diff --git a/controllers/rl_quadruped_controller/README.md b/controllers/rl_quadruped_controller/README.md
index 4be3411..28f84fe 100644
--- a/controllers/rl_quadruped_controller/README.md
+++ b/controllers/rl_quadruped_controller/README.md
@@ -36,6 +36,13 @@ source ~/ros2_ws/install/setup.bash
 ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=go2_description
 ```
 
+### 3.2 Gazebo Classic 11 (ROS2 Humble)
+```bash
+source ~/ros2_ws/install/setup.bash
+ros2 launch rl_quadruped_controller gazebo_classic.launch.py pkg_description:=a1_description
+```
+
+
 ### 3.3 Gazebo Harmonic (ROS2 Jazzy)
 ```bash
 source ~/ros2_ws/install/setup.bash
diff --git a/descriptions/deep_robotics/x30_description/README.md b/descriptions/deep_robotics/x30_description/README.md
index 0caba66..c50d7d6 100644
--- a/descriptions/deep_robotics/x30_description/README.md
+++ b/descriptions/deep_robotics/x30_description/README.md
@@ -34,6 +34,12 @@ ros2 launch x30_description visualize.launch.py
   source ~/ros2_ws/install/setup.bash
   ros2 launch ocs2_quadruped_controller mujoco.launch.py pkg_description:=x30_description
   ```
+* RL Quadruped Controller
+  ```bash
+  source ~/ros2_ws/install/setup.bash
+  ros2 launch rl_quadruped_controller mujoco.launch.py pkg_description:=x30_description model_folder:=legged_gym
+  ```
+
 
 ### Gazebo Classic 11 (ROS2 Humble)
 
diff --git a/descriptions/deep_robotics/x30_description/config/legged_gym/config.yaml b/descriptions/deep_robotics/x30_description/config/legged_gym/config.yaml
new file mode 100644
index 0000000..6be4dab
--- /dev/null
+++ b/descriptions/deep_robotics/x30_description/config/legged_gym/config.yaml
@@ -0,0 +1,41 @@
+model_name: "policy.pt"
+framework: "isaacgym"
+rows: 4
+cols: 3
+decimation: 4
+num_observations: 48
+observations: ["lin_vel", "ang_vel", "gravity_vec", "commands", "dof_pos", "dof_vel", "actions"]
+#observations_history: [6, 5, 4, 3, 2, 1, 0]
+clip_obs: 100.0
+clip_actions_lower: [-100, -100, -100,
+                     -100, -100, -100,
+                     -100, -100, -100,
+                     -100, -100, -100]
+clip_actions_upper: [100, 100, 100,
+                     100, 100, 100,
+                     100, 100, 100,
+                     100, 100, 100]
+rl_kp: [160, 160, 160,
+        160, 160, 160,
+        160, 160, 160,
+        160, 160, 160,]
+rl_kd: [8.0, 8.0, 8.0,
+        8.0, 8.0, 8.0,
+        8.0, 8.0, 8.0,
+        8.0, 8.0, 8.0]
+hip_scale_reduction: 1.0
+hip_scale_reduction_indices: [0, 3, 6, 9]
+num_of_dofs: 12
+action_scale: 0.25
+
+lin_vel_scale: 2.0
+ang_vel_scale: 0.25
+dof_pos_scale: 1.0
+dof_vel_scale: 0.05
+
+commands_scale: [2.0, 2.0, 0.25]
+
+torque_limits: [33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5,
+                33.5, 33.5, 33.5]
\ No newline at end of file
diff --git a/descriptions/deep_robotics/x30_description/config/legged_gym/policy.pt b/descriptions/deep_robotics/x30_description/config/legged_gym/policy.pt
new file mode 100644
index 0000000..8b494ea
Binary files /dev/null and b/descriptions/deep_robotics/x30_description/config/legged_gym/policy.pt differ
diff --git a/descriptions/deep_robotics/x30_description/config/robot_control.yaml b/descriptions/deep_robotics/x30_description/config/robot_control.yaml
index 7364a32..7ea88db 100644
--- a/descriptions/deep_robotics/x30_description/config/robot_control.yaml
+++ b/descriptions/deep_robotics/x30_description/config/robot_control.yaml
@@ -164,3 +164,92 @@ ocs2_quadruped_controller:
       - HL
       - FR
       - HR
+
+rl_quadruped_controller:
+  ros__parameters:
+    update_rate: 200  # Hz
+    robot_pkg: "x30_description"
+    model_folder: "legged_gym"
+    stand_kp: 500.0
+    stand_kd: 20.0
+    joints:
+      - FL_HipX
+      - FL_HipY
+      - FL_Knee
+      - FR_HipX
+      - FR_HipY
+      - FR_Knee
+      - HL_HipX
+      - HL_HipY
+      - HL_Knee
+      - HR_HipX
+      - HR_HipY
+      - HR_Knee
+
+    down_pos:
+      - 0.0
+      - -1.22
+      - 2.61
+      - 0.0
+      - -1.22
+      - 2.61
+      - 0.0
+      - -1.22
+      - 2.61
+      - 0.0
+      - -1.22
+      - 2.61
+
+    stand_pos:
+      - 0.0
+      - -0.732
+      - 1.361
+      - 0.0
+      - -0.732
+      - 1.361
+      - 0.0
+      - -0.732
+      - 1.361
+      - 0.0
+      - -0.732
+      - 1.361
+
+    command_interfaces:
+      - effort
+      - position
+      - velocity
+      - kp
+      - kd
+
+    state_interfaces:
+      - effort
+      - position
+      - velocity
+
+    feet_names:
+      - FL_FOOT
+      - FR_FOOT
+      - HL_FOOT
+      - HR_FOOT
+
+    foot_force_name: "foot_force"
+    foot_force_interfaces:
+      - FL
+      - FR
+      - HL
+      - HR
+
+    imu_name: "imu_sensor"
+    base_name: "base"
+
+    imu_interfaces:
+      - orientation.w
+      - orientation.x
+      - orientation.y
+      - orientation.z
+      - angular_velocity.x
+      - angular_velocity.y
+      - angular_velocity.z
+      - linear_acceleration.x
+      - linear_acceleration.y
+      - linear_acceleration.z
\ No newline at end of file