diff --git a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
index 891c3c291..b7ca1f3b7 100644
--- a/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
+++ b/examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
@@ -1741,6 +1741,11 @@ class btCompoundShape* BulletMJCFImporter::convertLinkCollisionShapes(int linkIn
 				}
 				break;
 			}
+			case URDF_GEOM_UNKNOWN:
+                        {
+				break;
+			}
+
 			} // switch geom
 
 			if (childShape)
diff --git a/examples/Importers/ImportURDFDemo/UrdfParser.h b/examples/Importers/ImportURDFDemo/UrdfParser.h
index 680fbc1ca..3cdde368b 100644
--- a/examples/Importers/ImportURDFDemo/UrdfParser.h
+++ b/examples/Importers/ImportURDFDemo/UrdfParser.h
@@ -50,9 +50,9 @@ enum UrdfGeomTypes
 	URDF_GEOM_BOX,
 	URDF_GEOM_CYLINDER,
 	URDF_GEOM_MESH,
-    URDF_GEOM_PLANE,
-	URDF_GEOM_CAPSULE//non-standard URDF?
-    
+	URDF_GEOM_PLANE,
+	URDF_GEOM_CAPSULE, //non-standard URDF?
+	URDF_GEOM_UNKNOWN, 
 };
 
 
@@ -83,6 +83,14 @@ struct UrdfGeometry
 
 	UrdfMaterial m_localMaterial;
 	bool m_hasLocalMaterial;
+
+	UrdfGeometry()
+	:m_type(URDF_GEOM_UNKNOWN),
+	m_hasFromTo(false),
+	m_hasLocalMaterial(false)
+	{
+	}
+
 };
 
 bool findExistingMeshFile(const std::string& urdf_path, std::string fn,