diff --git a/examples/pybullet/gym/pybullet_envs/env_bases.py b/examples/pybullet/gym/pybullet_envs/env_bases.py
index f9c51c051..9820ad4ff 100644
--- a/examples/pybullet/gym/pybullet_envs/env_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/env_bases.py
@@ -26,7 +26,7 @@ class MJCFBaseBulletEnv(gym.Env):
     self.scene = None
     self.physicsClientId = -1
     self.ownsPhysicsClient = 0
-    self.camera = Camera()
+    self.camera = Camera(self)
     self.isRender = render
     self.robot = robot
     self.seed()
@@ -160,11 +160,12 @@ class MJCFBaseBulletEnv(gym.Env):
 
 class Camera:
 
-  def __init__(self):
+  def __init__(self, env):
+    self.env = env
     pass
 
   def move_and_look_at(self, i, j, k, x, y, z):
     lookat = [x, y, z]
     distance = 10
     yaw = 10
-    self._p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
+    self.env._p.resetDebugVisualizerCamera(distance, yaw, -20, lookat)
diff --git a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
index cbf096600..f193bff62 100644
--- a/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
+++ b/examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
@@ -125,7 +125,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
     return state, sum(self.rewards), bool(done), {}
 
   def camera_adjust(self):
-    x, y, z = self.body_xyz
+    x, y, z = self.robot.body_xyz
     self.camera_x = 0.98 * self.camera_x + (1 - 0.98) * x
     self.camera.move_and_look_at(self.camera_x, y - 2.0, 1.4, x, y, 1.0)