diff --git a/examples/pybullet/gym/pybullet_envs/env_bases.py b/examples/pybullet/gym/pybullet_envs/env_bases.py
index 8b16cd7be..ec12d8c65 100644
--- a/examples/pybullet/gym/pybullet_envs/env_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/env_bases.py
@@ -44,7 +44,7 @@ class MJCFBaseBulletEnv(gym.Env):
 			else:
 				self.physicsClientId = p.connect(p.DIRECT)
 		p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
-  
+
 		if self.scene is None:
 			self.scene = self.create_single_player_scene()
 		if not self.scene.multiplayer:
diff --git a/examples/pybullet/gym/pybullet_envs/robot_pendula.py b/examples/pybullet/gym/pybullet_envs/robot_pendula.py
index 1c6b14b05..0c82fea43 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_pendula.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_pendula.py
@@ -3,7 +3,6 @@ import numpy as np
 
 class InvertedPendulum(MJCFBasedRobot):
 	swingup = False
-	force_gain = 12 # TODO: Try to find out why we need to scale the force
 	def __init__(self):
 		MJCFBasedRobot.__init__(self, 'inverted_pendulum.xml', 'cart', action_dim=1, obs_dim=5)
 
@@ -16,16 +15,16 @@ class InvertedPendulum(MJCFBasedRobot):
 		self.j1.set_motor_torque(0)
 
 	def apply_action(self, a):
-		#assert( np.isfinite(a).all() )
+		assert( np.isfinite(a).all() )
 		if not np.isfinite(a).all():
 			print("a is inf")
 			a[0] = 0
-		self.slider.set_motor_torque( self.force_gain * 100*float(np.clip(a[0], -1, +1)) )
+		self.slider.set_motor_torque( 100*float(np.clip(a[0], -1, +1)) )
 
 	def calc_state(self):
 		self.theta, theta_dot = self.j1.current_position()
 		x, vx = self.slider.current_position()
-		#assert( np.isfinite(x) )
+		assert( np.isfinite(x) )
 
 		if not np.isfinite(x):
 			print("x is inf")
@@ -50,7 +49,6 @@ class InvertedPendulum(MJCFBasedRobot):
 
 class InvertedPendulumSwingup(InvertedPendulum):
 	swingup = True
-	force_gain = 2.2  # TODO: Try to find out why we need to scale the force
 
 
 class InvertedDoublePendulum(MJCFBasedRobot):
@@ -70,8 +68,7 @@ class InvertedDoublePendulum(MJCFBasedRobot):
 
 	def apply_action(self, a):
 		assert( np.isfinite(a).all() )
-		force_gain = 0.78  # TODO: Try to find out why we need to scale the force
-		self.slider.set_motor_torque( force_gain *200*float(np.clip(a[0], -1, +1)) )
+		self.slider.set_motor_torque( 200*float(np.clip(a[0], -1, +1)) )
 
 	def calc_state(self):
 		theta, theta_dot = self.j1.current_position()
diff --git a/examples/pybullet/gym/pybullet_envs/scene_abstract.py b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
index 11ae8d489..51fd81f77 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
@@ -15,10 +15,6 @@ class Scene:
 
         self.dt = self.timestep * self.frame_skip
         self.cpp_world = World(gravity, timestep, frame_skip)
-        #self.cpp_world.set_glsl_path(os.path.join(os.path.dirname(__file__), "cpp-household/glsl"))
-
-        #self.big_caption = self.cpp_world.test_window_big_caption  # that's a function you can call
-        #self.console_print = self.cpp_world.test_window_print      # this too
 
         self.test_window_still_open = True  # or never opened
         self.human_render_detected = False  # if user wants render("human"), we open test window
@@ -52,8 +48,6 @@ class Scene:
         The idea is: apply motor torques for all robots, then call global_step(), then collect
         observations from robots using step() with the same action.
         """
-        #if self.human_render_detected:
-        #    self.test_window_still_open = self.cpp_world.test_window()
         self.cpp_world.step(self.frame_skip)
 
 class SingleRobotEmptyScene(Scene):