diff --git a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
index d13290449..bc75f7bfd 100644
--- a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
+++ b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
@@ -15,7 +15,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
 		self.walk_target_y = 0
 
 	def create_single_player_scene(self):
-		self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165/4, frame_skip=4)
+		self.stadium_scene = SinglePlayerStadiumScene(gravity=9.8, timestep=0.0165, frame_skip=4)
 		return self.stadium_scene
 
 	def _reset(self):
diff --git a/examples/pybullet/gym/pybullet_envs/robot_bases.py b/examples/pybullet/gym/pybullet_envs/robot_bases.py
index 573bfbd89..165ba8a09 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_bases.py
@@ -13,7 +13,7 @@ class MJCFBasedRobot:
 	Base class for mujoco .xml based agents.
 	"""
 
-	self_collision = False
+	self_collision = True
 
 	def __init__(self, model_xml, robot_name, action_dim, obs_dim):
 		self.parts = None
@@ -87,7 +87,7 @@ class MJCFBasedRobot:
 
 		if self.self_collision:
 			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
-				p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
+				p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION+p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
 		else:
 			self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
 				p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml)))
diff --git a/examples/pybullet/gym/pybullet_envs/robot_locomotors.py b/examples/pybullet/gym/pybullet_envs/robot_locomotors.py
index 51149080b..772dee5c6 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_locomotors.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_locomotors.py
@@ -114,7 +114,7 @@ class Ant(WalkerBase):
 	foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
 
 	def __init__(self):
-		WalkerBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=10.5)
+		WalkerBase.__init__(self, "ant.xml", "torso", action_dim=8, obs_dim=28, power=2.5)
 
 	def alive_bonus(self, z, pitch):
 		return +1 if z > 0.26 else -1  # 0.25 is central sphere rad, die if it scrapes the ground
diff --git a/examples/pybullet/gym/pybullet_envs/scene_abstract.py b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
index 663401458..152427a25 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
@@ -68,7 +68,8 @@ class World:
 	def clean_everything(self):
 		p.resetSimulation()
 		p.setGravity(0, 0, -self.gravity)
-		p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=2)
+		p.setDefaultContactERP(0.9)
+		p.setPhysicsEngineParameter(fixedTimeStep=self.timestep, numSolverIterations=5, numSubSteps=4)
 
 	def step(self, frame_skip):
 		p.stepSimulation()
diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
index 64f64e30d..023e6b13f 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
@@ -19,8 +19,7 @@ class StadiumScene(Scene):
 		# stadium_pose = cpp_household.Pose()
 		# if self.zero_at_running_strip_start_line:
 		#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
-		filename = os.path.join(pybullet_data.getDataPath(),"stadium.sdf")
-		print(filename)		
+		filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
 		self.stadium = p.loadSDF(filename)
 		planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")