diff --git a/examples/pybullet/gym/pybullet_envs/robot_bases.py b/examples/pybullet/gym/pybullet_envs/robot_bases.py
index 1e14cd6db..989d22a54 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_bases.py
@@ -103,7 +103,7 @@ class MJCFBasedRobot(XmlBasedRobot):
 	Base class for mujoco .xml based agents.
 	"""
 
-	def __init__(self, model_xml, robot_name, action_dim, obs_dim, self_collision=False):
+	def __init__(self, model_xml, robot_name, action_dim, obs_dim, self_collision=True):
 		XmlBasedRobot.__init__(self, robot_name, action_dim, obs_dim, self_collision)
 		self.model_xml = model_xml
 		self.doneLoading=0
@@ -114,12 +114,9 @@ class MJCFBasedRobot(XmlBasedRobot):
 			self.ordered_joints = []
 			self.doneLoading=1
 			if self.self_collision:
-				print("self_collision enabled loadMJCF")
-				#self.objects = 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)
-				self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml))
+				self.objects = 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)
 				self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.objects	)
 			else:
-				print("no self_collision enabled loadMJCF")
 				self.objects = p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml))
 				self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(self.objects)
 		self.robot_specific_reset()
diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
index f05a48943..c68e628a6 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
@@ -28,7 +28,7 @@ class StadiumScene(Scene):
 			self.stadium = p.loadSDF(filename)
 			planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
 			
-			self.ground_plane_mjcf = p.loadMJCF(planeName)
+			self.ground_plane_mjcf = p.loadMJCF(planeName,  flags=p.URDF_USE_SELF_COLLISION|p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
 			for i in self.ground_plane_mjcf:
 				p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])