diff --git a/examples/pybullet/gym/pybullet_envs/robot_bases.py b/examples/pybullet/gym/pybullet_envs/robot_bases.py
index 165ba8a09..e3b626adf 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_bases.py
@@ -53,6 +53,7 @@ class MJCFBasedRobot:
 				part_name = part_name.decode("utf8")
 				parts[part_name] = BodyPart(part_name, bodies, i, -1)
 			for j in range(p.getNumJoints(bodies[i])):
+				p.setJointMotorControl2(bodies[i],j,p.POSITION_CONTROL,positionGain=0.1,velocityGain=0.1,force=0)
 				_,joint_name,_,_,_,_,_,_,_,_,_,_,part_name = p.getJointInfo(bodies[i], j)
 
 				joint_name = joint_name.decode("utf8")
@@ -209,4 +210,4 @@ class Joint:
 		self.disable_motor()
 
 	def disable_motor(self):
-		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.VELOCITY_CONTROL, force=0)
+		p.setJointMotorControl2(self.bodies[self.bodyIndex],self.jointIndex,controlMode=p.POSITION_CONTROL, targetPosition=0, targetVelocity=0, positionGain=0.1, velocityGain=0.1, force=0)
diff --git a/examples/pybullet/gym/pybullet_envs/robot_pendula.py b/examples/pybullet/gym/pybullet_envs/robot_pendula.py
index 1c6b14b05..47dd5e88b 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)
 
@@ -20,7 +19,7 @@ class InvertedPendulum(MJCFBasedRobot):
 		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()
@@ -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()
@@ -84,4 +81,4 @@ class InvertedDoublePendulum(MJCFBasedRobot):
 			self.pos_x,
 			np.cos(theta), np.sin(theta), theta_dot,
 			np.cos(gamma), np.sin(gamma), gamma_dot,
-			])
\ No newline at end of file
+			])