
+
+
+
+#endif //DEFAULT_VISUAL_SHAPE_CONVERTER_H
\ No newline at end of file
diff --git a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
index 0c6a81b33..e9c224a82 100644
--- a/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
+++ b/examples/Importers/ImportURDFDemo/ImportURDFSetup.cpp
@@ -10,6 +10,7 @@
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "../CommonInterfaces/CommonParameterInterface.h"
 #include "../../Utils/b3ResourcePath.h"
+#include "DefaultVisualShapeConverter.h"
 
 #include "BulletUrdfImporter.h"
 
@@ -200,17 +201,10 @@ void ImportUrdfSetup::initPhysics()
 	m_dynamicsWorld->setGravity(gravity);
 
 	
-
-    //now print the tree using the new interface
-    URDFImporterInterface* bla=0;
+	DefaultVisualShapeConverter visualConverter(m_guiHelper);
+    BulletURDFImporter u2b(m_guiHelper, &visualConverter);
+	
 	
-    static bool newURDF = true;
-	if (newURDF)
-	{
-		b3Printf("using new URDF\n");
-		bla = new  BulletURDFImporter(m_guiHelper);
-	}
-	URDFImporterInterface& u2b = *bla;
 	bool loadOk =  u2b.loadURDF(m_fileName);
 
 #ifdef TEST_MULTIBODY_SERIALIZATION	
diff --git a/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h b/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
new file mode 100644
index 000000000..bff2ef263
--- /dev/null
+++ b/examples/Importers/ImportURDFDemo/LinkVisualShapesConverter.h
@@ -0,0 +1,10 @@
+#ifndef LINK_VISUAL_SHAPES_CONVERTER_H
+#define LINK_VISUAL_SHAPES_CONVERTER_H
+
+struct LinkVisualShapesConverter
+{
+	virtual int convertVisualShapes(int linkIndex, const char* pathPrefix, const class btTransform& localInertiaFrame, const struct UrdfModel& model, class btCollisionShape* colShape)=0;
+	virtual bool getLinkColor(int linkIndex, class btVector4& colorRGBA) const = 0;
+};
+
+#endif //LINK_VISUAL_SHAPES_CONVERTER_H
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 6ff360788..140cce62c 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -209,9 +209,12 @@ void ConvertURDF2BulletInternal(const URDFImporterInterface& u2b, MultiBodyCreat
         linkTransformInWorldSpace =parentTransformInWorldSpace*parent2joint;
     }
     
-    int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
+    
 
     btCompoundShape* compoundShape = u2b.convertLinkCollisionShapes(urdfLinkIndex,pathPrefix,localInertialFrame);
+	
+	int graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex,pathPrefix,localInertialFrame,compoundShape);
+
 
     if (compoundShape)
     {
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index fd794ba3c..25b1769dd 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -42,9 +42,9 @@ public:
     virtual bool getRootTransformInWorld(btTransform& rootTransformInWorld) const =0;
     
 	///quick hack: need to rethink the API/dependencies of this
-	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame) const = 0;
+	virtual int convertLinkVisualShapes(int linkIndex, const char* pathPrefix, const btTransform& inertialFrame, class btCollisionShape* colShape) const = 0;
 
-	 virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const  = 0;
+	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const  = 0;
 };
 
 #endif //URDF_IMPORTER_INTERFACE_H
diff --git a/examples/InverseDynamics/InverseDynamicsExample.cpp b/examples/InverseDynamics/InverseDynamicsExample.cpp
index 7e53fd464..f80edd9b4 100644
--- a/examples/InverseDynamics/InverseDynamicsExample.cpp
+++ b/examples/InverseDynamics/InverseDynamicsExample.cpp
@@ -23,6 +23,8 @@ subject to the following restrictions:
 #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
+#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
+
 #include "../CommonInterfaces/CommonMultiBodyBase.h"
 
 #include "btBulletDynamicsCommon.h"
@@ -153,7 +155,10 @@ void InverseDynamicsExample::initPhysics()
     case 0:
     case BT_ID_LOAD_URDF:
         {
-            BulletURDFImporter u2b(m_guiHelper);
+
+
+			DefaultVisualShapeConverter visualConverter(m_guiHelper);
+            BulletURDFImporter u2b(m_guiHelper, &visualConverter);
             bool loadOk =  u2b.loadURDF("kuka_lwr/kuka.urdf");
             if (loadOk)
             {
diff --git a/examples/InverseDynamics/premake4.lua b/examples/InverseDynamics/premake4.lua
index 99c89235d..463cc2f16 100644
--- a/examples/InverseDynamics/premake4.lua
+++ b/examples/InverseDynamics/premake4.lua
@@ -34,6 +34,7 @@ files {
 			"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
 			"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+			"../Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
 			"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
@@ -85,6 +86,7 @@ files {
 			"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
 			"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+			"../Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
 			"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
@@ -149,6 +151,7 @@ files {
 			"../Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
 			"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+			"../Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
 			"../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
 			"../Importers/ImportURDFDemo/UrdfParser.cpp",
diff --git a/examples/SharedMemory/PhysicsClientExample.cpp b/examples/SharedMemory/PhysicsClientExample.cpp
index fbb485db1..4fca0de8e 100644
--- a/examples/SharedMemory/PhysicsClientExample.cpp
+++ b/examples/SharedMemory/PhysicsClientExample.cpp
@@ -235,6 +235,16 @@ void PhysicsClientExample::prepareAndSubmitCommand(int commandId)
 
             break;
         }
+        case CMD_REQUEST_CAMERA_IMAGE_DATA:
+        {
+            ///request an image from a simulated camera, using a software renderer.
+            
+            b3SharedMemoryCommandHandle commandHandle = b3InitRequestCameraImage(m_physicsClientHandle);
+            //void b3RequestCameraImageSetResolution(b3SharedMemoryCommandHandle command, int pixelWidth, int pixelHeight);
+            //void b3RequestCameraImageSetCameraMatrices(b3SharedMemoryCommandHandle command, float viewMatrix[16], float projectionMatrix[16]);
+            b3SubmitClientCommand(m_physicsClientHandle, commandHandle);
+            break;
+        }
         case CMD_CREATE_BOX_COLLISION_SHAPE:
         {
             b3SharedMemoryCommandHandle commandHandle = b3CreateBoxShapeCommandInit(m_physicsClientHandle);
@@ -429,6 +439,7 @@ void	PhysicsClientExample::createButtons()
 		m_guiHelper->getParameterInterface()->removeAllParameters();
 
         createButton("Load URDF",CMD_LOAD_URDF,  isTrigger);
+        createButton("Get Camera Image",CMD_REQUEST_CAMERA_IMAGE_DATA,isTrigger);
         createButton("Step Sim",CMD_STEP_FORWARD_SIMULATION,  isTrigger);
         createButton("Send Bullet Stream",CMD_SEND_BULLET_DATA_STREAM,  isTrigger);
 		if (m_options!=eCLIENTEXAMPLE_SERVER)
@@ -551,6 +562,16 @@ void	PhysicsClientExample::stepSimulation(float deltaTime)
 			{
 				//b3Printf("bla\n");
 			}
+			if (statusType ==CMD_CAMERA_IMAGE_COMPLETED)
+            {
+                b3Printf("Camera image OK\n");
+            } 
+            if (statusType == CMD_CAMERA_IMAGE_FAILED)
+            {
+                b3Printf("Camera image FAILED\n");
+            }
+       
+        
       		if (statusType == CMD_URDF_LOADING_COMPLETED)
 			{
 				int bodyIndex = b3GetStatusBodyIndex(status);
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 65c22cdf5..e167054df 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -416,6 +416,18 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
                 break;
             }
+            
+            case CMD_CAMERA_IMAGE_COMPLETED:
+            {
+                b3Printf("Camera image OK\n");
+                break;
+            } 
+            
+            case CMD_CAMERA_IMAGE_FAILED:
+            {
+                b3Printf("Camera image FAILED\n");
+                break;
+            }
 
             default: {
                 b3Error("Unknown server status\n");
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 2570a6334..4b8067abd 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -4,6 +4,7 @@
 #include "../Importers/ImportURDFDemo/BulletUrdfImporter.h"
 #include "../Importers/ImportURDFDemo/MyMultiBodyCreator.h"
 #include "../Importers/ImportURDFDemo/URDF2Bullet.h"
+#include "../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h"
 #include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
 #include "BulletDynamics/Featherstone/btMultiBodyConstraintSolver.h"
 #include "BulletDynamics/Featherstone/btMultiBodyPoint2Point.h"
@@ -691,7 +692,9 @@ bool PhysicsServerCommandProcessor::loadUrdf(const char* fileName, const btVecto
 		return false;
 	}
 
-    BulletURDFImporter u2b(m_data->m_guiHelper);
+
+	DefaultVisualShapeConverter  visualConverter(m_data->m_guiHelper);
+    BulletURDFImporter u2b(m_data->m_guiHelper, &visualConverter);
 
    
     bool loadOk =  u2b.loadURDF(fileName, useFixedBase);
@@ -964,7 +967,7 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 
 				case CMD_REQUEST_CAMERA_IMAGE_DATA:
 				{
-					serverStatusOut.m_type = CMD_CLIENT_COMMAND_COMPLETED;
+					serverStatusOut.m_type = CMD_CAMERA_IMAGE_COMPLETED;
 					hasStatus = true;
 					break;
 				}
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 10fc7ebe4..f7d04f724 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -49,7 +49,9 @@ enum EnumSharedMemoryServerStatus
         CMD_DEBUG_LINES_OVERFLOW_FAILED,
         CMD_DESIRED_STATE_RECEIVED_COMPLETED,
         CMD_STEP_FORWARD_SIMULATION_COMPLETED,
-	CMD_RESET_SIMULATION_COMPLETED,
+        CMD_RESET_SIMULATION_COMPLETED,
+        CMD_CAMERA_IMAGE_COMPLETED,
+        CMD_CAMERA_IMAGE_FAILED,
 		CMD_INVALID_STATUS,
         CMD_MAX_SERVER_COMMANDS
 };
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index c92eefe43..dd9c6c923 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -46,9 +46,9 @@ files {
 	"../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
 	"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 	"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
+	"../Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
+	"../Importers/ImportURDFDemo/DefaultVisualShapeConverter.h",
 	"../Importers/ImportURDFDemo/UrdfParser.cpp",
-	"../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
-	"../Importers/ImportURDFDemo/BulletUrdfImporter.h",
  	"../Importers/ImportURDFDemo/urdfStringSplit.cpp",
 	"../Importers/ImportURDFDemo/UrdfParser.cpp",
 	"../Importers/ImportURDFDemo/UrdfParser.h",
diff --git a/test/InverseDynamics/premake4.lua b/test/InverseDynamics/premake4.lua
index b16efbaae..fb35a53e1 100644
--- a/test/InverseDynamics/premake4.lua
+++ b/test/InverseDynamics/premake4.lua
@@ -73,9 +73,8 @@
         "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.h",
         "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
         "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
-        "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
-        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
-        "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.h",
+		"../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
+        "../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h",
         "../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp",
         "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
         "../../examples/Importers/ImportURDFDemo/UrdfParser.h",
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index eb259f9b5..04c7d07f3 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/test/SharedMemory/CMakeLists.txt
@@ -62,6 +62,8 @@ ENDIF()
                         ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
                         ../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
                         ../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
+                        ../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp
+                        
 	)
 
 ADD_TEST(Test_PhysicsClientServer_PASS Test_PhysicsClientServer)
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index f821c71f1..1b6d6dd2a 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -78,6 +78,7 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
 			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+			"../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
 			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
 			"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
@@ -135,6 +136,7 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
 			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+			"../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
 			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
 			"../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",
@@ -224,6 +226,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
                         "../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
                         "../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
                         "../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
+                        "../../examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.cpp",
                         "../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
                         "../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
                         "../../examples/Importers/ImportURDFDemo/UrdfParser.cpp",