diff --git a/examples/pybullet/gym/pybullet_data/plane100.urdf b/examples/pybullet/gym/pybullet_data/plane100.urdf
index f83006900..a6c827a1d 100644
--- a/examples/pybullet/gym/pybullet_data/plane100.urdf
+++ b/examples/pybullet/gym/pybullet_data/plane100.urdf
@@ -1,6 +1,6 @@
 <?xml version="0.0" ?>
-<robot name="cube.urdf">
-  <link name="baseLink">
+<robot name="floor">
+  <link name="floor">
     <inertial>
       <origin rpy="0 0 0" xyz="0 0 0"/>
        <mass value=".0"/>
diff --git a/examples/pybullet/gym/pybullet_envs/scene_stadium.py b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
index d592e9116..2b30ec48b 100644
--- a/examples/pybullet/gym/pybullet_envs/scene_stadium.py
+++ b/examples/pybullet/gym/pybullet_envs/scene_stadium.py
@@ -24,15 +24,18 @@ class StadiumScene(Scene):
 			# stadium_pose = cpp_household.Pose()
 			# if self.zero_at_running_strip_start_line:
 			#	 stadium_pose.set_xyz(27, 21, 0)  # see RUN_STARTLINE, RUN_RAD constants
-			filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
-			self.ground_plane_mjcf = p.loadSDF(filename)
 			
+			filename = os.path.join(pybullet_data.getDataPath(),"plane_stadium.sdf")
+			self.ground_plane_mjcf=p.loadSDF(filename)
+			#filename = os.path.join(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
+			#self.ground_plane_mjcf = p.loadSDF(filename)
+			#	
 			for i in self.ground_plane_mjcf:
 				p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
-				for j in range(p.getNumJoints(i)):
-					p.changeDynamics(i,j,lateralFriction=0)
+			#	for j in range(p.getNumJoints(i)):
+			#		p.changeDynamics(i,j,lateralFriction=0)
 			#despite the name (stadium_no_collision), it DID have collision, so don't add duplicate ground
-		
+	
 class SinglePlayerStadiumScene(StadiumScene):
 	"This scene created by environment, to work in a way as if there was no concept of scene visible to user."
 	multiplayer = False
diff --git a/setup.py b/setup.py
index e31557fda..4f1419039 100644
--- a/setup.py
+++ b/setup.py
@@ -219,6 +219,8 @@ sources = ["examples/pybullet/pybullet.c"]\
 +["src/BulletCollision/CollisionShapes/btTriangleMeshShape.cpp"]\
 +["src/BulletCollision/CollisionShapes/btConvexPointCloudShape.cpp"]\
 +["src/BulletCollision/CollisionShapes/btScaledBvhTriangleMeshShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btSdfCollisionShape.cpp"]\
++["src/BulletCollision/CollisionShapes/btMiniSDF.cpp"]\
 +["src/BulletCollision/CollisionShapes/btUniformScalingShape.cpp"]\
 +["src/BulletCollision/Gimpact/btContactProcessing.cpp"]\
 +["src/BulletCollision/Gimpact/btGImpactQuantizedBvh.cpp"]\