diff --git a/multiworld/envs/assets/goals/door_goals.npy b/multiworld/envs/assets/goals/door_goals.npy
new file mode 100644
index 00000000..a1c0cfda
Binary files /dev/null and b/multiworld/envs/assets/goals/door_goals.npy differ
diff --git a/multiworld/envs/mujoco/goals/door_goals.npy b/multiworld/envs/assets/goals/door_goals_backup.npy
similarity index 100%
rename from multiworld/envs/mujoco/goals/door_goals.npy
rename to multiworld/envs/assets/goals/door_goals_backup.npy
diff --git a/multiworld/envs/mujoco/goals/pickup_goals.npy b/multiworld/envs/assets/goals/pickup_goals.npy
similarity index 100%
rename from multiworld/envs/mujoco/goals/pickup_goals.npy
rename to multiworld/envs/assets/goals/pickup_goals.npy
diff --git a/multiworld/envs/mujoco/sawyer_xyz/sawyer_door_hook.py b/multiworld/envs/mujoco/sawyer_xyz/sawyer_door_hook.py
index bfdfcddf..5993726e 100644
--- a/multiworld/envs/mujoco/sawyer_xyz/sawyer_door_hook.py
+++ b/multiworld/envs/mujoco/sawyer_xyz/sawyer_door_hook.py
@@ -135,6 +135,10 @@ def _get_info(self):
     def get_door_angle(self):
         return np.array([self.data.get_joint_qpos('doorjoint')])
 
+    @property
+    def presampled_goals_path(self):
+        return get_asset_full_path('goals/door_goals.npy')
+
     @property
     def endeff_id(self):
         return self.model.body_names.index('leftclaw')