diff --git a/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset b/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset
index 6b658a08..82ba9caf 100644
Binary files a/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset and b/Content/Blueprint/Mujoco/BP_MujocoSettingsStretchV1.uasset differ
diff --git a/Content/Developers/Wdev/Robots/BP_Stretch.uasset b/Content/Developers/Wdev/Robots/BP_Stretch.uasset
index f42564c1..32c68564 100644
Binary files a/Content/Developers/Wdev/Robots/BP_Stretch.uasset and b/Content/Developers/Wdev/Robots/BP_Stretch.uasset differ
diff --git a/Content/Map/EmptyTestLevel.umap b/Content/Map/EmptyTestLevel.umap
index 71f1d32a..701c3d65 100644
Binary files a/Content/Map/EmptyTestLevel.umap and b/Content/Map/EmptyTestLevel.umap differ
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
index ac44a678..0e0bdddc 100644
--- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Private/Actors/MujocoVolumeActor.cpp
@@ -11,6 +11,7 @@
 #include "LuckyMujoco.h"
 #include "fstream"
 #include "filesystem"
+#include "Kismet/KismetMathLibrary.h"
 
 AMujocoVolumeActor::AMujocoVolumeActor()
 {
@@ -387,16 +388,26 @@ void AMujocoVolumeActor::PostRegisterAllComponents()
 	}
 }
 
-void AMujocoVolumeActor::Tick(float DeltaTime) 
+void AMujocoVolumeActor::Tick(float DeltaTime)
 {
 	if (MujocoData)
 	{
-		mj_step(MujocoModel.Get(), MujocoData.Get());
-
-		for (int32 Frame = 0; Frame < FrameSkip; ++Frame)
-		{
-			mj_step(MujocoModel.Get(), MujocoData.Get());
-		}
+		// const int32 FixedSteps = UKismetMathLibrary::SafeDivide(DeltaTime, Options->Options.TimeStep);
+		//
+		// if (FixedSteps > 0)
+		// {
+		// 	for (int x = 0; x < FixedSteps; ++x)
+		// 	{
+		// 		mj_step(MujocoModel.Get(), MujocoData.Get());
+		// 	}
+		// }
+		
+		//mj_step(MujocoModel.Get(), MujocoData.Get());
+		//mj_forward(MujocoModel.Get(), MujocoData.Get());
+		 for (int32 Frame = 0; Frame <= FrameSkip; ++Frame)
+		 {
+		 	mj_step(MujocoModel.Get(), MujocoData.Get());
+		 }
 
 		for (int32 i = 1; i < BodyComponents.Num(); ++i)
 		{
@@ -405,7 +416,7 @@ void AMujocoVolumeActor::Tick(float DeltaTime)
 				mjtNum* Pos = MujocoData->xpos + 3 * i;
 				mjtNum* Quat = MujocoData->xquat + 4 * i;
 
-				FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.0f;
+				FVector Position = FVector(Pos[0], -Pos[1], Pos[2]) * 100.f;
 				FQuat Rotation = FQuat(Quat[1], -Quat[2], Quat[3], -Quat[0]);
 
 				BodyComponents[i]->SetWorldLocationAndRotation(Position, Rotation);
diff --git a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
index cd9737eb..80e0c72f 100644
--- a/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
+++ b/Plugins/LuckyMujoco/Source/LuckyMujoco/Public/Actors/MujocoVolumeActor.h
@@ -106,13 +106,18 @@ public:
 	UFUNCTION(BlueprintCallable, BlueprintPure, Category = "Mujoco")
 	double GetJointValueByIndex(int32 JointIndex) const;
 
-	
+
+
+
+	///////// *********************************************
 	virtual void PostRegisterAllComponents() override;	
 
 	virtual void Tick(float DeltaTime) override;
 
 	virtual void PostInitializeComponents() override;
 
+	//////&&&&&&&&&&&&&&&&&&&&
+
 protected:
 
 	virtual void BeginPlay() override;