diff --git a/metaworld/sawyer_xyz_env.py b/metaworld/sawyer_xyz_env.py
index b143bc2e8..595df1780 100644
--- a/metaworld/sawyer_xyz_env.py
+++ b/metaworld/sawyer_xyz_env.py
@@ -131,7 +131,7 @@ def reset_mocap_welds(self) -> None:
             for i in range(self.model.eq_data.shape[0]):
                 if self.model.eq_type[i] == mujoco.mjtEq.mjEQ_WELD:
                     self.model.eq_data[i] = np.array(
-                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
+                        [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 0.0, 5.0]
                     )
 
 
diff --git a/pyproject.toml b/pyproject.toml
index f203eb202..64fdb2c69 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,7 +25,7 @@ classifiers = [
 ]
 dependencies = [
     "gymnasium>=1.0.0a1",
-    "mujoco<3.0.0",
+    "mujoco>=3.0.0",
     "numpy>=1.18",
     "scipy>=1.4.1",
     "imageio"