diff --git a/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py b/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
index 6d4749eb9..0eda1fb2e 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/bullet_client.py
@@ -8,7 +8,9 @@ class BulletClient(object):
 
   def __init__(self, connection_mode=pybullet.DIRECT):
     """Create a simulation and connect to it."""
-    self._client = pybullet.connect(connection_mode)
+    self._client = pybullet.connect(pybullet.SHARED_MEMORY)
+    if(self._client<0):
+      self._client = pybullet.connect(connection_mode)
     self._shapes = {}
 
   def __del__(self):
diff --git a/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py b/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
index 56c9fb864..5928a7232 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py
@@ -37,7 +37,9 @@ class KukaGymEnv(gym.Env):
     self.terminated = 0
     self._p = p
     if self._renders:
-      p.connect(p.GUI)
+      cid = p.connect(p.SHARED_MEMORY)
+      if (cid<0):
+         cid = p.connect(p.GUI)
       p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
     else:
       p.connect(p.DIRECT)
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 0822255cb..d74906408 100644
--- a/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
+++ b/examples/pybullet/gym/pybullet_envs/bullet/minitaur_gym_env.py
@@ -166,6 +166,9 @@ class MinitaurBulletEnv(gym.Env):
   def set_env_randomizer(self, env_randomizer):
     self._env_randomizer = env_randomizer
 
+  def configure(self, args):
+    self._args = args
+
   def _reset(self):
     if self._hard_reset:
       self._pybullet_client.resetSimulation()
diff --git a/examples/pybullet/gym/pybullet_envs/env_bases.py b/examples/pybullet/gym/pybullet_envs/env_bases.py
index 1a8d5c7d6..5e2017e42 100644
--- a/examples/pybullet/gym/pybullet_envs/env_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/env_bases.py
@@ -39,13 +39,13 @@ class MJCFBaseBulletEnv(gym.Env):
 
 	def _reset(self):
 		if (self.physicsClientId<0):
-			if (self.isRender):
-				self.physicsClientId = p.connect(p.SHARED_MEMORY)
-				if (self.physicsClientId<0):
+			self.physicsClientId = p.connect(p.SHARED_MEMORY)
+			if (self.physicsClientId<0):
+				if (self.isRender):
 					self.physicsClientId = p.connect(p.GUI)
-			else:
-				self.physicsClientId = p.connect(p.DIRECT)
-		#p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
+				else:
+					self.physicsClientId = p.connect(p.DIRECT)
+		p.configureDebugVisualizer(p.COV_ENABLE_GUI,0)
   
 		if self.scene is None:
 			self.scene = self.create_single_player_scene()
diff --git a/setup.py b/setup.py
index 3ef1c7776..a108087c7 100644
--- a/setup.py
+++ b/setup.py
@@ -467,6 +467,7 @@ setup(
                    'Programming Language :: Python :: 3.5',
                    'Programming Language :: Python :: 3.6',
                    'Topic :: Games/Entertainment :: Simulation',
+                   'Topic :: Scientific/Engineering :: Artificial Intelligence',
                    'Framework :: Robot Framework'],
     package_dir = { '': 'examples/pybullet/gym'},
     packages=[x for x in find_packages('examples/pybullet/gym')],