diff --git a/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py b/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
index f71bf9283..c90e13200 100644
--- a/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
+++ b/examples/pybullet/gym/pybullet_envs/gym_pendulum_envs.py
@@ -18,7 +18,7 @@ class InvertedPendulumBulletEnv(MJCFBaseBulletEnv):
 	def _reset(self):
 		if (self.stateId>=0):
 			#print("InvertedPendulumBulletEnv reset p.restoreState(",self.stateId,")")
-			p.restoreState(self.stateId)
+			self._p.restoreState(self.stateId)
 		r = MJCFBaseBulletEnv._reset(self)
 		if (self.stateId<0):
 			self.stateId = self._p.saveState()
@@ -59,7 +59,7 @@ class InvertedDoublePendulumBulletEnv(MJCFBaseBulletEnv):
 
 	def _reset(self):
 		if (self.stateId>=0):
-			p.restoreState(self.stateId)
+			self._p.restoreState(self.stateId)
 		r = MJCFBaseBulletEnv._reset(self)
 		if (self.stateId<0):
 			self.stateId = self._p.saveState()
diff --git a/examples/pybullet/gym/pybullet_envs/scene_abstract.py b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
index cc74839c8..b50dd524b 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_abstract.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_abstract.py
@@ -39,7 +39,7 @@ class Scene:
         """
         return not self.multiplayer
 
-    def episode_restart(self):
+    def episode_restart(self, bullet_client):
         "This function gets overridden by specific scene, to reset specific objects into their start positions"
         self.cpp_world.clean_everything()
         #self.cpp_world.test_window_history_reset()
diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
index 8aef2552c..c105983db 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
@@ -17,7 +17,7 @@ class StadiumScene(Scene):
 	
 	def episode_restart(self, bullet_client):
 		self._p = bullet_client
-		Scene.episode_restart(self)   # contains cpp_world.clean_everything()
+		Scene.episode_restart(self, bullet_client)   # contains cpp_world.clean_everything()
 		if (self.stadiumLoaded==0):
 			self.stadiumLoaded=1