diff --git a/Go2Py/sim/mujoco.py b/Go2Py/sim/mujoco.py
index 3ecc1f8..ae2d202 100644
--- a/Go2Py/sim/mujoco.py
+++ b/Go2Py/sim/mujoco.py
@@ -18,11 +18,14 @@ dist = np.zeros(nray, np.float64)
 
 
 class Go2Sim:
-    def __init__(self, mode='lowlevel', render=True, dt=0.002):
+    def __init__(self, mode='lowlevel', render=True, dt=0.002, xml_path=None):
 
-        self.model = mujoco.MjModel.from_xml_path(
-            os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
-        )
+        if xml_path is None:
+            self.model = mujoco.MjModel.from_xml_path(
+                os.path.join(ASSETS_PATH, 'mujoco/go2.xml')
+            )
+        else:
+            self.model = mujoco.MjModel.from_xml_path(xml_path)
         self.simulated = True
         self.data = mujoco.MjData(self.model)
         self.dt = dt