diff --git a/README.md b/README.md
index 607f708ac..f423a5370 100644
--- a/README.md
+++ b/README.md
@@ -101,14 +101,13 @@ If you wish, please cite [our IROS 2021 paper](https://arxiv.org/abs/2103.02142)
 - [ ] Add Betaflight SITL control example and `pytest` (with pre-compiled `.elf` ) @ykeuter
 - [ ] Add motor delay @JacopoPan / @spencerteetaert
 - [ ] Add `cffirmware` SITL support @spencerteetaert
-- [ ] Replace `BaseSingleAgentAviary` and `BaseMultiAgentAviary` with a single `RLAviary` @JacopoPan
+- [ ] Replace `BaseSingleAgentAviary` and `BaseMultiAgentAviary` with a single `RLAviary`, incl. PR #161 @JacopoPan
 - [ ] Add a multi-agent MDP with 2-drone chase through a gate @JacopoPan
 
 ## Desiderata
 
-- [ ] Add `yaml` configuration files
 - [ ] Replace `rpy` with quaternions (and `ang_vel` with body rates) in `obs`
-- [ ] Vectorize any remaining loop @JacopoPan
+- [ ] Add `yaml` configuration files
 
 -----
 > University of Toronto's [Dynamic Systems Lab](https://github.com/utiasDSL) / [Vector Institute](https://github.com/VectorInstitute) / University of Cambridge's [Prorok Lab](https://github.com/proroklab)
diff --git a/gym_pybullet_drones/envs/BaseAviary.py b/gym_pybullet_drones/envs/BaseAviary.py
index 08f1e5df3..592cc5292 100755
--- a/gym_pybullet_drones/envs/BaseAviary.py
+++ b/gym_pybullet_drones/envs/BaseAviary.py
@@ -482,13 +482,14 @@ def _housekeeping(self):
         #### Remove default damping #################################
         # for i in range(self.NUM_DRONES):
         #     p.changeDynamics(self.DRONE_IDS[i], -1, linearDamping=0, angularDamping=0)
-        for i in range(self.NUM_DRONES):
-            #### Show the frame of reference of the drone, note that ###
-            #### It severly slows down the GUI #########################
-            if self.GUI and self.USER_DEBUG:
+        #### Show the frame of reference of the drone, note that ###
+        #### It severly slows down the GUI #########################
+        if self.GUI and self.USER_DEBUG:
+            for i in range(self.NUM_DRONES):
                 self._showDroneLocalAxes(i)
-            #### Disable collisions between drones' and the ground plane
-            #### E.g., to start a drone at [0,0,0] #####################
+        #### Disable collisions between drones' and the ground plane
+        #### E.g., to start a drone at [0,0,0] #####################
+        # for i in range(self.NUM_DRONES):
             # p.setCollisionFilterPair(bodyUniqueIdA=self.PLANE_ID, bodyUniqueIdB=self.DRONE_IDS[i], linkIndexA=-1, linkIndexB=-1, enableCollision=0, physicsClientId=self.CLIENT)
         if self.OBSTACLES:
             self._addObstacles()