diff --git a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
index 754287426..dcdcc5aa5 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
@@ -48,13 +48,13 @@ class MinitaurBulletEnv(gym.Env):
                observation_noise_stdev=0.0,
                self_collision_enabled=True,
                motor_velocity_limit=np.inf,
-               pd_control_enabled=False,
+               pd_control_enabled=False,#not needed to be true if accurate motor model is enabled (has its own better PD)
                leg_model_enabled=True,
-               accurate_motor_model_enabled=False,
+               accurate_motor_model_enabled=True,
                motor_kp=1.0,
                motor_kd=0.02,
                torque_control_enabled=False,
-               motor_overheat_protection=False,
+               motor_overheat_protection=True,
                hard_reset=True,
                on_rack=False,
                render=False,