diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.cpp b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
index 2ec443db2..cf5b9c626 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.cpp
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.cpp
@@ -620,6 +620,15 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
               if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
               {
                   UrdfMaterial* matPtr = new UrdfMaterial(visual.m_geometry.m_localMaterial);
+				  
+				  UrdfMaterial** oldMatPtrPtr = model.m_materials[matPtr->m_name.c_str()];
+				  if (oldMatPtrPtr)
+				  {
+					  UrdfMaterial* oldMatPtr = *oldMatPtrPtr;
+					  model.m_materials.remove(matPtr->m_name.c_str());
+					  if (oldMatPtr)
+						  delete oldMatPtr;
+				  }
                   model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
                   visual.m_geometry.m_hasLocalMaterial = true;
               }