diff --git a/examples/pybullet/gym/pybullet_data/plane_stadium.sdf b/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
new file mode 100644
index 000000000..8d7152860
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/plane_stadium.sdf
@@ -0,0 +1,44 @@
+<sdf version='1.6'>
+	<world name='default'>
+	<gravity>0 0 -9.8</gravity>
+		<model name='floor_obj'>
+			<static>1</static>
+			<pose frame=''>0 0 0 0 0 0</pose>
+			<link name='floor'>
+			<inertial>
+			<mass>0</mass>
+			<inertia>
+			<ixx>0.166667</ixx>
+			<ixy>0</ixy>
+			<ixz>0</ixz>
+			<iyy>0.166667</iyy>
+			<iyz>0</iyz>
+			<izz>0.166667</izz>
+			</inertia>
+			</inertial>
+			<collision name='collision_1'>
+			<geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+			  </collision>
+			<visual name='visual'>
+				<geometry>
+				<mesh>
+					<scale>1 1 1</scale>
+					<uri>plane100.obj</uri>
+				</mesh>
+				</geometry>
+			<material>
+				<ambient>1 1 1 1</ambient>
+				<diffuse>1 1 1 1</diffuse>
+				<specular>.5 .5 .5 1</specular>
+				<emissive>0 0 0 0</emissive>
+			 </material>
+			 </visual>
+			 </link>
+			</model>
+	</world>
+</sdf>
diff --git a/setup.py b/setup.py
index 4f1419039..1f3da854b 100644
--- a/setup.py
+++ b/setup.py
@@ -453,7 +453,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.9.3',
+	version='1.9.4',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',