diff --git a/loco_mujoco/environments/data/humanoid/humanoid_muscle.xml b/loco_mujoco/environments/data/humanoid/humanoid_muscle.xml
index b4d382d..a4992c6 100644
--- a/loco_mujoco/environments/data/humanoid/humanoid_muscle.xml
+++ b/loco_mujoco/environments/data/humanoid/humanoid_muscle.xml
@@ -16,7 +16,7 @@
     <muscle scale="200" ctrlrange="0 1" ctrllimited="true" range="0.65 1.05"></muscle>
     <motor ctrlrange="-1.0 1.0" ctrllimited="true"></motor>
   </default>
-  <option integrator="Euler" iterations="50" solver="Newton"  timestep="0.001" collision="dynamic">
+  <option integrator="Euler" iterations="50" solver="Newton"  timestep="0.001">
     <flag energy="enable"></flag>
   </option>
   <size njmax="1000" nconmax="400" nuser_jnt="1"></size>
diff --git a/loco_mujoco/utils/dataset.py b/loco_mujoco/utils/dataset.py
index 0b0eeed..2d90aaa 100644
--- a/loco_mujoco/utils/dataset.py
+++ b/loco_mujoco/utils/dataset.py
@@ -67,6 +67,7 @@ def download_perfect_datasets():
     os.makedirs(dataset_path_humanoid_str, exist_ok=True)
     humanoid_url = "https://zenodo.org/records/10912641/files/humanoid_datasets_perfect_v0.2.zip?download=1"
     wget.download(humanoid_url, out=dataset_path_humanoid_str)
+    print("\n")
     file_name = "humanoid_datasets_perfect_v0.2.zip"
     file_path = str(dataset_path_humanoid / file_name)
     with zipfile.ZipFile(file_path, "r") as zip_ref:
diff --git a/requirements.txt b/requirements.txt
index b5967d2..33af046 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -1,7 +1,7 @@
 mushroom-rl>=1.10.0
 numpy
 scipy
-mujoco==2.3.6
+mujoco>=2.3.6
 gymnasium
 dm_control
 pyyaml