diff --git a/examples/pybullet/gym/pybullet_envs/agents/__init__.py b/examples/pybullet/gym/pybullet_envs/agents/__init__.py
index 9e2c9f092..c29ce33fe 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/agents/__init__.py
@@ -20,4 +20,4 @@ from __future__ import print_function
 
 from . import train_ppo
 from . import utility
-from . import visualize
+from . import visualize_ppo
diff --git a/examples/pybullet/gym/pybullet_envs/agents/configs.py b/examples/pybullet/gym/pybullet_envs/agents/configs.py
index d613c29cb..a16fb1a62 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/configs.py
+++ b/examples/pybullet/gym/pybullet_envs/agents/configs.py
@@ -119,6 +119,15 @@ def pybullet_racecar():
   return locals()
 
 
+def pybullet_humanoid():
+  locals().update(default())
+  randomizer = (minitaur_env_randomizer.MinitaurEnvRandomizer())
+  env = 'HumanoidBulletEnv-v0'
+  max_length = 1000
+  steps = 3e7  # 30M
+  return locals()
+
+
 def pybullet_minitaur():
   """Configuration specific to minitaur_gym_env.MinitaurBulletEnv class."""
   locals().update(default())
diff --git a/setup.py b/setup.py
index ae8e595b3..a3ad02b43 100644
--- a/setup.py
+++ b/setup.py
@@ -441,7 +441,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.6.8',
+	version='1.6.9',
 	description='Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
 	long_description='pybullet is an easy to use Python module for physics simulation, robotics and deep reinforcement learning based on the Bullet Physics SDK. With pybullet you can load articulated bodies from URDF, SDF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics and collision detection and ray intersection queries. Aside from physics simulation, pybullet supports to rendering, with a CPU renderer and OpenGL visualization and support for virtual reality headsets.',
 	url='https://github.com/bulletphysics/bullet3',