diff --git a/.idea/encodings.xml b/.idea/encodings.xml
new file mode 100644
index 0000000..abeeb12
--- /dev/null
+++ b/.idea/encodings.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="Encoding">
+    <file url="file://$PROJECT_DIR$/assets/newton/newton.usd" charset="UTF-8" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/runConfigurations/Playing.xml b/.idea/runConfigurations/Playing.xml
index 1efa727..3983220 100644
--- a/.idea/runConfigurations/Playing.xml
+++ b/.idea/runConfigurations/Playing.xml
@@ -15,7 +15,7 @@
     <option name="ADD_SOURCE_ROOTS" value="true" />
     <EXTENSION ID="PythonCoverageRunConfigurationExtension" runner="coverage.py" />
     <option name="SCRIPT_NAME" value="$ProjectFileDir$/newton.py" />
-    <option name="PARAMETERS" value="--checkpoint runs/newton_idle_038_0/newton_idle_038_rew_-59.47 --play" />
+    <option name="PARAMETERS" value="--checkpoint runs/newton_idle_082_0/newton_idle_082_rew_254.91 --play" />
     <option name="SHOW_COMMAND_LINE" value="false" />
     <option name="EMULATE_TERMINAL" value="false" />
     <option name="MODULE_MODE" value="false" />
diff --git a/apps/omni.isaac.sim.newton.kit b/apps/omni.isaac.sim.newton.kit
index acbe6fd..dba9805 100644
--- a/apps/omni.isaac.sim.newton.kit
+++ b/apps/omni.isaac.sim.newton.kit
@@ -15,10 +15,8 @@ keywords = ["experience", "app", "usd"]
 "omni.isaac.cortex" = {}
 "omni.isaac.cortex.sample_behaviors" = {}
 "omni.isaac.debug_draw" = {}
-"omni.isaac.dofbot" = {}
 "omni.isaac.dynamic_control" ={}
 "omni.isaac.franka" = {} 
-"omni.isaac.gym" = {}
 "omni.isaac.kit" = {}
 "omni.isaac.lula" = {}
 "omni.isaac.manipulators" = {}
diff --git a/assets/newton/.thumbs/256x256/newton.usd.png b/assets/newton/.thumbs/256x256/newton.usd.png
index 9a46490..945a8e7 100644
Binary files a/assets/newton/.thumbs/256x256/newton.usd.png and b/assets/newton/.thumbs/256x256/newton.usd.png differ
diff --git a/assets/newton/animations/newton_idle.keyframes.yaml b/assets/newton/animations/newton_idle.keyframes.yaml
index 36aefe7..542c213 100644
--- a/assets/newton/animations/newton_idle.keyframes.yaml
+++ b/assets/newton/animations/newton_idle.keyframes.yaml
@@ -1,5 +1,4 @@
 name: newton_idle
-start_frame: 0
 duration: 45
 framerate: 24
 keyframes:
@@ -7,6163 +6,6163 @@ keyframes:
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-    - 0.36997491121292114
-    - -0.5697486400604248
-    - -0.6143107414245605
-    - 0.4014068841934204
-    relative_angle: -42.90692901611328
-  - bone: HR_FKE
-    position:
-    - -0.2568748891353607
-    - -0.13706566393375397
-    - 0.17133478820323944
-    orientation:
-    - 0.40081122517585754
-    - -0.6133201718330383
-    - -0.565253734588623
-    - 0.3790474236011505
-    relative_angle: -41.279151916503906
-  - bone: HL_FKE
-    position:
-    - -0.2569044828414917
-    - 0.1369875967502594
-    - 0.17136254906654358
-    orientation:
-    - 0.37905094027519226
-    - -0.5652520656585693
-    - -0.6133169531822205
-    - 0.4008149802684784
-    relative_angle: -41.277713775634766
+    - -0.20954497158527374
+    - 0.12021607905626297
+    - 0.31790947914123535
+    orientation:
+    - 0.5675925612449646
+    - -0.42170900106430054
+    - -0.4217092990875244
+    - 0.5675928592681885
+    relative_angle: 16.776893615722656
+  - bone: FR_KFE
+    position:
+    - 0.1351889818906784
+    - -0.1197839081287384
+    - 0.15714359283447266
+    orientation:
+    - 0.38422298431396484
+    - -0.5936099290847778
+    - -0.5936098694801331
+    - 0.38422298431396484
+    relative_angle: -43.14413070678711
+  - bone: FL_KFE
+    position:
+    - 0.13516837358474731
+    - 0.12021604925394058
+    - 0.15715062618255615
+    orientation:
+    - 0.38410887122154236
+    - -0.5936836004257202
+    - -0.5936839580535889
+    - 0.3841089904308319
+    relative_angle: -43.17350769042969
+  - bone: HR_KFE
+    position:
+    - -0.25857096910476685
+    - -0.1197839006781578
+    - 0.15513215959072113
+    orientation:
+    - 0.37384629249572754
+    - -0.6001989841461182
+    - -0.6001991033554077
+    - 0.3738463819026947
+    relative_angle: -42.926353454589844
+  - bone: HL_KFE
+    position:
+    - -0.25861474871635437
+    - 0.12021604180335999
+    - 0.15514540672302246
+    orientation:
+    - 0.3738158643245697
+    - -0.6002177596092224
+    - -0.6002181768417358
+    - 0.3738161623477936
+    relative_angle: -42.94757080078125
diff --git a/assets/newton/newton.usd b/assets/newton/newton.usd
index 8fc7cb2..4c57d0b 100644
Binary files a/assets/newton/newton.usd and b/assets/newton/newton.usd differ
diff --git a/core/agents/base_agent.py b/core/agents/base_agent.py
index 43e63e4..a1bf136 100644
--- a/core/agents/base_agent.py
+++ b/core/agents/base_agent.py
@@ -11,7 +11,7 @@ class BaseAgent(ABC):
     def __init__(self, num_agents: int) -> None:
         self.path: str = ""
         self.num_agents: int = num_agents
-        self.universe: Optional[Universe] = None
+        self._universe: Optional[Universe] = None
 
         self._is_constructed: bool = False
 
@@ -22,7 +22,7 @@ def construct(self, universe: Universe) -> None:
         ), f"{self.__class__.__name__} already constructed: tried to construct!"
 
         self.path = AGENTS_PATH
-        self.universe = universe
+        self._universe = universe
 
         from omni.isaac.core.utils.prims import create_prim
 
diff --git a/core/agents/newton_base_agent.py b/core/agents/newton_base_agent.py
index 775ddf6..5b82957 100644
--- a/core/agents/newton_base_agent.py
+++ b/core/agents/newton_base_agent.py
@@ -30,7 +30,9 @@ def construct(self, universe: Universe) -> None:
     def step(self, actions: Actions) -> None:
         super().step(actions)
 
-        new_joint_positions = torch.from_numpy(actions).to(self.universe.physics_device)
+        new_joint_positions = torch.from_numpy(actions).to(
+            self._universe.physics_device
+        )
         self.joints_controller.step(new_joint_positions)
 
     @abstractmethod
diff --git a/core/agents/newton_vec_agent.py b/core/agents/newton_vec_agent.py
index 03ba7eb..d0b22ea 100644
--- a/core/agents/newton_vec_agent.py
+++ b/core/agents/newton_vec_agent.py
@@ -39,7 +39,7 @@ def construct(self, universe: Universe) -> None:
         self.imu.construct(self.base_path_expr)
         self.joints_controller.construct(self.base_path_expr)
 
-        self.universe.reset()
+        self._universe.reset()
 
         self._is_constructed = True
 
diff --git a/core/animation/animation_engine.py b/core/animation/animation_engine.py
index 20f2c05..ca90794 100644
--- a/core/animation/animation_engine.py
+++ b/core/animation/animation_engine.py
@@ -28,7 +28,6 @@ class Keyframe:
 class AnimationClip:
     name: str
     framerate: int
-    start_frame: int
     duration: int
     duration_in_seconds: float
     keyframes: List[Keyframe]
@@ -96,7 +95,6 @@ def construct(self, current_clip: str) -> None:
             self.clips[clip_name] = AnimationClip(
                 name=clip_name,
                 framerate=clip_settings["framerate"],
-                start_frame=clip_settings["start_frame"],
                 duration=clip_settings["duration"],
                 duration_in_seconds=duration_in_seconds,
                 keyframes=keyframes,
@@ -104,6 +102,46 @@ def construct(self, current_clip: str) -> None:
 
         self._is_constructed = True
 
+    def get_current_clip_data_ordered(
+        self,
+        progress: int,
+        joints_order: List[str],
+        interpolate: bool = True,
+    ) -> np.ndarray:
+        """
+        Get the armature data for the current clip at the given progress. Optionally interpolates between keyframes.
+        Args:
+            progress: The progress of the current episode, in the range [0, max_episode_length] for an agent.
+            joints_order: List of joint names in the order they should be returned.
+            interpolate: Whether to interpolate between keyframes (continuous result, assuming animation is continuous).
+
+        Returns:
+            A numpy array with shape (num_bones, 8) containing the joint positions, orientations and relative angles for the agent.
+        """
+        clip_data = self.get_current_clip_data(progress, interpolate)
+
+        num_bones = len(clip_data)
+        result = np.zeros((num_bones, 8))
+
+        for j, bone_name in enumerate(joints_order):
+            # Quick fix for HR's bone structure being wonky
+            if "HR" in bone_name:
+                bone_name = f"FR_{bone_name[3:]}"
+
+            if bone_name not in clip_data:
+                continue
+
+            bone_data = clip_data[bone_name]
+            result[j] = np.concatenate(
+                [
+                    bone_data.position,
+                    bone_data.orientation,
+                    [bone_data.relative_angle],
+                ]
+            )
+
+        return result
+
     def get_current_clip_datas_ordered(
         self,
         progress: np.ndarray,
@@ -120,7 +158,7 @@ def get_current_clip_datas_ordered(
         Returns:
             A numpy array with shape (num_agents, num_bones, 8) containing the joint positions, orientations and relative angles for each agent.
         """
-        clip_datas = self.get_clip_datas(self.current_clip_name, progress, interpolate)
+        clip_datas = self.get_current_clip_datas(progress, interpolate)
 
         num_agents = len(clip_datas)
         num_bones = len(clip_datas[0])
diff --git a/core/animation/blender/keyframe_extractor.py b/core/animation/blender/keyframe_extractor.py
index 526bf01..d7d496e 100644
--- a/core/animation/blender/keyframe_extractor.py
+++ b/core/animation/blender/keyframe_extractor.py
@@ -19,14 +19,12 @@ def extract_keyframes_from_scene(
         "HR_HFE",
         "FL_HFE",
         "HL_HFE",
-        "FR_FKE",
-        "FL_FKE",
-        "HR_FKE",
-        "HL_FKE",
+        "FR_KFE",
+        "FL_KFE",
+        "HR_KFE",
+        "HL_KFE",
     ]
-
-    # List to store keyframe data
-    keyframes_data = []
+    num_bones = len(bone_names)
 
     # Get global animation start and end frames
     start_frame = bpy.context.scene.frame_start
@@ -34,78 +32,133 @@ def extract_keyframes_from_scene(
 
     # Access the armature object
     armature = bpy.data.objects.get(armature_name)
+    if not armature:
+        print(f"Armature {armature_name} not found!")
+        return (0, [], 0, 0, 0)
+    elif armature and not armature.type == "ARMATURE":
+        print(f"Object {armature_name} is not an armature!")
+        return (0, [], 0, 0, 0)
+
+    print(f"Processing armature: {armature_name}")
 
     framerate = bpy.context.scene.render.fps
 
-    if armature and armature.type == "ARMATURE":
-        print(f"Processing armature: {armature_name}")
+    # Ensure armature is in pose mode
+    bpy.context.view_layer.objects.active = armature
+    bpy.ops.object.mode_set(mode="POSE")
 
-        # Ensure armature is in pose mode
-        bpy.context.view_layer.objects.active = armature
-        bpy.ops.object.mode_set(mode="POSE")
+    # List to store non-transformed keyframe data
+    raw_animation = []
 
-        # Iterate through every frame in the global animation range
-        for frame in range(start_frame, end_frame + 1):
-            bpy.context.scene.frame_set(frame)  # Set the frame in the scene
+    # Iterate through every frame in the global animation range
+    for frame in range(start_frame, end_frame + 1):
+        bpy.context.scene.frame_set(frame)  # Set the frame in the scene
 
-            frame_data = []
+        raw_keyframe_data = []
 
-            for bone_name in bone_names:
-                bone = armature.pose.bones.get(bone_name)
-                if bone:
-                    parent = bone.parent
+        for bone_name in bone_names:
+            bone = armature.pose.bones.get(bone_name)
+            if bone:
+                parent = bone.parent
 
-                    world_matrix = armature.matrix_world @ bone.matrix
+                world_matrix = armature.matrix_world @ bone.matrix
 
-                    # Compute relative orientation
-                    if parent:
-                        parent_world_matrix = armature.matrix_world @ parent.matrix
-                        relative_matrix = parent_world_matrix.inverted() @ world_matrix
-                        relative_quaternion = relative_matrix.to_quaternion()
-                    else:
-                        # No parent, so the matrix is already in world space
-                        relative_quaternion = world_matrix.to_quaternion()
+                # Compute relative orientation
+                if parent:
+                    parent_world_matrix = armature.matrix_world @ parent.matrix
+                    relative_matrix = parent_world_matrix.inverted() @ world_matrix
+                    relative_quaternion = relative_matrix.to_quaternion()
+                else:
+                    # No parent, so the matrix is already in world space
+                    relative_quaternion = world_matrix.to_quaternion()
 
-                    relative_euler = relative_quaternion.to_euler()
-                    relative_euler[:] = [math.degrees(e) for e in relative_euler]
+                relative_euler = relative_quaternion.to_euler()
+                relative_euler[:] = [math.degrees(e) for e in relative_euler]
 
-                    largest_angle = max(
-                        abs(math.degrees(relative_euler.x)),
-                        abs(math.degrees(relative_euler.y)),
-                        abs(math.degrees(relative_euler.z)),
-                    )
+                raw_transform_keyframe = {
+                    "bone": bone_name,
+                    "position": list(world_matrix.to_translation()),
+                    "orientation": list(world_matrix.to_quaternion()),
+                    "relative_angles": list(relative_euler),
+                }
 
-                    rotation_angle = relative_euler.x
+                raw_keyframe_data.append(raw_transform_keyframe)
 
-                    if "_HAA" in bone_name:
-                        rotation_angle = relative_euler.y
+        raw_animation.append(
+            {
+                "frame": frame,
+                "data": raw_keyframe_data,
+            }
+        )
 
-                    # Resting position should be at 0deg (basically correcting for Blender's coordinate system)
-                    if "_HFE" in bone_name:
-                        rotation_angle += 90
+    # List to store transformed keyframe data
+    animation = []
 
-                    transform_keyframe = {
-                        "bone": bone_name,
-                        "position": list(world_matrix.to_translation()),
-                        "orientation": list(world_matrix.to_quaternion()),
-                        "relative_angle": rotation_angle,
-                    }
+    angle_ranges = [[[0] * 2] * 3] * num_bones
 
-                    frame_data.append(transform_keyframe)
+    # Iterate through every frame in the global animation range and finds the relative angles that changed the most,
+    # that's the axis of rotation for the bone
+    for keyframe in raw_animation:
+        frame = keyframe["frame"]
+        raw_keyframe_data = keyframe["data"]
 
-            keyframes_data.append(
-                {
-                    "frame": frame,
-                    "data": frame_data,
-                }
-            )
-    else:
-        print(f"Armature {armature_name} not found, or not an armature.")
+        bpy.context.scene.frame_set(frame)
+
+        for i, bone_data in enumerate(raw_keyframe_data):
+            for j, angle in enumerate(bone_data["relative_angles"]):
+                angle_ranges[i][j][0] = min(angle_ranges[i][j][0], angle)
+                angle_ranges[i][j][1] = max(angle_ranges[i][j][1], angle)
+
+    # Builds the final animation data using the axis of rotation for each bone (chosen by the relative angle that
+    # changed the most)
+    for keyframe in raw_animation:
+        frame = keyframe["frame"]
+        raw_keyframe_data = keyframe["data"]
+
+        bpy.context.scene.frame_set(frame)
+
+        keyframe_data = []
+
+        for i, bone_data in enumerate(raw_keyframe_data):
+            transform_keyframe = {
+                "bone": bone_data["bone"],
+                "position": bone_data["position"],
+                "orientation": bone_data["orientation"],
+            }
+
+            chosen_relative_angle = 0
+            largest_angle_range_size = -360
+            for j, angle in enumerate(bone_data["relative_angles"]):
+                angle_range = angle_ranges[i][j]
+                angle_range_size = angle_range[1] - angle_range[0]
+
+                if angle_range_size > largest_angle_range_size:
+                    largest_angle_range_size = angle_range_size
+                    chosen_relative_angle = angle
+
+            adjustment = 0
+
+            if "R_HAA" in bone_data["bone"]:
+                adjustment = -90
+            elif "L_HAA" in bone_data["bone"]:
+                adjustment = 90
+            elif "_HFE" in bone_data["bone"]:
+                adjustment = 90
+
+            transform_keyframe["relative_angle"] = chosen_relative_angle + adjustment
+
+            keyframe_data.append(transform_keyframe)
+
+        animation.append(
+            {
+                "frame": frame,
+                "data": keyframe_data,
+            }
+        )
 
     return (
         framerate,
-        keyframes_data,
-        start_frame,
+        animation,
         end_frame - start_frame,
         len(bone_names),
     )
@@ -113,15 +166,13 @@ def extract_keyframes_from_scene(
 
 def keyframes_to_yaml(
     data: list,
-    start_frame: int,
     duration: int,
     framerate: int,
-    animation: str,
+    name: str,
 ) -> str:
     return yaml.dump(
         {
-            "name": animation,
-            "start_frame": start_frame,
+            "name": name,
             "duration": duration,
             "framerate": framerate,
             "keyframes": data,
@@ -167,8 +218,8 @@ def main():
     animation_name = args.animation
 
     # Extract keyframes
-    framerate, rotations_dict, start_frame, duration, num_bones = (
-        extract_keyframes_from_scene(armature_name)
+    framerate, rotations_dict, duration, num_bones = extract_keyframes_from_scene(
+        armature_name
     )
 
     print(
@@ -178,7 +229,6 @@ def main():
     # Convert to YAML
     yaml_data = keyframes_to_yaml(
         rotations_dict,
-        start_frame,
         duration,
         framerate,
         animation_name,
diff --git a/core/controllers/joints_controller.py b/core/controllers/joints_controller.py
index 2c0ebd2..1abd670 100644
--- a/core/controllers/joints_controller.py
+++ b/core/controllers/joints_controller.py
@@ -1,7 +1,8 @@
 from typing import Optional, List
 
+import numpy as np
 import torch
-from core.types import NoiseFunction, Indices
+from core.types import NoiseFunction, Indices, JointsConstraints
 from core.universe import Universe
 from gymnasium.spaces import Box
 from omni.isaac.core.articulations import ArticulationView
@@ -13,7 +14,7 @@ def __init__(
         self,
         universe: Universe,
         noise_function: NoiseFunction,
-        joint_constraints: Box,
+        joint_constraints: JointsConstraints,
     ):
         self.path_expr: str = ""
 
@@ -22,7 +23,10 @@ def __init__(
 
         self._noise_function: NoiseFunction = noise_function
         self._target_joint_positions: Tensor = torch.zeros(0)
-        self.joint_constraints: Box = joint_constraints
+        self.joint_constraints: JointsConstraints = joint_constraints
+        self.box_joint_constraints: Box = self._dict_to_box_constraints(
+            joint_constraints
+        )
 
         self._is_constructed: bool = False
 
@@ -54,12 +58,8 @@ def construct(self, path_expr: str) -> None:
 
         self.universe.reset()
 
-        assert self.joint_constraints.shape[0] == len(
-            self._articulation_view.joint_names
-        ), "Joint constraints must match the number of joints"
-
         self._apply_joint_constraints(
-            self.joint_constraints,
+            self.box_joint_constraints,
             self._articulation_view.prim_paths,
             self._articulation_view.joint_names,
         )
@@ -71,7 +71,7 @@ def step(self, joint_positions: Tensor) -> None:
 
         self._target_joint_positions = self._process_joint_positions(
             joint_positions,
-            self.joint_constraints,
+            self.box_joint_constraints,
             self._noise_function,
         )
 
@@ -95,17 +95,41 @@ def reset(self, joint_positions: Tensor, indices: Indices = None) -> None:
 
         self._target_joint_positions = self._process_joint_positions(
             joint_positions,
-            self.joint_constraints,
+            self.box_joint_constraints,
+        )
+
+        self._articulation_view.set_joint_positions(
+            positions=self._target_joint_positions,
+            indices=indices,
+        )
+
+    def _dict_to_box_constraints(self, joint_constraints: JointsConstraints) -> Box:
+        joint_names = list(joint_constraints.keys())
+
+        low_joint_constraints = np.zeros(
+            (len(joint_names)),
+            dtype=np.float32,
         )
+        high_joint_constraints = np.zeros_like(low_joint_constraints)
 
-        self._articulation_view.set_joint_position_targets(
-            self._target_joint_positions,
-            indices,
+        # Ensures that the joint constraints are in the correct order
+        for i, joint_name in enumerate(joint_names):
+            constraint = joint_constraints[joint_name]
+
+            low_joint_constraints[i] = constraint[0]
+            high_joint_constraints[i] = constraint[1]
+
+        box_joint_constraints = Box(
+            low=low_joint_constraints,
+            high=high_joint_constraints,
+            dtype=np.float32,
         )
 
+        return box_joint_constraints
+
     def _apply_joint_constraints(
         self,
-        joint_constraints: Box,
+        box_joint_constraints: Box,
         prim_paths: List[str],
         joint_names: List[str],
     ) -> None:
@@ -119,38 +143,36 @@ def _apply_joint_constraints(
                 joint_path = f"{prim_path}/{joint_name}"
 
                 joint_limits = UsdPhysics.RevoluteJoint.Get(stage, joint_path)
-                joint_limits.CreateLowerLimitAttr().Set(joint_constraints.low[j].item())
-                joint_limits.GetUpperLimitAttr().Set(joint_constraints.high[j].item())
+                joint_limits.CreateLowerLimitAttr().Set(
+                    box_joint_constraints.low[j].item()
+                )
+                joint_limits.GetUpperLimitAttr().Set(
+                    box_joint_constraints.high[j].item()
+                )
 
     def _process_joint_positions(
         self,
         joint_positions: Tensor,
-        joint_constraints: Box,
+        box_joint_constraints: Box,
         noise_function: Optional[NoiseFunction] = None,
     ) -> Tensor:
         if noise_function is not None:
             joint_positions = noise_function(joint_positions)
 
+        low_constraints_t = torch.from_numpy(box_joint_constraints.low).to(
+            device=self.universe.physics_device
+        )
+        high_constraints_t = torch.from_numpy(box_joint_constraints.high).to(
+            device=self.universe.physics_device
+        )
+
         for i, _ in enumerate(joint_positions):
             joint_positions[i] = torch.clamp(
                 joint_positions[i],
-                torch.from_numpy(joint_constraints.low).to(
-                    device=self.universe.physics_device
-                ),
-                torch.from_numpy(joint_constraints.high).to(
-                    device=self.universe.physics_device
-                ),
+                min=low_constraints_t,
+                max=high_constraints_t,
             )
 
-        right_side_joint_indices = self._get_right_side_shoulder_indices()
-        for i in right_side_joint_indices:
-            joint_positions[:, i] = -joint_positions[:, i]
+            joint_positions[i] = torch.deg2rad(joint_positions[i])
 
         return joint_positions
-
-    def _get_right_side_shoulder_indices(self) -> List[int]:
-        return [
-            i
-            for i, name in enumerate(self._articulation_view.joint_names)
-            if "R_HAA" in name
-        ]
diff --git a/core/domain_randomizer/newton_base_domain_randomizer.py b/core/domain_randomizer/newton_base_domain_randomizer.py
index d20a19b..5a191e1 100644
--- a/core/domain_randomizer/newton_base_domain_randomizer.py
+++ b/core/domain_randomizer/newton_base_domain_randomizer.py
@@ -36,6 +36,8 @@ def construct(self, universe: Universe) -> None:
         )
         self._universe.add_to_scene(self._newton_art_view)
 
+        self._universe.reset()
+
         self._is_constructed = True
 
     def on_step(self) -> None:
@@ -44,7 +46,7 @@ def on_step(self) -> None:
     def on_reset(self, indices: Indices = None) -> None:
         super().on_reset(indices)
 
-        indices_np = indices
+        indices_n = indices
 
         if indices is None:
             indices = torch.arange(self._agent.num_agents)
@@ -82,7 +84,7 @@ def on_reset(self, indices: Indices = None) -> None:
         joint_positions = torch.from_numpy(
             np.array(
                 [
-                    self._agent.joints_controller.joint_constraints.sample()
+                    self._agent.joints_controller.box_joint_constraints.sample()
                     for _ in range(num_to_reset)
                 ]
             )
@@ -90,7 +92,7 @@ def on_reset(self, indices: Indices = None) -> None:
 
         self._agent.joints_controller.reset(
             joint_positions,
-            indices_np,
+            indices_n,
         )
 
     def set_initial_positions(self, positions: torch.Tensor) -> None:
diff --git a/core/envs/base_env.py b/core/envs/base_env.py
index 67fb816..5888e47 100644
--- a/core/envs/base_env.py
+++ b/core/envs/base_env.py
@@ -16,7 +16,7 @@ def __init__(
         terrain_builders: List[BaseTerrainBuilder],
         domain_randomizer: BaseDomainRandomizer,
     ) -> None:
-        self.universe: Optional[Universe] = None
+        self._universe: Optional[Universe] = None
 
         self.agent: BaseAgent = agent
         self.num_envs = num_envs
@@ -34,7 +34,7 @@ def construct(self, universe: Universe) -> None:
             not self._is_constructed
         ), f"{self.__class__.__name__} already constructed!"
 
-        self.universe = universe
+        self._universe = universe
 
     @abstractmethod
     def step(
@@ -45,7 +45,7 @@ def step(
             self._is_constructed
         ), f"{self.__class__.__name__} not constructed: tried to step!"
 
-        self.universe.step()
+        self._universe.step()
 
         return self.get_observations()
 
@@ -56,9 +56,7 @@ def reset(self, indices: Indices = None) -> Observations:
         ), f"{self.__class__.__name__} not constructed: tried to reset!"
 
         if indices is None:
-            self.universe.reset()
-        else:
-            self.universe.step()
+            self._universe.reset()
 
         return self.get_observations()
 
diff --git a/core/envs/newton_multi_terrain_env.py b/core/envs/newton_multi_terrain_env.py
index 58bd535..6952e41 100644
--- a/core/envs/newton_multi_terrain_env.py
+++ b/core/envs/newton_multi_terrain_env.py
@@ -64,7 +64,7 @@ def construct(self, universe: Universe) -> None:
             )
 
         # propagate physics changes
-        self.universe.reset()
+        self._universe.reset()
 
         for i, _ in enumerate(self.terrain_builds):
             terrain_spawn_position = terrain_positions[i]
@@ -105,10 +105,8 @@ def construct(self, universe: Universe) -> None:
                     [
                         terrain_spawn_position[0],
                         terrain_spawn_position[1],
-                        0.4
-                        + self.terrain_builds[
-                            i
-                        ].height,  # TODO: make this a better computed value
+                        # TODO: make this a better computed value
+                        0.9 + self.terrain_builds[i].height,
                     ]
                 )
             )
@@ -117,16 +115,16 @@ def construct(self, universe: Universe) -> None:
         if len(self.reset_newton_positions) > self.num_envs:
             self.reset_newton_positions = self.reset_newton_positions[: self.num_envs]
 
-        self.agent.construct(self.universe)
+        self.agent.construct(self._universe)
 
-        self.domain_randomizer.construct(self.universe)
+        self.domain_randomizer.construct(self._universe)
         # TODO: investigate whether we need to have the positions and rotations in this class or in domain randomizer
         self.domain_randomizer.set_initial_positions(self.reset_newton_positions)
         self.domain_randomizer.set_initial_orientations(self.reset_newton_orientations)
 
         self._is_constructed = True
 
-        self.reset()
+        self._universe.reset()
 
     def step(self, actions: Actions) -> Observations:
         self.agent.step(actions)  # has to be before the simulation advances
diff --git a/core/sensors/imu.py b/core/sensors/imu.py
index 0c6133c..5043f9d 100644
--- a/core/sensors/imu.py
+++ b/core/sensors/imu.py
@@ -79,9 +79,14 @@ def construct(self, path_expr: str) -> None:
 
         self.path_expr = path_expr
 
-        self.rigid_view = RigidPrimView(self.path_expr)
+        self.rigid_view = RigidPrimView(
+            self.path_expr,
+            name="imu_rigid_view",
+            prepare_contact_sensors=False,
+        )
         self.universe.add_to_scene(self.rigid_view)
 
+        # propagate physics changes
         self.universe.reset()
 
         self.num_imus = self.rigid_view.count
diff --git a/core/tasks/newton_idle_task.py b/core/tasks/newton_idle_task.py
index 2300c2c..9f0156c 100644
--- a/core/tasks/newton_idle_task.py
+++ b/core/tasks/newton_idle_task.py
@@ -35,8 +35,10 @@ def __init__(
         playing: bool,
         max_episode_length: int,
     ):
-        agent_joints_low: np.ndarray = agent.joints_controller.joint_constraints.low
-        agent_joints_high: np.ndarray = agent.joints_controller.joint_constraints.high
+        agent_joints_low: np.ndarray = agent.joints_controller.box_joint_constraints.low
+        agent_joints_high: np.ndarray = (
+            agent.joints_controller.box_joint_constraints.high
+        )
 
         self.observation_space: Box = Box(
             low=np.array(
diff --git a/core/types.py b/core/types.py
index 8489691..d87dc4a 100644
--- a/core/types.py
+++ b/core/types.py
@@ -9,6 +9,7 @@
 
 # Motors
 JointsPositions = torch.Tensor
+JointsConstraints = Dict[str, Tuple[float, float]]
 
 # RL
 Actions = np.ndarray
@@ -28,4 +29,4 @@
 # TODO: removed Optional, none of the global types should be Optional (can easily lead to confusion)
 Indices = Optional[np.ndarray]
 
-Matter = Tuple[argparse.Namespace, Settings, Settings, Settings, Dict[str, Settings], bool, bool, bool, bool, bool, bool, int]
+Matter = Tuple[argparse.Namespace, Settings, Settings, Settings, Dict[str, Settings], str, bool, bool, bool, bool, bool, bool, bool, bool, int, float]
diff --git a/newton.py b/newton.py
index c8a9afa..e3f6ae7 100644
--- a/newton.py
+++ b/newton.py
@@ -67,6 +67,12 @@ def setup_argparser() -> argparse.ArgumentParser:
         help="Play the agent using a trained checkpoint.",
         default=False,
     )
+    parser.add_argument(
+        "--animation",
+        type=str,
+        help="Animate the agent using a parsed animation file.",
+        default=None,
+    )
     parser.add_argument(
         "--num-envs",
         type=int,
@@ -100,28 +106,32 @@ def setup() -> Optional[Matter]:
 
     parser = setup_argparser()
 
+    # General Configs
     cli_args, _ = parser.parse_known_args()
     rl_config = load_config(cli_args.rl_config)
     world_config = load_config(cli_args.world_config)
     randomization_config = load_config(cli_args.randomization_config)
 
-    animation_settings_dir = cli_args.animations_dir
-    animation_settings = [
-        f"{animation_settings_dir}/{f}"
-        for f in get_files_with_extension(animation_settings_dir, ".yaml")
+    # Animations
+    animation_config_dir = cli_args.animations_dir
+    animation_config = [
+        f"{animation_config_dir}/{f}"
+        for f in get_files_with_extension(animation_config_dir, ".yaml")
     ]
 
-    if len(animation_settings) == 0:
-        print(f"No animation files found in {animation_settings_dir}.")
+    if len(animation_config) == 0:
+        print(f"No animation files found in {animation_config_dir}.")
 
-        return None
-
-    animation_clips_settings = animation_setting_files_to_clips(animation_settings)
+    animation_clips_config = animation_setting_files_to_clips(animation_config)
+    current_animation = cli_args.animation
 
+    # Control Flags
+    animating = current_animation is not None
     physics_only = cli_args.physics
     exporting = cli_args.export_onnx
-    playing = not exporting and cli_args.play
-    training = not exporting and not cli_args.play
+    is_rl = not physics_only and not animating and not exporting
+    playing = is_rl and cli_args.play
+    training = is_rl and not cli_args.play
     headless = (
         cli_args.headless or cli_args.export_onnx
     )  # if we're exporting, don't show the GUI
@@ -133,7 +143,7 @@ def setup() -> Optional[Matter]:
     num_envs = rl_config["n_envs"]
     if cli_args.num_envs != -1:
         num_envs = cli_args.num_envs
-    elif not training:
+    if not training:
         num_envs = 1
 
     # ensure proper config reading when encountering None
@@ -143,19 +153,27 @@ def setup() -> Optional[Matter]:
     if rl_config["ppo"]["target_kl"] == "None":
         rl_config["ppo"]["target_kl"] = None
 
+    control_step_dt = (
+        rl_config["newton"]["inverse_control_frequency"] * world_config["physics_dt"]
+    )
+
     return (
         cli_args,
         rl_config,
         world_config,
         randomization_config,
-        animation_clips_settings,
+        animation_clips_config,
+        current_animation,
+        animating,
         physics_only,
+        is_rl,
         exporting,
         playing,
         training,
         interactive,
         headless,
         num_envs,
+        control_step_dt,
     )
 
 
@@ -171,19 +189,23 @@ def main():
         rl_config,
         world_config,
         randomization_config,
-        animation_clips_settings,
+        animation_clips_config,
+        current_animation,
+        animating,
         physics_only,
+        is_rl,
         exporting,
         playing,
         training,
         interactive,
         headless,
         num_envs,
+        control_step_dt,
     ) = base_matter
 
     print(
         f"Running with {num_envs} environments, {rl_config['ppo']['n_steps']} steps per environment, and {'headless' if headless else 'GUI'} mode.\n",
-        f"{'Exporting ONNX' if exporting else 'Playing' if playing else 'Training' if training else 'Physiccing'}.\n",
+        f"{'Exporting ONNX' if exporting else 'Playing' if playing else 'Training' if training else 'Animating' if animating else 'Physiccing'}.\n",
         f"Using {rl_config['device']} as the RL device and {world_config['device']} as the physics device.",
     )
 
@@ -211,13 +233,24 @@ def main():
         noise_function=lambda x: x,
     )
 
+    joints_constraints = {
+        "FR_HAA": (-45, 45),
+        "FL_HAA": (-45, 45),
+        "HR_HAA": (-45, 45),
+        "HL_HAA": (-45, 45),
+        "FR_HFE": (-90, 90),
+        "HR_HFE": (-90, 90),
+        "FL_HFE": (-90, 90),
+        "HL_HFE": (-90, 90),
+        "FR_KFE": (-180, 180),
+        "FL_KFE": (-180, 180),
+        "HR_KFE": (-180, 180),
+        "HL_KFE": (-180, 180),
+    }
     joints_controller = VecJointsController(
         universe=universe,
+        joint_constraints=joints_constraints,
         noise_function=lambda x: x,
-        joint_constraints=Box(
-            low=np.array([-45, -90, -180] * 4),
-            high=np.array([45, 90, 180] * 4),
-        ),
     )
 
     newton_agent = NewtonVecAgent(
@@ -226,17 +259,13 @@ def main():
         joints_controller=joints_controller,
     )
 
-    step_dt = (
-        rl_config["newton"]["inverse_control_frequency"] * world_config["physics_dt"]
-    )
-
     # TODO: Add a separate animation only mode in simulation
     #   This will allow us to test animations without the need for training/testing
     #   labels=enhancement
 
     animation_engine = AnimationEngine(
-        clips=animation_clips_settings,
-        step_dt=step_dt,
+        clips=animation_clips_config,
+        step_dt=control_step_dt,
     )
 
     domain_randomizer = NewtonBaseDomainRandomizer(
@@ -245,6 +274,44 @@ def main():
         randomizer_settings=randomization_config,
     )
 
+    # --------------- #
+    #    ANIMATING    #
+    # --------------- #
+
+    if animating:
+        env = NewtonMultiTerrainEnv(
+            agent=newton_agent,
+            num_envs=num_envs,
+            terrain_builders=[FlatBaseTerrainBuilder()],
+            domain_randomizer=domain_randomizer,
+            inverse_control_frequency=rl_config["newton"]["inverse_control_frequency"],
+        )
+
+        env.construct(universe)
+        env.reset()  # called manually, because the task usually does it, must be done before stepping
+
+        animation_engine.construct(current_animation)
+
+        joints_names = joints_controller.art_view.joint_names
+
+        # this is very specific to Newton, because we know that it takes joint positions and the animation engine
+        # provides that exactly; a different robot or different control mode would probably require a different approach
+        while universe.is_playing:
+            joint_data = animation_engine.get_current_clip_data_ordered(
+                universe.physics_world.current_time_step_index // control_step_dt,
+                joints_names,
+            )
+
+            # index 7 is the joint position (angle in degrees)
+            joint_positions = joint_data[:, 7]
+
+            # print(joint_positions)
+
+            # we wrap it in an array to make it 2D (it's a vectorized env)
+            env.step(np.array([joint_positions], dtype=np.float32))
+
+        exit(1)
+
     # ---------------- #
     #   PHYSICS ONLY   #
     # ---------------- #