diff --git a/.gitignore b/.gitignore
index 3d4c7df..f068c87 100644
--- a/.gitignore
+++ b/.gitignore
@@ -3,6 +3,7 @@ __pycache__/
 *.egg-info/
 logs/
 None/
+dist/
 .pytest_cache/
 .DS_Store
 loco_mujoco/datasets/
diff --git a/dist/loco-mujoco-0.1.tar.gz b/dist/loco-mujoco-0.1.tar.gz
deleted file mode 100644
index 88c836f..0000000
Binary files a/dist/loco-mujoco-0.1.tar.gz and /dev/null differ
diff --git a/download_datasets.py b/download_datasets.py
deleted file mode 100644
index 22c427d..0000000
--- a/download_datasets.py
+++ /dev/null
@@ -1,3 +0,0 @@
-import loco_mujoco
-
-loco_mujoco.download_all_datasets()
diff --git a/loco_mujoco/__init__.py b/loco_mujoco/__init__.py
index 877e34e..2d0a9ec 100644
--- a/loco_mujoco/__init__.py
+++ b/loco_mujoco/__init__.py
@@ -1,16 +1,11 @@
 __version__ = '0.1'
 
-
-from .environments import LocoEnv
-
 try:
 
+    from .environments import LocoEnv
+
     def get_all_task_names():
         return LocoEnv.get_all_task_names()
 
-
-    def download_all_datasets():
-        return LocoEnv.download_all_datasets()
-
-except ImportError:
-    pass
+except ImportError as e:
+    print(e)
diff --git a/loco_mujoco/environments/base.py b/loco_mujoco/environments/base.py
index 901f6c3..02c63e2 100644
--- a/loco_mujoco/environments/base.py
+++ b/loco_mujoco/environments/base.py
@@ -1,7 +1,5 @@
 import os
 
-import wget
-import zipfile
 import warnings
 from pathlib import Path
 from copy import deepcopy
@@ -953,36 +951,6 @@ def get_all_task_names(cls):
 
     _registered_envs = dict()
 
-    @classmethod
-    def download_all_datasets(cls):
-        """
-        Download and installs all datasets.
-
-        """
-        dataset_path = Path(loco_mujoco.__file__).resolve().parent / "datasets"
-
-        print("Downloading Humanoid Datasets ...\n")
-        dataset_path_humanoid = dataset_path / "humanoids/real"
-        dataset_path_humanoid_str = str(dataset_path_humanoid)
-        humanoid_url = "https://zenodo.org/records/10102870/files/humanoid_datasets_v0.1.zip?download=1"
-        wget.download(humanoid_url, out=dataset_path_humanoid_str)
-        file_name = "humanoid_datasets_v0.1.zip"
-        file_path = str(dataset_path_humanoid / file_name)
-        with zipfile.ZipFile(file_path, "r") as zip_ref:
-            zip_ref.extractall(dataset_path_humanoid_str)
-        os.remove(file_path)
-
-        print("Downloading Quadruped Datasets ...\n")
-        dataset_path_quadrupeds = dataset_path / "quadrupeds/real"
-        dataset_path_quadrupeds_str = str(dataset_path_quadrupeds)
-        quadruped_url = "https://zenodo.org/records/10102870/files/quadruped_datasets_v0.1.zip?download=1"
-        wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
-        file_name = "quadruped_datasets_v0.1.zip"
-        file_path = str(dataset_path_quadrupeds / file_name)
-        with zipfile.ZipFile(file_path, "r") as zip_ref:
-            zip_ref.extractall(dataset_path_quadrupeds_str)
-        os.remove(file_path)
-
 
 class ValidTaskConf:
 
diff --git a/loco_mujoco/utils/__init__.py b/loco_mujoco/utils/__init__.py
index 3ed8891..ca1f42e 100644
--- a/loco_mujoco/utils/__init__.py
+++ b/loco_mujoco/utils/__init__.py
@@ -3,3 +3,4 @@
 from .checks import *
 from .video import video2gif
 from .domain_randomization import *
+from .dataset import download_all_datasets, download_real_datasets, download_perfect_dataset
diff --git a/loco_mujoco/utils/dataset.py b/loco_mujoco/utils/dataset.py
new file mode 100644
index 0000000..43a232b
--- /dev/null
+++ b/loco_mujoco/utils/dataset.py
@@ -0,0 +1,82 @@
+import os
+import wget
+import zipfile
+from pathlib import Path
+import loco_mujoco
+
+
+def download_all_datasets():
+    """
+    Download and installs all datasets.
+
+    """
+    download_real_datasets()
+    download_perfect_dataset()
+
+
+def download_real_datasets():
+    """
+    Download and installs real datasets.
+
+    """
+
+    dataset_path = Path(loco_mujoco.__file__).resolve().parent / "datasets"
+    print(dataset_path)
+
+    print("Downloading Humanoid Datasets ...\n")
+    dataset_path_humanoid = dataset_path / "humanoids/real"
+    dataset_path_humanoid_str = str(dataset_path_humanoid)
+    os.makedirs(dataset_path_humanoid_str, exist_ok=True)
+    humanoid_url = "https://zenodo.org/records/10102870/files/humanoid_datasets_v0.1.zip?download=1"
+    wget.download(humanoid_url, out=dataset_path_humanoid_str)
+    file_name = "humanoid_datasets_v0.1.zip"
+    file_path = str(dataset_path_humanoid / file_name)
+    with zipfile.ZipFile(file_path, "r") as zip_ref:
+        zip_ref.extractall(dataset_path_humanoid_str)
+    os.remove(file_path)
+
+    print("Downloading Quadruped Datasets ...\n")
+    dataset_path_quadrupeds = dataset_path / "quadrupeds/real"
+    dataset_path_quadrupeds_str = str(dataset_path_quadrupeds)
+    os.makedirs(dataset_path_quadrupeds_str, exist_ok=True)
+    quadruped_url = "https://zenodo.org/records/10102870/files/quadruped_datasets_v0.1.zip?download=1"
+    wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
+    file_name = "quadruped_datasets_v0.1.zip"
+    file_path = str(dataset_path_quadrupeds / file_name)
+    with zipfile.ZipFile(file_path, "r") as zip_ref:
+        zip_ref.extractall(dataset_path_quadrupeds_str)
+    os.remove(file_path)
+
+
+def download_perfect_dataset():
+    """
+    Download and installs perfect datasets.
+
+    """
+    dataset_path = Path(loco_mujoco.__file__).resolve().parent / "datasets"
+
+    print("Downloading Perfect Humanoid Datasets ...\n")
+    dataset_path_humanoid = dataset_path / "humanoids/perfect"
+    dataset_path_humanoid_str = str(dataset_path_humanoid)
+    os.makedirs(dataset_path_humanoid_str, exist_ok=True)
+    humanoid_url = "https://zenodo.org/records/10102870/files/humanoid_datasets_v0.1.zip?download=1"
+    wget.download(humanoid_url, out=dataset_path_humanoid_str)
+    file_name = "humanoid_datasets_v0.1.zip"
+    file_path = str(dataset_path_humanoid / file_name)
+    with zipfile.ZipFile(file_path, "r") as zip_ref:
+        zip_ref.extractall(dataset_path_humanoid_str)
+    os.remove(file_path)
+
+
+    print("Downloading Perfect Quadruped Datasets ...\n")
+    dataset_path_quadrupeds = dataset_path / "quadrupeds/perfect"
+    dataset_path_quadrupeds_str = str(dataset_path_quadrupeds)
+    os.makedirs(dataset_path_quadrupeds_str, exist_ok=True)
+    quadruped_url = "https://zenodo.org/records/10102870/files/quadruped_datasets_v0.1.zip?download=1"
+    wget.download(quadruped_url, out=dataset_path_quadrupeds_str)
+    file_name = "quadruped_datasets_v0.1.zip"
+    file_path = str(dataset_path_quadrupeds / file_name)
+    with zipfile.ZipFile(file_path, "r") as zip_ref:
+        zip_ref.extractall(dataset_path_quadrupeds_str)
+    os.remove(file_path)
+
diff --git a/pyproject.toml b/pyproject.toml
index 1450994..a000edd 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,5 +1,5 @@
 [build-system]
-requires = ["setuptools", "wheel"]
+requires = ["setuptools", "wheel", "wget"]
 
 [project]
 name = "loco-mujoco"
@@ -35,4 +35,6 @@ Repository = "https://github.com/robfiras/loco-mujoco"
 Issues = "https://github.com/robfiras/loco-mujoco/issues"
 
 [project.scripts]
-loco-mujoco-download = "loco_mujoco:download_all_datasets"
\ No newline at end of file
+loco-mujoco-download = "loco_mujoco.utils:download_all_datasets"
+loco-mujoco-download-real = "loco_mujoco.utils:download_real_datasets"
+loco-mujoco-download-perfect = "loco_mujoco.utils:download_perfect_datasets"
\ No newline at end of file
diff --git a/setup.py b/setup.py
index 88d775e..0836eae 100644
--- a/setup.py
+++ b/setup.py
@@ -1,5 +1,4 @@
 from setuptools import setup, find_packages
-from os import path
 import glob
 from loco_mujoco import __version__