diff --git a/examples/python/openraveYarpPluginLoader-rgbdsensor-noRGB.py b/examples/python/openraveYarpPluginLoader-rgbdsensor-noRGB.py
index 17095992..2b7f9aa0 100644
--- a/examples/python/openraveYarpPluginLoader-rgbdsensor-noRGB.py
+++ b/examples/python/openraveYarpPluginLoader-rgbdsensor-noRGB.py
@@ -19,6 +19,10 @@
     env=Environment()
     env.SetViewer('qtcoin')
 
+    # Force CollisionChecker "ode" for Depth sensor
+    collisionChecker = RaveCreateCollisionChecker(env,'ode')
+    env.SetCollisionChecker(collisionChecker)
+
     example = "default"  # "default" or "ecro"
 
     if example == "ecro":
diff --git a/examples/python/openraveYarpPluginLoader-rgbdsensor.py b/examples/python/openraveYarpPluginLoader-rgbdsensor.py
index f6022354..3beb1ee4 100644
--- a/examples/python/openraveYarpPluginLoader-rgbdsensor.py
+++ b/examples/python/openraveYarpPluginLoader-rgbdsensor.py
@@ -17,8 +17,14 @@
         raveLogError("Plugin not correctly loaded")
 
     env=Environment()
+
+    # Force viewer "qtcoin" for RGB sensor
     env.SetViewer('qtcoin')
 
+    # Force CollisionChecker "ode" for Depth sensor
+    collisionChecker = RaveCreateCollisionChecker(env,'ode')
+    env.SetCollisionChecker(collisionChecker)
+
     example = "default"  # "default" or "ecro"
 
     if example == "ecro":