diff --git a/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py b/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
index a4fc7ca0e..c1e39745d 100644
--- a/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
+++ b/examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
@@ -14,7 +14,7 @@ p.setAdditionalSearchPath(pd.getDataPath())
 objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
 
 for o in objs:
-	print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
+	#print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
 	humanoid = objs[o]
 	ed0 = ed.UrdfEditor()
 	ed0.initializeFromBulletBody(humanoid, p._client)
diff --git a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
index 936130753..803f6e067 100644
--- a/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
+++ b/src/BulletCollision/NarrowPhaseCollision/btGjkPairDetector.cpp
@@ -36,9 +36,6 @@ btScalar gGjkEpaPenetrationTolerance = 1.0e-12;
 btScalar gGjkEpaPenetrationTolerance = 0.001;
 #endif
 
-//temp globals, to improve GJK/EPA/penetration calculations
-int gNumDeepPenetrationChecks = 0;
-int gNumGjkChecks = 0;
 
 btGjkPairDetector::btGjkPairDetector(const btConvexShape *objectA, const btConvexShape *objectB, btSimplexSolverInterface *simplexSolver, btConvexPenetrationDepthSolver *penetrationDepthSolver)
 	: m_cachedSeparatingAxis(btScalar(0.), btScalar(1.), btScalar(0.)),
@@ -708,7 +705,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
 	btScalar marginA = m_marginA;
 	btScalar marginB = m_marginB;
 
-	gNumGjkChecks++;
 
 	//for CCD we don't use margins
 	if (m_ignoreMargin)
@@ -1021,7 +1017,6 @@ void btGjkPairDetector::getClosestPointsNonVirtual(const ClosestPointInput &inpu
 				// Penetration depth case.
 				btVector3 tmpPointOnA, tmpPointOnB;
 
-				gNumDeepPenetrationChecks++;
 				m_cachedSeparatingAxis.setZero();
 
 				bool isValid2 = m_penetrationDepthSolver->calcPenDepth(