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
deleted file mode 100644
index 69d78ff..0000000
--- a/fancy_gym/envs/mujoco/hopper_jump/assets/hopper_jump_on_box.before_convert.xml
+++ /dev/null
@@ -1,51 +0,0 @@
-<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_throw/assets/hopper_throw.before_convert.xml b/fancy_gym/envs/mujoco/hopper_throw/assets/hopper_throw.before_convert.xml
deleted file mode 100644
index 1c39602..0000000
--- a/fancy_gym/envs/mujoco/hopper_throw/assets/hopper_throw.before_convert.xml
+++ /dev/null
@@ -1,56 +0,0 @@
-<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="ball" pos="0 0 1.53">
-          <joint armature="0" axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
-          <joint armature="0" axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
-          <joint armature="0" axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
-          <geom pos="0 0 1.53" priority= "1" size="0.025 0.025 0.025" type="sphere" condim="4" name="ball_geom" rgba="0.8 0.2 0.1 1" mass="0.1"
-                friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="-10000 -10"/>
-          <site name="target_ball" pos="0 0 1.53" size="0.04 0.04 0.04" rgba="1 0 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_throw/assets/hopper_throw_in_basket.before_convert.xml b/fancy_gym/envs/mujoco/hopper_throw/assets/hopper_throw_in_basket.before_convert.xml
deleted file mode 100644
index b4f0342..0000000
--- a/fancy_gym/envs/mujoco/hopper_throw/assets/hopper_throw_in_basket.before_convert.xml
+++ /dev/null
@@ -1,132 +0,0 @@
-<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="ball" pos="0 0 1.53">
-          <joint armature="0" axis="1 0 0" damping="0.0" name="tar:x" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
-          <joint armature="0" axis="0 1 0" damping="0.0" name="tar:y" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
-          <joint armature="0" axis="0 0 1" damping="0.0" name="tar:z" pos="0 0 1.53" stiffness="0" type="slide" frictionloss="0" limited="false"/>
-          <geom pos="0 0 1.53" priority= "1" size="0.025 0.025 0.025" type="sphere" condim="4" name="ball_geom" rgba="0.8 0.2 0.1 1" mass="0.1"
-                friction="0.1 0.1 0.1" solimp="0.9 0.95 0.001 0.5 2" solref="-10000 -10"/>
-          <site name="target_ball" pos="0 0 1.53" size="0.04 0.04 0.04" rgba="1 0 0 1" type="sphere"/>
-    </body>
-    <body name="basket_ground" pos="5 0 0">
-        <geom friction="0.9" fromto="5 0 0 5.3 0 0" name="basket_ground_geom" size="0.1 0.4 0.3" type="box"/>
-        <body name="edge1" pos="5 0 0">
-          <geom friction="2.0" fromto="5 0 0 5 0 0.2" name="edge1_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge2" pos="5 0 0.05">
-          <geom friction="2.0" fromto="5 0.05 0 5 0.05 0.2" name="edge2_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge3" pos="5 0 0.1">
-          <geom friction="2.0" fromto="5 0.1 0 5 0.1 0.2" name="edge3_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge4" pos="5 0 0.15">
-          <geom friction="2.0" fromto="5 0.15 0 5 0.15 0.2" name="edge4_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge5" pos="5.05 0 0.15">
-          <geom friction="2.0" fromto="5.05 0.15 0 5.05 0.15 0.2" name="edge5_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge6" pos="5.1 0 0.15">
-          <geom friction="2.0" fromto="5.1 0.15 0 5.1 0.15 0.2" name="edge6_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge7" pos="5.15 0 0.15">
-          <geom friction="2.0" fromto="5.15 0.15 0 5.15 0.15 0.2" name="edge7_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge8" pos="5.2 0 0.15">
-          <geom friction="2.0" fromto="5.2 0.15 0 5.2 0.15 0.2" name="edge8_geom" size="0.04" type="capsule"/>
-        </body>
-         <body name="edge9" pos="5.25 0 0.15">
-          <geom friction="2.0" fromto="5.25 0.15 0 5.25 0.15 0.2" name="edge9_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge10" pos="5.3 0 0.15">
-          <geom friction="2.0" fromto="5.3 0.15 0 5.3 0.15 0.2" name="edge10_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge11" pos="5.3 0 0.1">
-          <geom friction="2.0" fromto="5.3 0.1 0 5.3 0.1 0.2" name="edge11_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge12" pos="5.3 0 0.05">
-          <geom friction="2.0" fromto="5.3 0.05 0 5.3 0.05 0.2" name="edge12_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge13" pos="5.3 0 0.0">
-          <geom friction="2.0" fromto="5.3 0 0 5.3 0 0.2" name="edge13_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge14" pos="5.3 0 -0.05">
-          <geom friction="2.0" fromto="5.3 -0.05 0 5.3 -0.05 0.2" name="edge14_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge15" pos="5.3 0 -0.1">
-          <geom friction="2.0" fromto="5.3 -0.1 0 5.3 -0.1 0.2" name="edge15_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge16" pos="5.3 0 -0.15">
-          <geom friction="2.0" fromto="5.3 -0.15 0 5.3 -0.15 0.2" name="edge16_geom" size="0.04" type="capsule"/>
-        </body>
-        
-        <body name="edge20" pos="5.25 0 -0.15">
-          <geom friction="2.0" fromto="5.25 -0.15 0 5.25 -0.15 0.2" name="edge20_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge21" pos="5.2 0 -0.15">
-          <geom friction="2.0" fromto="5.2 -0.15 0 5.2 -0.15 0.2" name="edge21_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge22" pos="5.15 0 -0.15">
-          <geom friction="2.0" fromto="5.15 -0.15 0 5.15 -0.15 0.2" name="edge22_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge23" pos="5.1 0 -0.15">
-          <geom friction="2.0" fromto="5.1 -0.15 0 5.1 -0.15 0.2" name="edge23_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge24" pos="5.05 0 -0.15">
-          <geom friction="2.0" fromto="5.05 -0.15 0 5.05 -0.15 0.2" name="edge24_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge25" pos="5 0 -0.15">
-          <geom friction="2.0" fromto="5 -0.15 0 5 -0.15 0.2" name="edge25_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge26" pos="5 0 -0.1">
-          <geom friction="2.0" fromto="5 -0.1 0 5 -0.1 0.2" name="edge26_geom" size="0.04" type="capsule"/>
-        </body>
-        <body name="edge27" pos="5 0 -0.05">
-          <geom friction="2.0" fromto="5 -0.05 0 5 -0.05 0.2" name="edge27_geom" size="0.04" type="capsule"/>
-        </body>
-    </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/walker_2d_jump/assets/walker2d.before_convert.xml b/fancy_gym/envs/mujoco/walker_2d_jump/assets/walker2d.before_convert.xml
deleted file mode 100644
index f3bcbd1..0000000
--- a/fancy_gym/envs/mujoco/walker_2d_jump/assets/walker2d.before_convert.xml
+++ /dev/null
@@ -1,64 +0,0 @@
-<mujoco model="walker2d">
-  <compiler angle="degree" coordinate="global" inertiafromgeom="true"/>
-  <default>
-    <joint armature="0.01" damping=".1" limited="true"/>
-    <geom conaffinity="0" condim="3" contype="1" density="1000" friction=".7 .1 .1" rgba="0.8 0.6 .4 1"/>
-  </default>
-  <option integrator="RK4" timestep="0.002"/>
-  <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="40 40 40" 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="0.2/2 0 0.1">
-            <site name="foot_right_site" pos="0 0 0.04" size="0.02 0.02 0.02" rgba="0 0 1 1" type="sphere"/>
-            <joint axis="0 -1 0" name="foot_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom friction="0.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_geom" size="0.06" type="capsule"/>
-          </body>
-        </body>
-      </body>
-      <!-- copied and then replace thigh->thigh_left, leg->leg_left, foot->foot_right -->
-      <body name="thigh_left" pos="0 0 1.05">
-        <joint axis="0 -1 0" name="thigh_left_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_left_geom" rgba=".7 .3 .6 1" size="0.05" type="capsule"/>
-        <body name="leg_left" pos="0 0 0.35">
-          <joint axis="0 -1 0" name="leg_left_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_left_geom" rgba=".7 .3 .6 1" size="0.04" type="capsule"/>
-          <body name="foot_left" pos="0.2/2 0 0.1">
-            <site name="foot_left_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_left_joint" pos="0 0 0.1" range="-45 45" type="hinge"/>
-            <geom friction="1.9" fromto="-0.0 0 0.1 0.2 0 0.1" name="foot_left_geom" rgba=".7 .3 .6 1" size="0.06" type="capsule"/>
-          </body>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <!-- <motor joint="torso_joint" ctrlrange="-100.0 100.0" isctrllimited="true"/>-->
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="thigh_left_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="leg_left_joint"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" gear="100" joint="foot_left_joint"/>
-    <!-- <motor joint="finger2_rot" ctrlrange="-20.0 20.0" isctrllimited="true"/>-->
-  </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>
