diff --git a/examples/pybullet/gym/pybullet_envs/robot_bases.py b/examples/pybullet/gym/pybullet_envs/robot_bases.py
index 51c2791c1..1e22f1bbd 100644
--- a/examples/pybullet/gym/pybullet_envs/robot_bases.py
+++ b/examples/pybullet/gym/pybullet_envs/robot_bases.py
@@ -130,12 +130,13 @@ class MJCFBasedRobot(XmlBasedRobot):
         self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(), "mjcf",
                                                      self.model_xml),
                                         flags=pybullet.URDF_USE_SELF_COLLISION |
-                                        pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
+                                        pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS |
+                                        pybullet.URDF_GOOGLEY_UNDEFINED_COLORS )
         self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
             self._p, self.objects)
       else:
         self.objects = self._p.loadMJCF(
-            os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml))
+            os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml, flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS))
         self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
             self._p, self.objects)
     self.robot_specific_reset(self._p)
@@ -183,14 +184,14 @@ class URDFBasedRobot(XmlBasedRobot):
                            basePosition=self.basePosition,
                            baseOrientation=self.baseOrientation,
                            useFixedBase=self.fixed_base,
-                           flags=pybullet.URDF_USE_SELF_COLLISION))
+                           flags=pybullet.URDF_USE_SELF_COLLISION | pybullet.URDF_GOOGLEY_UNDEFINED_COLORS))
     else:
       self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
           self._p,
           self._p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
                            basePosition=self.basePosition,
                            baseOrientation=self.baseOrientation,
-                           useFixedBase=self.fixed_base))
+                           useFixedBase=self.fixed_base, flags = pybullet.URDF_GOOGLEY_UNDEFINED_COLORS))
 
     self.robot_specific_reset(self._p)
 
diff --git a/setup.py b/setup.py
index 7a42a3b0b..bae42f2f8 100644
--- a/setup.py
+++ b/setup.py
@@ -501,7 +501,7 @@ if 'BT_USE_EGL' in EGL_CXX_FLAGS:
 
 setup(
     name='pybullet',
-    version='2.7.8',
+    version='2.8.0',
     description=
     'Official Python Interface for the Bullet Physics SDK specialized for Robotics Simulation and Reinforcement Learning',
     long_description=