diff --git a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.before_convert.xml b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.before_convert.xml
new file mode 100644
index 0000000..3348bab
--- /dev/null
+++ b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.before_convert.xml
@@ -0,0 +1,52 @@
+<mujoco model="hopper">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
+    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <visual>
+    <map znear="0.02"/>
+  </visual>
+  <worldbody>
+    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
+    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
+    <body name="torso" pos="0 0 1.25">
+      <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
+      <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh" pos="0 0 1.05">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg" pos="0 0 0.35">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot" pos="0.13/2 0 0.1">
+            <site name="foot_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+  <body name="goal_site_body" pos = "0 0 0">
+    <site name="goal_site" pos="0 0 0.0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
+  </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+  </actuator>
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
+            width="100" height="100"/>
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+</mujoco>
diff --git a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.xml b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.xml
index 3348bab..fb1b978 100644
--- a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.xml
+++ b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump.xml
@@ -1,52 +1,51 @@
 <mujoco model="hopper">
-  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
-  <default>
-    <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
-    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-  </default>
-  <option integrator="RK4" timestep="0.002"/>
+  <compiler angle="radian" autolimits="true"/>
+  <option integrator="RK4"/>
   <visual>
     <map znear="0.02"/>
   </visual>
+  <default class="main">
+    <joint limited="true" armature="1" damping="1"/>
+    <geom condim="1" solimp="0.8 0.8 0.01 0.5 2" margin="0.001" material="geom" rgba="0.8 0.6 0.4 1"/>
+    <general ctrllimited="true" ctrlrange="-0.4 0.4"/>
+  </default>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="100" height="600"/>
+    <texture type="cube" name="texgeom" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="127" height="762"/>
+    <texture type="2d" name="texplane" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100"/>
+    <material name="MatPlane" texture="texplane" texrepeat="60 60" specular="1" shininess="1" reflectance="0.5"/>
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </asset>
   <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
-    <body name="torso" pos="0 0 1.25">
-      <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
-      <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
-      <body name="thigh" pos="0 0 1.05">
-        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
-        <body name="leg" pos="0 0 0.35">
-          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
-          <body name="foot" pos="0.13/2 0 0.1">
-            <site name="foot_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="1 0 0 1" type="sphere"/>
-            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+    <geom name="floor" size="20 20 0.125" type="plane" condim="3" material="MatPlane" rgba="0.8 0.9 0.8 1"/>
+    <light pos="0 0 1.3" dir="0 0 -1" directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1"/>
+    <body name="torso" pos="0 0 1.25" gravcomp="0">
+      <joint name="rootx" pos="0 0 -1.25" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
+      <joint name="rootz" pos="0 0 -1.25" axis="0 0 1" limited="false" type="slide" ref="1.25" armature="0" damping="0"/>
+      <joint name="rooty" pos="0 0 0" axis="0 1 0" limited="false" armature="0" damping="0"/>
+      <geom name="torso_geom" size="0.05 0.2" type="capsule" friction="0.9 0.005 0.0001"/>
+      <camera name="track" pos="0 -3 -0.25" quat="0.707107 0.707107 0 0" mode="trackcom"/>
+      <body name="thigh" pos="0 0 -0.2" gravcomp="0">
+        <joint name="thigh_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
+        <geom name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule" friction="0.9 0.005 0.0001"/>
+        <body name="leg" pos="0 0 -0.7" gravcomp="0">
+          <joint name="leg_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
+          <geom name="leg_geom" size="0.04 0.25" type="capsule" friction="0.9 0.005 0.0001"/>
+          <body name="foot" pos="0.065 0 -0.25" gravcomp="0">
+            <joint name="foot_joint" pos="-0.065 0 0" axis="0 -1 0" range="-0.785398 0.785398"/>
+            <geom name="foot_geom" size="0.06 0.195" quat="0.707107 0 -0.707107 0" type="capsule" friction="2 0.005 0.0001"/>
+            <site name="foot_site" pos="-0.065 0 -0.06" size="0.02" rgba="1 0 0 1"/>
           </body>
         </body>
       </body>
     </body>
-  <body name="goal_site_body" pos = "0 0 0">
-    <site name="goal_site" pos="0 0 0.0" size="0.02 0.02 0.02" rgba="0 1 0 1" type="sphere"/>
-  </body>
+    <body name="goal_site_body" pos="0 0 0" gravcomp="0">
+      <site name="goal_site" pos="0 0 0" size="0.02" rgba="0 1 0 1"/>
+    </body>
   </worldbody>
   <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+    <general joint="thigh_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
+    <general joint="leg_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
+    <general joint="foot_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
   </actuator>
-    <asset>
-        <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
-            width="100" height="100"/>
-        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-        <material name="geom" texture="texgeom" texuniform="true"/>
-    </asset>
 </mujoco>
diff --git a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.before_convert.xml b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.before_convert.xml
new file mode 100644
index 0000000..69d78ff
--- /dev/null
+++ b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.before_convert.xml
@@ -0,0 +1,51 @@
+<mujoco model="hopper">
+  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
+  <default>
+    <joint armature="1" damping="1" limited="true"/>
+    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
+    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
+  </default>
+  <option integrator="RK4" timestep="0.002"/>
+  <visual>
+    <map znear="0.02"/>
+  </visual>
+  <worldbody>
+    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
+    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
+    <body name="torso" pos="0 0 1.25">
+      <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
+      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
+      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
+      <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
+      <body name="thigh" pos="0 0 1.05">
+        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
+        <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
+        <body name="leg" pos="0 0 0.35">
+          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
+          <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
+          <body name="foot" pos="0.13/2 0 0.1">
+            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
+            <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+          </body>
+        </body>
+      </body>
+    </body>
+    <body name="box" pos="1 0 0">
+        <geom friction="1.0" fromto="0.48 0 0 1 0 0" name="basket_ground_geom" size="0.3" type="box" rgba="1 0 0 1"/>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+  </actuator>
+    <asset>
+        <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
+            width="100" height="100"/>
+        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
+        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
+        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
+        <material name="geom" texture="texgeom" texuniform="true"/>
+    </asset>
+</mujoco>
\ No newline at end of file
diff --git a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.xml b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.xml
index 69d78ff..b66c3ca 100644
--- a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.xml
+++ b/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.xml
@@ -1,51 +1,50 @@
 <mujoco model="hopper">
-  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
-  <default>
-    <joint armature="1" damping="1" limited="true"/>
-    <geom conaffinity="1" condim="1" contype="1" margin="0.001" material="geom" rgba="0.8 0.6 .4 1" solimp=".8 .8 .01" solref=".02 1"/>
-    <motor ctrllimited="true" ctrlrange="-.4 .4"/>
-  </default>
-  <option integrator="RK4" timestep="0.002"/>
+  <compiler angle="radian" autolimits="true"/>
+  <option integrator="RK4"/>
   <visual>
     <map znear="0.02"/>
   </visual>
+  <default class="main">
+    <joint limited="true" armature="1" damping="1"/>
+    <geom condim="1" solimp="0.8 0.8 0.01 0.5 2" margin="0.001" material="geom" rgba="0.8 0.6 0.4 1"/>
+    <general ctrllimited="true" ctrlrange="-0.4 0.4"/>
+  </default>
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.4 0.5 0.6" rgb2="0 0 0" width="100" height="600"/>
+    <texture type="cube" name="texgeom" builtin="flat" mark="cross" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" width="127" height="762"/>
+    <texture type="2d" name="texplane" builtin="checker" rgb1="0 0 0" rgb2="0.8 0.8 0.8" width="100" height="100"/>
+    <material name="MatPlane" texture="texplane" texrepeat="60 60" specular="1" shininess="1" reflectance="0.5"/>
+    <material name="geom" texture="texgeom" texuniform="true"/>
+  </asset>
   <worldbody>
-    <light cutoff="100" diffuse="1 1 1" dir="-0 0 -1.3" directional="true" exponent="1" pos="0 0 1.3" specular=".1 .1 .1"/>
-    <geom conaffinity="1" condim="3" name="floor" pos="0 0 0" rgba="0.8 0.9 0.8 1" size="20 20 .125" type="plane" material="MatPlane"/>
-    <body name="torso" pos="0 0 1.25">
-      <camera name="track" mode="trackcom" pos="0 -3 1" xyaxes="1 0 0 0 0 1"/>
-      <joint armature="0" axis="1 0 0" damping="0" limited="false" name="rootx" pos="0 0 0" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 0 1" damping="0" limited="false" name="rootz" pos="0 0 0" ref="1.25" stiffness="0" type="slide"/>
-      <joint armature="0" axis="0 1 0" damping="0" limited="false" name="rooty" pos="0 0 1.25" stiffness="0" type="hinge"/>
-      <geom friction="0.9" fromto="0 0 1.45 0 0 1.05" name="torso_geom" size="0.05" type="capsule"/>
-      <body name="thigh" pos="0 0 1.05">
-        <joint axis="0 -1 0" name="thigh_joint" pos="0 0 1.05" range="-150 0" type="hinge"/>
-        <geom friction="0.9" fromto="0 0 1.05 0 0 0.6" name="thigh_geom" size="0.05" type="capsule"/>
-        <body name="leg" pos="0 0 0.35">
-          <joint axis="0 -1 0" name="leg_joint" pos="0 0 0.6" range="-150 0" type="hinge"/>
-          <geom friction="0.9" fromto="0 0 0.6 0 0 0.1" name="leg_geom" size="0.04" type="capsule"/>
-          <body name="foot" pos="0.13/2 0 0.1">
-            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom friction="2.0" fromto="-0.13 0 0.1 0.26 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
+    <geom name="floor" size="20 20 0.125" type="plane" condim="3" material="MatPlane" rgba="0.8 0.9 0.8 1"/>
+    <light pos="0 0 1.3" dir="0 0 -1" directional="true" cutoff="100" exponent="1" diffuse="1 1 1" specular="0.1 0.1 0.1"/>
+    <body name="torso" pos="0 0 1.25" gravcomp="0">
+      <joint name="rootx" pos="0 0 -1.25" axis="1 0 0" limited="false" type="slide" armature="0" damping="0"/>
+      <joint name="rootz" pos="0 0 -1.25" axis="0 0 1" limited="false" type="slide" ref="1.25" armature="0" damping="0"/>
+      <joint name="rooty" pos="0 0 0" axis="0 1 0" limited="false" armature="0" damping="0"/>
+      <geom name="torso_geom" size="0.05 0.2" type="capsule" friction="0.9 0.005 0.0001"/>
+      <camera name="track" pos="0 -3 -0.25" quat="0.707107 0.707107 0 0" mode="trackcom"/>
+      <body name="thigh" pos="0 0 -0.2" gravcomp="0">
+        <joint name="thigh_joint" pos="0 0 0" axis="0 -1 0" range="-2.61799 0"/>
+        <geom name="thigh_geom" size="0.05 0.225" pos="0 0 -0.225" type="capsule" friction="0.9 0.005 0.0001"/>
+        <body name="leg" pos="0 0 -0.7" gravcomp="0">
+          <joint name="leg_joint" pos="0 0 0.25" axis="0 -1 0" range="-2.61799 0"/>
+          <geom name="leg_geom" size="0.04 0.25" type="capsule" friction="0.9 0.005 0.0001"/>
+          <body name="foot" pos="0.065 0 -0.25" gravcomp="0">
+            <joint name="foot_joint" pos="-0.065 0 0" axis="0 -1 0" range="-0.785398 0.785398"/>
+            <geom name="foot_geom" size="0.06 0.195" quat="0.707107 0 -0.707107 0" type="capsule" friction="2 0.005 0.0001"/>
           </body>
         </body>
       </body>
     </body>
-    <body name="box" pos="1 0 0">
-        <geom friction="1.0" fromto="0.48 0 0 1 0 0" name="basket_ground_geom" size="0.3" type="box" rgba="1 0 0 1"/>
+    <body name="box" pos="1 0 0" gravcomp="0">
+      <geom name="basket_ground_geom" size="0.3 0.3 0.26" pos="-0.26 0 0" quat="0.707107 0 -0.707107 0" type="box" rgba="1 0 0 1"/>
     </body>
   </worldbody>
   <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="thigh_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="leg_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="200.0" joint="foot_joint"/>
+    <general joint="thigh_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
+    <general joint="leg_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
+    <general joint="foot_joint" ctrlrange="-1 1" gear="200 0 0 0 0 0" actdim="0"/>
   </actuator>
-    <asset>
-        <texture type="skybox" builtin="gradient" rgb1=".4 .5 .6" rgb2="0 0 0"
-            width="100" height="100"/>
-        <texture builtin="flat" height="1278" mark="cross" markrgb="1 1 1" name="texgeom" random="0.01" rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" type="cube" width="127"/>
-        <texture builtin="checker" height="100" name="texplane" rgb1="0 0 0" rgb2="0.8 0.8 0.8" type="2d" width="100"/>
-        <material name="MatPlane" reflectance="0.5" shininess="1" specular="1" texrepeat="60 60" texture="texplane"/>
-        <material name="geom" texture="texgeom" texuniform="true"/>
-    </asset>
-</mujoco>
\ No newline at end of file
+</mujoco>
