diff --git a/examples/pybullet/examples/humanoidMotionCapture.py b/examples/pybullet/examples/humanoidMotionCapture.py
index 3c7f8a7a6..f810f533e 100644
--- a/examples/pybullet/examples/humanoidMotionCapture.py
+++ b/examples/pybullet/examples/humanoidMotionCapture.py
@@ -84,32 +84,32 @@ p.addUserDebugText("Kinematic",
 p.addUserDebugText("Stable PD (Py)",
                    [startLocations[4][0], startLocations[4][1] + 1, startLocations[4][2]],
                    [0, 0, 0])
-
+flags=p.URDF_MAINTAIN_LINK_ORDER+p.URDF_USE_SELF_COLLISION
 humanoid = p.loadURDF("humanoid/humanoid.urdf",
                       startLocations[0],
                       globalScaling=0.25,
                       useFixedBase=False,
-                      flags=p.URDF_MAINTAIN_LINK_ORDER)
+                      flags=flags)
 humanoid2 = p.loadURDF("humanoid/humanoid.urdf",
                        startLocations[1],
                        globalScaling=0.25,
                        useFixedBase=False,
-                       flags=p.URDF_MAINTAIN_LINK_ORDER)
+                       flags=flags)
 humanoid3 = p.loadURDF("humanoid/humanoid.urdf",
                        startLocations[2],
                        globalScaling=0.25,
                        useFixedBase=False,
-                       flags=p.URDF_MAINTAIN_LINK_ORDER)
+                       flags=flags)
 humanoid4 = p.loadURDF("humanoid/humanoid.urdf",
                        startLocations[3],
                        globalScaling=0.25,
                        useFixedBase=False,
-                       flags=p.URDF_MAINTAIN_LINK_ORDER)
+                       flags=flags)
 humanoid5 = p.loadURDF("humanoid/humanoid.urdf",
                       startLocations[4],
                       globalScaling=0.25,
                       useFixedBase=False,
-                      flags=p.URDF_MAINTAIN_LINK_ORDER)
+                      flags=flags)
 
 humanoid_fix = p.createConstraint(humanoid, -1, -1, -1, p.JOINT_FIXED, [0, 0, 0], [0, 0, 0],
                                   startLocations[0], [0, 0, 0, 1])
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py
index 5a07d70a6..2e9f95c18 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/env/humanoid_stable_pd.py
@@ -25,12 +25,12 @@ class HumanoidStablePD(object):
     self._mocap_data = mocap_data
     self._arg_parser = arg_parser
     print("LOADING humanoid!")
-
+    flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER+self._pybullet_client.URDF_USE_SELF_COLLISION+self._pybullet_client.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
     self._sim_model = self._pybullet_client.loadURDF(
         "humanoid/humanoid.urdf", [0, 0.889540259, 0],
         globalScaling=0.25,
         useFixedBase=useFixedBase,
-        flags=self._pybullet_client.URDF_MAINTAIN_LINK_ORDER)
+        flags=flags)
 
     #self._pybullet_client.setCollisionFilterGroupMask(self._sim_model,-1,collisionFilterGroup=0,collisionFilterMask=0)
     #for j in range (self._pybullet_client.getNumJoints(self._sim_model)):
@@ -346,7 +346,6 @@ class HumanoidStablePD(object):
     #static char* kwlist[] = { "bodyUniqueId", 
     #"jointIndices", 
     #"controlMode", "targetPositions", "targetVelocities", "forces", "positionGains", "velocityGains", "maxVelocities", "physicsClientId", NULL };
-  
     self._pybullet_client.setJointMotorControlMultiDofArray(self._sim_model,
                                                            indices,
                                                            self._pybullet_client.STABLE_PD_CONTROL,
diff --git a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
index 9b9549359..bca52c161 100644
--- a/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
+++ b/examples/pybullet/gym/pybullet_envs/deep_mimic/testrl.py
@@ -37,6 +37,8 @@ def build_arg_parser(args):
   arg_parser.load_args(args)
 
   arg_file = arg_parser.parse_string('arg_file', '')
+  if arg_file == '':
+    arg_file = "run_humanoid3d_backflip_args.txt"
   if (arg_file != ''):
     path = pybullet_data.getDataPath() + "/args/" + arg_file
     succ = arg_parser.load_file(path)