diff --git a/examples/pybullet/gym/envs/__init__.py b/examples/pybullet/gym/envs/__init__.py
index 29e0efed0..c328958d3 100644
--- a/examples/pybullet/gym/envs/__init__.py
+++ b/examples/pybullet/gym/envs/__init__.py
@@ -30,12 +30,12 @@ register(
     reward_threshold=5.0,
 )
 
-# register(
-#     id='HumanoidBulletEnv-v0',
-#     entry_point='envs.bullet:HumanoidGymEnv',
-#     timestep_limit=1000,
-#     reward_threshold=5.0,
-# )
+register(
+    id='SimpleHumanoidBulletEnv-v0',
+    entry_point='envs.bullet:SimpleHumanoidGymEnv',
+    timestep_limit=1000,
+    reward_threshold=5.0,
+)
 
 register(
     id='KukaBulletEnv-v0',
diff --git a/examples/pybullet/gym/envs/bullet/__init__.py b/examples/pybullet/gym/envs/bullet/__init__.py
index f86a691b1..394788f73 100644
--- a/examples/pybullet/gym/envs/bullet/__init__.py
+++ b/examples/pybullet/gym/envs/bullet/__init__.py
@@ -2,6 +2,6 @@ from envs.bullet.cartpole_bullet import CartPoleBulletEnv
 from envs.bullet.minitaur_bullet import MinitaurBulletEnv
 from envs.bullet.racecarGymEnv import RacecarGymEnv
 from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
-from envs.bullet.humanoidGymEnv import HumanoidGymEnv
+from envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
 from envs.bullet.kukaGymEnv import KukaGymEnv
 from envs.bullet.kukaCamGymEnv import KukaCamGymEnv
\ No newline at end of file
diff --git a/examples/pybullet/gym/envs/bullet/humanoid.py b/examples/pybullet/gym/envs/bullet/simpleHumanoid.py
similarity index 99%
rename from examples/pybullet/gym/envs/bullet/humanoid.py
rename to examples/pybullet/gym/envs/bullet/simpleHumanoid.py
index a883139b1..5cb69fd13 100644
--- a/examples/pybullet/gym/envs/bullet/humanoid.py
+++ b/examples/pybullet/gym/envs/bullet/simpleHumanoid.py
@@ -6,7 +6,7 @@ import time
 
 
 
-class Humanoid:
+class SimpleHumanoid:
 
   def __init__(self, urdfRootPath='', timeStep=0.01):
     self.urdfRootPath = urdfRootPath
diff --git a/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py b/examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py
similarity index 93%
rename from examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
rename to examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py
index f46a05ce0..7c9743124 100644
--- a/examples/pybullet/gym/envs/bullet/humanoidGymEnv.py
+++ b/examples/pybullet/gym/envs/bullet/simpleHumanoidGymEnv.py
@@ -5,10 +5,10 @@ from gym.utils import seeding
 import numpy as np
 import time
 import pybullet as p
-from . import humanoid
+from . import simpleHumanoid
 import random
 
-class HumanoidGymEnv(gym.Env):
+class SimpleHumanoidGymEnv(gym.Env):
   metadata = {
       'render.modes': ['human', 'rgb_array'],
       'video.frames_per_second' : 50
@@ -57,7 +57,7 @@ class HumanoidGymEnv(gym.Env):
     ballz = 1
         
     p.setGravity(0,0,-10)
-    self._humanoid = humanoid.Humanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
+    self._humanoid = simpleHumanoid.SimpleHumanoid(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
     self._envStepCounter = 0
     p.stepSimulation()
     self._observation = self.getExtendedObservation()
diff --git a/examples/pybullet/gym/humanoidGymEnvTest.py b/examples/pybullet/gym/simpleHumanoidGymEnvTest.py
similarity index 79%
rename from examples/pybullet/gym/humanoidGymEnvTest.py
rename to examples/pybullet/gym/simpleHumanoidGymEnvTest.py
index 72004b7b9..b86b65081 100644
--- a/examples/pybullet/gym/humanoidGymEnvTest.py
+++ b/examples/pybullet/gym/simpleHumanoidGymEnvTest.py
@@ -1,7 +1,7 @@
 
-from envs.bullet.humanoidGymEnv import HumanoidGymEnv
+from envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
 print ("hello")
-environment = HumanoidGymEnv(renders=True)
+environment = SimpleHumanoidGymEnv(renders=True)
 
 environment._p.setGravity(0,0,0)