diff --git a/fancy_gym/envs/mujoco/__init__.py b/fancy_gym/envs/mujoco/__init__.py
index 4bdab68..8dc6cfc 100644
--- a/fancy_gym/envs/mujoco/__init__.py
+++ b/fancy_gym/envs/mujoco/__init__.py
@@ -1,7 +1,7 @@
 from .ant_jump.ant_jump import AntJumpEnv
 from .beerpong.beerpong import BeerPongEnv, BeerPongEnvStepBasedEpisodicReward
 from .half_cheetah_jump.half_cheetah_jump import HalfCheetahJumpEnv
-from .hopper_jump.hopper_jump import HopperJumpEnv
+from .hopper_jump.hopper_jump import HopperJumpEnv, HopperJumpMarkovRew
 from .hopper_jump.hopper_jump_on_box import HopperJumpOnBoxEnv
 from .hopper_throw.hopper_throw import HopperThrowEnv
 from .hopper_throw.hopper_throw_in_basket import HopperThrowInBasketEnv
diff --git a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
index 9ac03dd..294f88a 100644
--- a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
+++ b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
@@ -97,11 +97,15 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
         obs = self._get_obs()
         box_goal_pos_dist = 0. if not episode_end else np.linalg.norm(box_pos - target_pos)
         box_goal_quat_dist = 0. if not episode_end else rotation_distance(box_quat, target_quat)
+        mean_squared_jerk, maximum_jerk, dimensionless_jerk = (0.0,0.0,0.0) if not episode_end else self.calculate_smoothness_metrics(np.array(self.velocity_profile), self.dt)
         infos = {
             'episode_end': episode_end,
             'box_goal_pos_dist': box_goal_pos_dist,
             'box_goal_rot_dist': box_goal_quat_dist,
             'episode_energy': 0. if not episode_end else self._episode_energy,
+            'mean_squared_jerk': mean_squared_jerk,
+            'maximum_jerk': maximum_jerk,
+            'dimensionless_jerk': dimensionless_jerk,
             'is_success': True if episode_end and box_goal_pos_dist < 0.05 and box_goal_quat_dist < 0.5 else False,
             'num_steps': self._steps
         }