diff --git a/humanoid_bench/assets/g1/g1.xml b/humanoid_bench/assets/g1/g1.xml
index 252afea2..8a4bdb58 100644
--- a/humanoid_bench/assets/g1/g1.xml
+++ b/humanoid_bench/assets/g1/g1.xml
@@ -80,7 +80,7 @@
     <light name="spotlight" mode="targetbodycom" target="pelvis" pos="0 -6 4" cutoff="30"/>
     <body name="pelvis" pos="0 0 0.755" childclass="g1">
       <inertial pos="0 0 -0.07605" quat="1 0 -0.000405289 0" mass="2.86" diaginertia="0.0079143 0.0069837 0.0059404"/>
-      <freejoint name="floating_base_joint"/>
+      <freejoint name="free_base"/>
       <light name="tracking" mode="trackcom" pos="0 0 2"/>
       <geom type="mesh" class="visual" mesh="pelvis"/>
       <geom type="mesh" mesh="pelvis" class="collision"/>
diff --git a/humanoid_bench/assets/robots/g1_torque.xml b/humanoid_bench/assets/robots/g1_torque.xml
index e4a6188b..de0040b7 100644
--- a/humanoid_bench/assets/robots/g1_torque.xml
+++ b/humanoid_bench/assets/robots/g1_torque.xml
@@ -79,8 +79,9 @@
   <worldbody>
     <body name="pelvis" pos="0 0 0.755" childclass="g1">
       <camera name="cam_default" pos="2 3 0.8" mode="trackcom" xyaxes="-1 0.5 0 -0.2 -0.2 1"/>
+      <camera name="cam_hurdle" pos="-3 3 3" mode="trackcom" xyaxes="-0.5 -0.5 0 0.4 -0.4 1"/>
       <inertial pos="0 0 -0.07605" quat="1 0 -0.000405289 0" mass="2.86" diaginertia="0.0079143 0.0069837 0.0059404"/>
-      <freejoint name="floating_base_joint"/>
+      <freejoint name="free_base"/>
       <geom type="mesh" class="visual" mesh="pelvis"/>
       <geom type="mesh" mesh="pelvis" class="collision"/>
       <geom type="mesh" class="visual" material="black" mesh="pelvis_contour_link"/>
