diff --git a/examples/pybullet/gym/pybullet_envs/__init__.py b/examples/pybullet/gym/pybullet_envs/__init__.py
index 8f8211845..f263bc7cb 100644
--- a/examples/pybullet/gym/pybullet_envs/__init__.py
+++ b/examples/pybullet/gym/pybullet_envs/__init__.py
@@ -16,7 +16,6 @@ register(
     reward_threshold=5.0,
 )
 
-MinitaurBulletDuckEnv
 
 register(
     id='RacecarBulletEnv-v0',
diff --git a/examples/pybullet/gym/pybullet_envs/agents/configs.py b/examples/pybullet/gym/pybullet_envs/agents/configs.py
index 84d92ab1d..1444637c8 100644
--- a/examples/pybullet/gym/pybullet_envs/agents/configs.py
+++ b/examples/pybullet/gym/pybullet_envs/agents/configs.py
@@ -100,6 +100,16 @@ def pybullet_ant():
   steps = 5e7  # 50M
   return locals()
 
+def pybullet_kuka_grasping():
+  """Configuration for Bullet Kuka grasping task."""
+  locals().update(default())
+  # Environment
+  env = 'KukaBulletEnv-v0'
+  max_length = 10
+  steps = 1e7  # 10M
+  return locals()
+
+
 def pybullet_racecar():
   """Configuration for Bullet MIT Racecar task."""
   locals().update(default())
diff --git a/setup.py b/setup.py
index 04e3c4cae..c7109b85f 100644
--- a/setup.py
+++ b/setup.py
@@ -441,7 +441,7 @@ print("-----")
 
 setup(
 	name = 'pybullet',
-	version='1.5.8',
+	version='1.6.3',
 	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',