diff --git a/docs/pybullet_quickstartguide.pdf b/docs/pybullet_quickstartguide.pdf
index d1e10cca7..a46bbf128 100644
Binary files a/docs/pybullet_quickstartguide.pdf and b/docs/pybullet_quickstartguide.pdf differ
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index be7832408..1e52a572d 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -120,7 +120,10 @@ struct BulletMJCFImporterInternalData
 
 	btAlignedObjectArray<UrdfModel*>	m_models;
 	int m_activeModel;
-	
+
+	//those collision shapes are deleted by caller (todo: make sure this happens!)
+	btAlignedObjectArray<btCollisionShape*> m_allocatedCollisionShapes;
+
 	BulletMJCFImporterInternalData()
 		:m_activeModel(-1)
 	{
@@ -794,7 +797,7 @@ bool BulletMJCFImporter::loadMJCF(const char* fileName, MJCFErrorLogger* logger,
 	m_data->m_pathPrefix[0] = 0;
     
     if (!fileFound){
-        std::cerr << "URDF file not found" << std::endl;
+        std::cerr << "MJCF file not found" << std::endl;
 		return false;
     } else
     {
@@ -1017,6 +1020,8 @@ int BulletMJCFImporter::getBodyUniqueId() const
 class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const
 {
 	btCompoundShape* compound = new btCompoundShape();
+	m_data->m_allocatedCollisionShapes.push_back(compound);
+
 	const UrdfLink* link = m_data->getLink(m_data->m_activeModel,linkIndex);
 	if (link)
 	{
@@ -1075,6 +1080,7 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 			}
 			if (childShape)
 			{
+				m_data->m_allocatedCollisionShapes.push_back(childShape);
 				compound->addChildShape(col->m_linkLocalFrame,childShape);
 			}
 		}
@@ -1082,6 +1088,15 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 	return compound;
 }
 
+int BulletMJCFImporter::getNumAllocatedCollisionShapes() const
+{
+	return m_data->m_allocatedCollisionShapes.size();
+}
+class btCollisionShape* BulletMJCFImporter::getAllocatedCollisionShape(int index)
+{
+	return m_data->m_allocatedCollisionShapes[index];
+}
+
 
 int BulletMJCFImporter::getNumModels() const
 {
diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
index 9cd59d90c..454f6df29 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.h
@@ -27,9 +27,6 @@ public:
 
 	virtual bool loadMJCF(const char* fileName, MJCFErrorLogger* logger, bool forceFixedBase = false);
 
-	int getNumModels() const;
-
-	void activateModel(int modelIndex);
 
 	virtual bool loadURDF(const char* fileName, bool forceFixedBase = false)
 	{
@@ -71,6 +68,10 @@ public:
     virtual int getBodyUniqueId() const;
     
 	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const ;
+	virtual int getNumAllocatedCollisionShapes() const;
+    virtual class btCollisionShape* getAllocatedCollisionShape(int index);
+	virtual int getNumModels() const;
+    virtual void activateModel(int modelIndex);
 
 
 };
diff --git a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
index 66a1e6c0b..eb62a2826 100644
--- a/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
+++ b/examples/Importers/ImportMJCFDemo/ImportMJCFSetup.cpp
@@ -77,7 +77,7 @@ struct ImportMJCFInternalData
 
 ImportMJCFSetup::ImportMJCFSetup(struct GUIHelperInterface* helper, int option, const char* fileName)
 	:CommonMultiBodyBase(helper),
-	m_grav(-10),
+	m_grav(0),
 	m_upAxis(2)
 {
 	m_data = new ImportMJCFInternalData;
@@ -238,7 +238,7 @@ void ImportMJCFSetup::initPhysics()
 			ConvertURDF2Bullet(importer,creation, rootTrans,m_dynamicsWorld,m_useMultiBody,importer.getPathPrefix(),CUF_USE_MJCF);
 
 			mb = creation.getBulletMultiBody();
-			if (mb)
+			if (0)//mb)
 			{
 				printf("first MJCF file converted!\n");
 				std::string*   name = new std::string(importer.getLinkName(importer.getRootLinkIndex()));
diff --git a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
index ce688ec90..a16d34f89 100644
--- a/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
+++ b/examples/Importers/ImportURDFDemo/URDFImporterInterface.h
@@ -53,6 +53,12 @@ public:
     virtual int getBodyUniqueId() const { return 0;}
     
 	virtual class btCompoundShape* convertLinkCollisionShapes(int linkIndex, const char* pathPrefix, const btTransform& localInertiaFrame) const  = 0;
+
+	virtual int getNumAllocatedCollisionShapes() const = 0;
+    virtual class btCollisionShape* getAllocatedCollisionShape(int index) = 0;
+	virtual int getNumModels() const=0;
+    virtual void activateModel(int modelIndex)=0;
+
 };
 
 #endif //URDF_IMPORTER_INTERFACE_H
diff --git a/examples/SharedMemory/PhysicsClientC_API.cpp b/examples/SharedMemory/PhysicsClientC_API.cpp
index 89c180374..e30c1519c 100644
--- a/examples/SharedMemory/PhysicsClientC_API.cpp
+++ b/examples/SharedMemory/PhysicsClientC_API.cpp
@@ -146,11 +146,11 @@ b3SharedMemoryCommandHandle	b3LoadMJCFCommandInit(b3PhysicsClientHandle physClie
 		int len = strlen(fileName);
 		if (len < MAX_URDF_FILENAME_LENGTH)
 		{
-			strcpy(command->m_fileArguments.m_fileName, fileName);
+			strcpy(command->m_mjcfArguments.m_mjcfFileName, fileName);
 		}
 		else
 		{
-			command->m_fileArguments.m_fileName[0] = 0;
+			command->m_mjcfArguments.m_mjcfFileName[0] = 0;
 		}
 		command->m_updateFlags = 0;
 
@@ -849,6 +849,7 @@ int b3GetStatusBodyIndices(b3SharedMemoryStatusHandle statusHandle, int* bodyInd
 	{
 			switch (status->m_type)
 			{
+				case CMD_MJCF_LOADING_COMPLETED:
 				case CMD_BULLET_LOADING_COMPLETED:
 				case CMD_SDF_LOADING_COMPLETED:
 				{
diff --git a/examples/SharedMemory/PhysicsClientSharedMemory.cpp b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
index 61d2390bd..de6b08f6e 100644
--- a/examples/SharedMemory/PhysicsClientSharedMemory.cpp
+++ b/examples/SharedMemory/PhysicsClientSharedMemory.cpp
@@ -318,6 +318,14 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
                 }
                 break;
             }
+
+			case CMD_MJCF_LOADING_COMPLETED:
+			{
+                if (m_data->m_verboseOutput) {
+                    b3Printf("Server loading the MJCF OK\n");
+                }
+                break;
+			}
             case CMD_SDF_LOADING_COMPLETED: {
                 
                 if (m_data->m_verboseOutput) {
@@ -402,6 +410,13 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 
                 break;
             }
+			case CMD_MJCF_LOADING_FAILED:
+			{
+                if (m_data->m_verboseOutput) {
+                    b3Printf("Server failed loading the MJCF...\n");
+                }
+                break;
+			}
              case CMD_SDF_LOADING_FAILED: {
                 if (m_data->m_verboseOutput) {
                     b3Printf("Server failed loading the SDF...\n");
@@ -778,11 +793,6 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
 				b3Warning("Save .bullet failed");
 				break;
 			}
-			case CMD_MJCF_LOADING_FAILED:
-			{
-				b3Warning("Load .mjcf failed");
-				break;
-			}
 			case CMD_USER_DEBUG_DRAW_COMPLETED:
 			{
 				break;
@@ -819,7 +829,8 @@ const SharedMemoryStatus* PhysicsClientSharedMemory::processServerStatus() {
             m_data->m_waitingForServer = true;
         }
 
-        if (serverCmd.m_type == CMD_SDF_LOADING_COMPLETED)
+
+        if ((serverCmd.m_type == CMD_SDF_LOADING_COMPLETED) || (serverCmd.m_type == CMD_MJCF_LOADING_COMPLETED))
         {
             int numBodies = serverCmd.m_sdfLoadedArgs.m_numBodies;
             if (numBodies>0)
diff --git a/examples/SharedMemory/PhysicsDirect.cpp b/examples/SharedMemory/PhysicsDirect.cpp
index b12438cc2..2dd96b161 100644
--- a/examples/SharedMemory/PhysicsDirect.cpp
+++ b/examples/SharedMemory/PhysicsDirect.cpp
@@ -653,6 +653,8 @@ void PhysicsDirect::postProcessStatus(const struct SharedMemoryStatus& serverCmd
 
 		break;
 	}
+
+	case CMD_MJCF_LOADING_COMPLETED:
 	case CMD_SDF_LOADING_COMPLETED:
 	{
 		//we'll stream further info from the physics server
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
index 8448d98f4..911a501f3 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.cpp
@@ -18,7 +18,7 @@
 #include "btBulletDynamicsCommon.h"
 
 #include "LinearMath/btTransform.h"
-
+#include "../Importers/ImportMJCFDemo/BulletMJCFImporter.h"
 #include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
 #include "BulletDynamics/Featherstone/btMultiBodyJointMotor.h"
 #include "LinearMath/btSerializer.h"
@@ -909,8 +909,162 @@ void	PhysicsServerCommandProcessor::createJointMotors(btMultiBody* mb)
 	}
 }
 
+bool PhysicsServerCommandProcessor::processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, URDFImporterInterface& u2b)
+{
+	bool loadOk = true;
+        
 
-bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody)
+    btTransform rootTrans;
+    rootTrans.setIdentity();
+    if (m_data->m_verboseOutput)
+    {
+        b3Printf("loaded %s OK!", fileName);
+    }
+	SaveWorldObjectData sd;
+	sd.m_fileName = fileName;
+
+
+    for (int m =0; m<u2b.getNumModels();m++)
+    {
+
+        u2b.activateModel(m);
+        btMultiBody* mb = 0;
+        btRigidBody* rb = 0;
+
+        //get a body index
+        int bodyUniqueId = m_data->allocHandle();
+
+        InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
+			
+		sd.m_bodyUniqueIds.push_back(bodyUniqueId);
+
+        u2b.setBodyUniqueId(bodyUniqueId);
+        {
+            btScalar mass = 0;
+            bodyHandle->m_rootLocalInertialFrame.setIdentity();
+            btVector3 localInertiaDiagonal(0,0,0);
+            int urdfLinkIndex = u2b.getRootLinkIndex();
+            u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
+        }
+
+
+
+        //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
+        int rootLinkIndex = u2b.getRootLinkIndex();
+        b3Printf("urdf root link index = %d\n",rootLinkIndex);
+        MyMultiBodyCreator creation(m_data->m_guiHelper);
+
+        u2b.getRootTransformInWorld(rootTrans);
+        ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),flags);
+
+
+
+        mb = creation.getBulletMultiBody();
+        rb = creation.getRigidBody();
+		if (rb)
+			rb->setUserIndex2(bodyUniqueId);
+
+		if (mb)
+			mb->setUserIndex2(bodyUniqueId);
+
+			
+        if (mb)
+        {
+            bodyHandle->m_multiBody = mb;
+				
+
+			m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);
+
+			createJointMotors(mb);
+
+
+			//disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
+
+            bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
+			for (int i=0;i<mb->getNumLinks();i++)
+            {
+				//disable serialization of the collision objects
+
+				int urdfLinkIndex = creation.m_mb2urdfLink[i];
+				btScalar mass;
+                btVector3 localInertiaDiagonal(0,0,0);
+                btTransform localInertialFrame;
+				u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
+				bodyHandle->m_linkLocalInertialFrames.push_back(localInertialFrame);
+
+				std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
+				m_data->m_strings.push_back(linkName);
+
+				mb->getLink(i).m_linkName = linkName->c_str();
+
+				std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
+				m_data->m_strings.push_back(jointName);
+
+				mb->getLink(i).m_jointName = jointName->c_str();
+            }
+			std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
+			m_data->m_strings.push_back(baseName);
+			mb->setBaseName(baseName->c_str());
+		} else
+		{
+			b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
+            bodyHandle->m_rigidBody = rb;
+		}
+
+    }
+	
+	for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
+    {
+        btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
+        m_data->m_collisionShapes.push_back(shape);
+    }
+
+	m_data->m_saveWorldBodyData.push_back(sd);
+
+	return loadOk;
+}
+
+struct MyMJCFLogger2 : public MJCFErrorLogger
+{
+	virtual void reportError(const char* error)
+	{
+		b3Error(error);
+	}
+	virtual void reportWarning(const char* warning)
+	{
+		b3Warning(warning);
+	}
+	virtual void printMessage(const char* msg)
+	{
+		b3Printf(msg);
+	}
+};
+
+bool PhysicsServerCommandProcessor::loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
+{
+	btAssert(m_data->m_dynamicsWorld);
+	if (!m_data->m_dynamicsWorld)
+	{
+		b3Error("loadSdf: No valid m_dynamicsWorld");
+		return false;
+	}
+
+	m_data->m_sdfRecentLoadedBodies.clear();
+
+    BulletMJCFImporter u2b(m_data->m_guiHelper);	//, &m_data->m_visualConverter
+
+	bool useFixedBase = false;
+	MyMJCFLogger2 logger;
+    bool loadOk =  u2b.loadMJCF(fileName, &logger, useFixedBase);
+    if (loadOk)
+	{
+		
+		processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
+	}
+	return loadOk;
+}
+
+bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags)
 {
     btAssert(m_data->m_dynamicsWorld);
 	if (!m_data->m_dynamicsWorld)
@@ -923,118 +1077,13 @@ bool PhysicsServerCommandProcessor::loadSdf(const char* fileName, char* bufferSe
 
     BulletURDFImporter u2b(m_data->m_guiHelper, &m_data->m_visualConverter);
 
-    bool useFixedBase = false;
-    bool loadOk =  u2b.loadSDF(fileName, useFixedBase);
-    if (loadOk)
-    {
-        for (int i=0;i<u2b.getNumAllocatedCollisionShapes();i++)
-        {
-            btCollisionShape* shape =u2b.getAllocatedCollisionShape(i);
-            m_data->m_collisionShapes.push_back(shape);
-        }
-
-        btTransform rootTrans;
-        rootTrans.setIdentity();
-        if (m_data->m_verboseOutput)
-        {
-            b3Printf("loaded %s OK!", fileName);
-        }
-		SaveWorldObjectData sd;
-		sd.m_fileName = fileName;
-
-
-        for (int m =0; m<u2b.getNumModels();m++)
-        {
-
-            u2b.activateModel(m);
-            btMultiBody* mb = 0;
-            btRigidBody* rb = 0;
-
-            //get a body index
-            int bodyUniqueId = m_data->allocHandle();
-
-            InternalBodyHandle* bodyHandle = m_data->getHandle(bodyUniqueId);
-			
-			sd.m_bodyUniqueIds.push_back(bodyUniqueId);
-
-            u2b.setBodyUniqueId(bodyUniqueId);
-            {
-                btScalar mass = 0;
-                bodyHandle->m_rootLocalInertialFrame.setIdentity();
-                btVector3 localInertiaDiagonal(0,0,0);
-                int urdfLinkIndex = u2b.getRootLinkIndex();
-                u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,bodyHandle->m_rootLocalInertialFrame);
-            }
-
-
-
-            //todo: move these internal API called inside the 'ConvertURDF2Bullet' call, hidden from the user
-            int rootLinkIndex = u2b.getRootLinkIndex();
-            b3Printf("urdf root link index = %d\n",rootLinkIndex);
-            MyMultiBodyCreator creation(m_data->m_guiHelper);
-
-            u2b.getRootTransformInWorld(rootTrans);
-            ConvertURDF2Bullet(u2b,creation, rootTrans,m_data->m_dynamicsWorld,useMultiBody,u2b.getPathPrefix(),CUF_USE_SDF);
-
-
-
-            mb = creation.getBulletMultiBody();
-            rb = creation.getRigidBody();
-			if (rb)
-				rb->setUserIndex2(bodyUniqueId);
-
-			if (mb)
-				mb->setUserIndex2(bodyUniqueId);
-
-			
-            if (mb)
-            {
-                bodyHandle->m_multiBody = mb;
-				
-
-				m_data->m_sdfRecentLoadedBodies.push_back(bodyUniqueId);
-
-				createJointMotors(mb);
-
-
-			    //disable serialization of the collision objects (they are too big, and the client likely doesn't need them);
-
-                bodyHandle->m_linkLocalInertialFrames.reserve(mb->getNumLinks());
-			    for (int i=0;i<mb->getNumLinks();i++)
-                {
-					//disable serialization of the collision objects
-
-				   int urdfLinkIndex = creation.m_mb2urdfLink[i];
-				   btScalar mass;
-                   btVector3 localInertiaDiagonal(0,0,0);
-                   btTransform localInertialFrame;
-				   u2b.getMassAndInertia(urdfLinkIndex, mass,localInertiaDiagonal,localInertialFrame);
-				   bodyHandle->m_linkLocalInertialFrames.push_back(localInertialFrame);
-
-				   std::string* linkName = new std::string(u2b.getLinkName(urdfLinkIndex).c_str());
-				   m_data->m_strings.push_back(linkName);
-
-				   mb->getLink(i).m_linkName = linkName->c_str();
-
-				   std::string* jointName = new std::string(u2b.getJointName(urdfLinkIndex).c_str());
-				   m_data->m_strings.push_back(jointName);
-
-				   mb->getLink(i).m_jointName = jointName->c_str();
-                }
-				std::string* baseName = new std::string(u2b.getLinkName(u2b.getRootLinkIndex()));
-				m_data->m_strings.push_back(baseName);
-				mb->setBaseName(baseName->c_str());
-			} else
-			{
-				b3Warning("No multibody loaded from URDF. Could add btRigidBody+btTypedConstraint solution later.");
-                bodyHandle->m_rigidBody = rb;
-			}
-
-        }
-		
-		m_data->m_saveWorldBodyData.push_back(sd);
-
-    }
+	bool forceFixedBase = false;
+	bool loadOk =u2b.loadSDF(fileName,forceFixedBase);
+	
+	if (loadOk)
+	{
+		processImportedObjects(fileName,bufferServerToClient,bufferSizeInBytes,useMultiBody,flags, u2b);
+	}
     return loadOk;
 }
 
@@ -1767,9 +1816,12 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
                         }
                         bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? sdfArgs.m_useMultiBody : true;
 
-                        bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody);
+						int flags = CUF_USE_SDF; //CUF_USE_URDF_INERTIA
+                        bool completedOk = loadSdf(sdfArgs.m_sdfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
                         if (completedOk)
                         {
+							m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
+
                             //serverStatusOut.m_type = CMD_SDF_LOADING_FAILED;
                             serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
                             int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
@@ -3812,8 +3864,33 @@ bool PhysicsServerCommandProcessor::processCommand(const struct SharedMemoryComm
 				{
 					SharedMemoryStatus& serverCmd = serverStatusOut;
 					serverCmd.m_type = CMD_MJCF_LOADING_FAILED;
-					hasStatus = true;
-					break;
+					  const MjcfArgs& mjcfArgs = clientCmd.m_mjcfArguments;
+                        if (m_data->m_verboseOutput)
+                        {
+                            b3Printf("Processed CMD_LOAD_MJCF:%s", mjcfArgs.m_mjcfFileName);
+                        }
+                        bool useMultiBody=(clientCmd.m_updateFlags & URDF_ARGS_USE_MULTIBODY) ? mjcfArgs.m_useMultiBody : true;
+						int flags = CUF_USE_MJCF;//CUF_USE_URDF_INERTIA
+                        bool completedOk = loadMjcf(mjcfArgs.m_mjcfFileName,bufferServerToClient, bufferSizeInBytes, useMultiBody, flags);
+                        if (completedOk)
+                        {
+							m_data->m_guiHelper->autogenerateGraphicsObjects(this->m_data->m_dynamicsWorld);
+
+                            serverStatusOut.m_sdfLoadedArgs.m_numBodies = m_data->m_sdfRecentLoadedBodies.size();
+                            int maxBodies = btMin(MAX_SDF_BODIES, serverStatusOut.m_sdfLoadedArgs.m_numBodies);
+                            for (int i=0;i<maxBodies;i++)
+                            {
+                                serverStatusOut.m_sdfLoadedArgs.m_bodyUniqueIds[i] = m_data->m_sdfRecentLoadedBodies[i];
+                            }
+
+                            serverStatusOut.m_type = CMD_MJCF_LOADING_COMPLETED;
+                        } else
+                        {
+                            serverStatusOut.m_type = CMD_MJCF_LOADING_FAILED;
+                        }
+						hasStatus = true;
+                        break;
+
 				}
 				
 				case CMD_USER_DEBUG_DRAW:
@@ -4376,7 +4453,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 
 #if 1
 		// Load one motor gripper for kuka
-		loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
+		loadSdf("gripper/wsg50_one_motor_gripper_new_free_base.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true,CUF_USE_SDF);
 		m_data->m_gripperId = bodyId + 1;
 		{
 		InteralBodyData* gripperBody = m_data->getHandle(m_data->m_gripperId);
@@ -4503,7 +4580,7 @@ void PhysicsServerCommandProcessor::createDefaultRobotAssets()
 		//loadUrdf("Apple/apple.urdf", objectWorldTr[8].getOrigin(), objectWorldTr[8].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 
 		// Shelf area
-		loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true);
+		loadSdf("kiva_shelf/model.sdf", &gBufferServerToClient[0], gBufferServerToClient.size(), true, CUF_USE_SDF);
 		loadUrdf("teddy_vhacd.urdf", btVector3(-0.1, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());			
 		loadUrdf("sphere_small.urdf", btVector3(-0.1, 0.6, 1.25), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
 		loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
diff --git a/examples/SharedMemory/PhysicsServerCommandProcessor.h b/examples/SharedMemory/PhysicsServerCommandProcessor.h
index c4fd8e7a3..66dc230f9 100644
--- a/examples/SharedMemory/PhysicsServerCommandProcessor.h
+++ b/examples/SharedMemory/PhysicsServerCommandProcessor.h
@@ -30,11 +30,15 @@ protected:
 
 
 
-	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody);
+	bool loadSdf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
 
 	bool loadUrdf(const char* fileName, const class btVector3& pos, const class btQuaternion& orn,
 		bool useMultiBody, bool useFixedBase, int* bodyUniqueIdPtr, char* bufferServerToClient, int bufferSizeInBytes);
 
+	bool loadMjcf(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags);
+
+	bool processImportedObjects(const char* fileName, char* bufferServerToClient, int bufferSizeInBytes, bool useMultiBody, int flags, class URDFImporterInterface& u2b);
+
 	bool	supportsJointMotor(class btMultiBody* body, int linkIndex);
 
 	int createBodyInfoStream(int bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes);
diff --git a/examples/SharedMemory/SharedMemoryCommands.h b/examples/SharedMemory/SharedMemoryCommands.h
index acab7d351..4efee8023 100644
--- a/examples/SharedMemory/SharedMemoryCommands.h
+++ b/examples/SharedMemory/SharedMemoryCommands.h
@@ -91,6 +91,11 @@ struct UrdfArgs
 	int m_useFixedBase;
 };
 
+struct MjcfArgs
+{
+	char m_mjcfFileName[MAX_URDF_FILENAME_LENGTH];
+	int m_useMultiBody;
+};
 
 struct BulletDataStreamArgs
 {
@@ -604,6 +609,7 @@ struct SharedMemoryCommand
     {
         struct UrdfArgs m_urdfArguments;
 		struct SdfArgs m_sdfArguments;
+		struct MjcfArgs	m_mjcfArguments;
 		struct FileArgs m_fileArguments;
 		struct SdfRequestInfoArgs m_sdfRequestInfoArgs;
 		struct InitPoseArgs m_initPoseArgs;
diff --git a/examples/SharedMemory/premake4.lua b/examples/SharedMemory/premake4.lua
index a17afb1f8..e851dbc99 100644
--- a/examples/SharedMemory/premake4.lua
+++ b/examples/SharedMemory/premake4.lua
@@ -73,6 +73,8 @@ myfiles =
 	"../Importers/ImportURDFDemo/UrdfParser.h",
 	"../Importers/ImportURDFDemo/URDF2Bullet.cpp",
 	"../Importers/ImportURDFDemo/URDF2Bullet.h",
+	"../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+	"../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
 	"../Utils/b3ResourcePath.cpp",
 	"../Utils/b3Clock.cpp",	
 	"../../Extras/Serialize/BulletWorldImporter/*",
diff --git a/examples/SharedMemory/udp/premake4.lua b/examples/SharedMemory/udp/premake4.lua
index 531b098bf..8517cf51c 100644
--- a/examples/SharedMemory/udp/premake4.lua
+++ b/examples/SharedMemory/udp/premake4.lua
@@ -90,6 +90,8 @@ myfiles =
 	"../../Importers/ImportURDFDemo/MultiBodyCreationInterface.h",
 	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 	"../../Importers/ImportURDFDemo/MyMultiBodyCreator.h",
+	"../../Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
+	"../../Importers/ImportMJCFDemo/BulletMJCFImporter.h",
 	"../../Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 	"../../Importers/ImportURDFDemo/BulletUrdfImporter.h",
 	"../../Importers/ImportURDFDemo/UrdfParser.cpp",
diff --git a/examples/pybullet/CMakeLists.txt b/examples/pybullet/CMakeLists.txt
index 85de30a69..0a10c0677 100644
--- a/examples/pybullet/CMakeLists.txt
+++ b/examples/pybullet/CMakeLists.txt
@@ -64,6 +64,7 @@ SET(pybullet_SRCS
 		../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
 		../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
 		../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+		../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
 		../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
 		../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
 		../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
diff --git a/examples/pybullet/premake4.lua b/examples/pybullet/premake4.lua
index 86ed39611..05196cda1 100644
--- a/examples/pybullet/premake4.lua
+++ b/examples/pybullet/premake4.lua
@@ -109,6 +109,7 @@ if not _OPTIONS["no-enet"] then
 			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index 35ce25d60..da4cf300b 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -495,7 +495,10 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 	int statusType;
 	b3SharedMemoryCommandHandle command;
 	b3PhysicsClientHandle sm = 0;
-
+	int numBodies = 0;
+	int i;
+	int bodyIndicesOut[MAX_SDF_BODIES];
+	PyObject* pylist = 0;
 	int physicsClientId = 0;
 	static char *kwlist[] = { "mjcfFileName","physicsClientId", NULL };
 	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist, &mjcfFileName,&physicsClientId))
@@ -518,8 +521,22 @@ static PyObject* pybullet_loadMJCF(PyObject* self, PyObject* args, PyObject* key
 		PyErr_SetString(SpamError, "Couldn't load .mjcf file.");
 		return NULL;
 	}
-	Py_INCREF(Py_None);
-	return Py_None;
+
+	  numBodies =
+      b3GetStatusBodyIndices(statusHandle, bodyIndicesOut, MAX_SDF_BODIES);
+  if (numBodies > MAX_SDF_BODIES) {
+    PyErr_SetString(SpamError, "SDF exceeds body capacity");
+    return NULL;
+  }
+
+  pylist = PyTuple_New(numBodies);
+
+  if (numBodies > 0 && numBodies <= MAX_SDF_BODIES) {
+    for (i = 0; i < numBodies; i++) {
+      PyTuple_SetItem(pylist, i, PyInt_FromLong(bodyIndicesOut[i]));
+    }
+  }
+  return pylist;
 }
 
 static PyObject* pybullet_setPhysicsEngineParameter(PyObject* self, PyObject* args, PyObject *keywds)
diff --git a/test/SharedMemory/CMakeLists.txt b/test/SharedMemory/CMakeLists.txt
index 52297594c..84f99dfd6 100644
--- a/test/SharedMemory/CMakeLists.txt
+++ b/test/SharedMemory/CMakeLists.txt
@@ -74,6 +74,7 @@ ENDIF()
                         ../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
                         ../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
                         ../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
+                        ../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
                         ../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
                         ../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
                         ../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
diff --git a/test/SharedMemory/premake4.lua b/test/SharedMemory/premake4.lua
index ca48cfea0..644aaa813 100644
--- a/test/SharedMemory/premake4.lua
+++ b/test/SharedMemory/premake4.lua
@@ -93,6 +93,7 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
@@ -166,6 +167,7 @@ project ("Test_PhysicsServerLoopBack")
 			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",
@@ -266,6 +268,7 @@ project ("Test_PhysicsServerInProcessExampleBrowser")
 			"../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp",
 			"../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp",
 			"../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp",
+			"../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp",
 			"../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp",
 			"../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp",