diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index 7bcbea20c..8db4665f6 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -185,7 +185,7 @@ void ConvertURDF2BulletInternal(
     URDF2BulletCachedData& cache, int urdfLinkIndex,
     const btTransform& parentTransformInWorldSpace, btMultiBodyDynamicsWorld* world1,
     bool createMultiBody, const char* pathPrefix,
-    int flags = 0, UrdfVisualShapeCache& cachedLinkGraphicsShapesIn= UrdfVisualShapeCache(), UrdfVisualShapeCache& cachedLinkGraphicsShapesOut = UrdfVisualShapeCache())
+    int flags = 0, UrdfVisualShapeCache* cachedLinkGraphicsShapesIn=0, UrdfVisualShapeCache* cachedLinkGraphicsShapesOut=0)
 {
 	B3_PROFILE("ConvertURDF2BulletInternal2");
     //b3Printf("start converting/extracting data from URDF interface\n");
@@ -273,19 +273,22 @@ void ConvertURDF2BulletInternal(
 	int graphicsIndex;
 	{
 		B3_PROFILE("convertLinkVisualShapes");
-		if (cachedLinkGraphicsShapesIn.m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex+1))
+		if (cachedLinkGraphicsShapesIn && cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices.size() > (mbLinkIndex+1))
 		{
-			graphicsIndex = cachedLinkGraphicsShapesIn.m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex+1];
-			UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn.m_cachedUrdfLinkColors[mbLinkIndex + 1];
+			graphicsIndex = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkVisualShapeIndices[mbLinkIndex+1];
+			UrdfMaterialColor matColor = cachedLinkGraphicsShapesIn->m_cachedUrdfLinkColors[mbLinkIndex + 1];
 			u2b.setLinkColor2(urdfLinkIndex, matColor);
 		}
 		else
 		{
 			graphicsIndex = u2b.convertLinkVisualShapes(urdfLinkIndex, pathPrefix, localInertialFrame);
-			cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
-			UrdfMaterialColor matColor;
-			u2b.getLinkColor2(urdfLinkIndex, matColor);
-			cachedLinkGraphicsShapesOut.m_cachedUrdfLinkColors.push_back(matColor);
+			if (cachedLinkGraphicsShapesOut)
+			{
+				cachedLinkGraphicsShapesOut->m_cachedUrdfLinkVisualShapeIndices.push_back(graphicsIndex);
+				UrdfMaterialColor matColor;
+				u2b.getLinkColor2(urdfLinkIndex, matColor);
+				cachedLinkGraphicsShapesOut->m_cachedUrdfLinkColors.push_back(matColor);
+			}
 		}
 	}
 	
@@ -615,7 +618,7 @@ void ConvertURDF2Bullet(
     const URDFImporterInterface& u2b, MultiBodyCreationInterface& creation,
     const btTransform& rootTransformInWorldSpace,
     btMultiBodyDynamicsWorld* world1,
-    bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache& cachedLinkGraphicsShapes)
+    bool createMultiBody, const char* pathPrefix, int flags, UrdfVisualShapeCache* cachedLinkGraphicsShapes)
 {
 
 	URDF2BulletCachedData cache;
@@ -625,10 +628,10 @@ void ConvertURDF2Bullet(
 	
 	UrdfVisualShapeCache cachedLinkGraphicsShapesOut;
 
-	ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapes, cachedLinkGraphicsShapesOut);
-	if (cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes.m_cachedUrdfLinkVisualShapeIndices.size())
+	ConvertURDF2BulletInternal(u2b, creation, cache, urdfLinkIndex,rootTransformInWorldSpace,world1,createMultiBody,pathPrefix,flags, cachedLinkGraphicsShapes, &cachedLinkGraphicsShapesOut);
+	if (cachedLinkGraphicsShapes && cachedLinkGraphicsShapesOut.m_cachedUrdfLinkVisualShapeIndices.size() > cachedLinkGraphicsShapes->m_cachedUrdfLinkVisualShapeIndices.size())
 	{
-		cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
+		*cachedLinkGraphicsShapes = cachedLinkGraphicsShapesOut;
 	}
 
 	if (world1 && cache.m_bulletMultiBody)
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
index a9e7a5e1f..3c4339739 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -45,7 +45,7 @@ void ConvertURDF2Bullet(const URDFImporterInterface& u2b,
 			bool createMultiBody,
 			const char* pathPrefix,
             int flags = 0,
-			UrdfVisualShapeCache& cachedLinkGraphicsShapes= UrdfVisualShapeCache()
+			UrdfVisualShapeCache* cachedLinkGraphicsShapes= 0
 			);
 
 
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 36efbd68c..fa8f8da40 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -2631,7 +2631,7 @@ bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName,
 				}
 			}
 			UrdfVisualShapeCache* cachedVisualShapesPtr = m_data->m_cachedVUrdfisualShapes[fileName];
-			ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, *cachedVisualShapesPtr);
+			ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags, cachedVisualShapesPtr);
 		} else
 		{
 			ConvertURDF2Bullet(u2b, creation, rootTrans, m_data->m_dynamicsWorld, useMultiBody, u2b.getPathPrefix(), flags);