diff --git a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
index 682266d85..8b1735fb1 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/__init__.py
@@ -1,3 +1,4 @@
+from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv
 from pybullet_envs.bullet.minitaur_gym_env import MinitaurBulletEnv
 from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
 from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py b/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py
new file mode 100644
index 000000000..e28a9e962
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py
@@ -0,0 +1,101 @@
+"""
+Classic cart-pole system implemented by Rich Sutton et al.
+Copied from https://webdocs.cs.ualberta.ca/~sutton/book/code/pole.c
+"""
+import os,  inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
+import logging
+import math
+import gym
+from gym import spaces
+from gym.utils import seeding
+import numpy as np
+import time
+import subprocess
+import pybullet as p
+import pybullet_data
+
+
+logger = logging.getLogger(__name__)
+
+class CartPoleBulletEnv(gym.Env):
+  metadata = {
+    'render.modes': ['human', 'rgb_array'],
+    'video.frames_per_second' : 50
+  }
+
+  def __init__(self, renders=True):
+    # start the bullet physics server
+    self._renders = renders
+    if (renders):
+	    p.connect(p.GUI)
+    else:
+    	p.connect(p.DIRECT)
+
+    observation_high = np.array([
+          np.finfo(np.float32).max,
+          np.finfo(np.float32).max,
+          np.finfo(np.float32).max,
+          np.finfo(np.float32).max])
+    action_high = np.array([0.1])
+
+    self.action_space = spaces.Discrete(9)
+    self.observation_space = spaces.Box(-observation_high, observation_high)
+
+    self.theta_threshold_radians = 1
+    self.x_threshold = 2.4
+    self._seed()
+#    self.reset()
+    self.viewer = None
+    self._configure()
+
+  def _configure(self, display=None):
+    self.display = display
+
+  def _seed(self, seed=None):
+    self.np_random, seed = seeding.np_random(seed)
+    return [seed]
+
+  def _step(self, action):
+    p.stepSimulation()
+#    time.sleep(self.timeStep)
+    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
+    theta, theta_dot, x, x_dot = self.state
+    
+    dv = 0.1
+    deltav = [-10.*dv,-5.*dv, -2.*dv, -0.1*dv, 0, 0.1*dv, 2.*dv,5.*dv, 10.*dv][action]
+    
+    p.setJointMotorControl2(self.cartpole, 0, p.VELOCITY_CONTROL, targetVelocity=(deltav + self.state[3]))
+
+    done =  x < -self.x_threshold \
+                or x > self.x_threshold \
+                or theta < -self.theta_threshold_radians \
+                or theta > self.theta_threshold_radians
+    reward = 1.0
+
+    return np.array(self.state), reward, done, {}
+
+  def _reset(self):
+#    print("-----------reset simulation---------------")
+    p.resetSimulation()
+    self.cartpole = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cartpole.urdf"),[0,0,0])
+    self.timeStep = 0.01
+    p.setJointMotorControl2(self.cartpole, 1, p.VELOCITY_CONTROL, force=0)
+    p.setGravity(0,0, -10)
+    p.setTimeStep(self.timeStep)
+    p.setRealTimeSimulation(0)
+
+    initialCartPos = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
+    initialAngle = self.np_random.uniform(low=-0.5, high=0.5, size=(1,))
+    p.resetJointState(self.cartpole, 1, initialAngle)
+    p.resetJointState(self.cartpole, 0, initialCartPos)
+
+    self.state = p.getJointState(self.cartpole, 1)[0:2] + p.getJointState(self.cartpole, 0)[0:2]
+
+    return np.array(self.state)
+
+  def _render(self, mode='human', close=False):
+      return