diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
index b31e33a1c..3822d4bb3 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
@@ -599,10 +599,11 @@ void ConvertURDF2BulletInternal(
 
                 if (mbLinkIndex>=0) //???? double-check +/- 1
                 {
+					
                     cache.m_bulletMultiBody->getLink(mbLinkIndex).m_collider=col;
-					if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_PARENT)
+					if (flags&CUF_USE_SELF_COLLISION_INCLUDE_PARENT)
 					{
-						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags |= BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
+						cache.m_bulletMultiBody->getLink(mbLinkIndex).m_flags &= ~BT_MULTIBODYLINKFLAGS_DISABLE_PARENT_COLLISION;
 					}
 					if (flags&CUF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
 					{
diff --git a/examples/Importers/ImportURDFDemo/URDF2Bullet.h b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
index 87fd698b9..2871badd8 100644
--- a/examples/Importers/ImportURDFDemo/URDF2Bullet.h
+++ b/examples/Importers/ImportURDFDemo/URDF2Bullet.h
@@ -31,6 +31,7 @@ enum ConvertURDFFlags {
   CUF_ENABLE_CACHED_GRAPHICS_SHAPES = 1024,
   CUF_ENABLE_SLEEPING=2048,
   CUF_INITIALIZE_SAT_FEATURES=4096,
+  CUF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 };
 
 struct UrdfVisualShapeCache
diff --git a/examples/SharedMemory/SharedMemoryPublic.h b/examples/SharedMemory/SharedMemoryPublic.h
index 7129363f7..f9a7dd2cf 100644
--- a/examples/SharedMemory/SharedMemoryPublic.h
+++ b/examples/SharedMemory/SharedMemoryPublic.h
@@ -830,6 +830,7 @@ enum eURDF_Flags
 	URDF_ENABLE_CACHED_GRAPHICS_SHAPES=1024,
     URDF_ENABLE_SLEEPING=2048,
 	URDF_INITIALIZE_SAT_FEATURES = 4096,
+	URDF_USE_SELF_COLLISION_INCLUDE_PARENT = 8192,
 };
 
 enum eUrdfGeomTypes //sync with UrdfParser UrdfGeomTypes
diff --git a/examples/pybullet/pybullet.c b/examples/pybullet/pybullet.c
index a5b28c35e..2d5c9426e 100644
--- a/examples/pybullet/pybullet.c
+++ b/examples/pybullet/pybullet.c
@@ -9760,6 +9760,8 @@ initpybullet(void)
 
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION", URDF_USE_SELF_COLLISION);
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_PARENT", URDF_USE_SELF_COLLISION_EXCLUDE_PARENT);
+	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_INCLUDE_PARENT", URDF_USE_SELF_COLLISION_INCLUDE_PARENT);
+	
 	PyModule_AddIntConstant(m, "URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS", URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS);
 
 	PyModule_AddIntConstant(m, "VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS", eVISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS);