diff --git a/alr_envs/meta/goal_change_mp_wrapper.py b/alr_envs/meta/goal_change_mp_wrapper.py
index 15f4de9..a558365 100644
--- a/alr_envs/meta/goal_change_mp_wrapper.py
+++ b/alr_envs/meta/goal_change_mp_wrapper.py
@@ -53,7 +53,7 @@ class MPWrapper(MPEnvWrapper):
     @property
     def current_pos(self) -> Union[float, int, np.ndarray]:
         r_close = self.env.data.get_joint_qpos("r_close")
-        return np.hstack([self.env.data.mocap_pos.flatten(), r_close])
+        return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
diff --git a/alr_envs/meta/goal_endeffector_change_mp_wrapper.py b/alr_envs/meta/goal_endeffector_change_mp_wrapper.py
index 95c29e3..8912a72 100644
--- a/alr_envs/meta/goal_endeffector_change_mp_wrapper.py
+++ b/alr_envs/meta/goal_endeffector_change_mp_wrapper.py
@@ -53,7 +53,7 @@ class MPWrapper(MPEnvWrapper):
     @property
     def current_pos(self) -> Union[float, int, np.ndarray]:
         r_close = self.env.data.get_joint_qpos("r_close")
-        return np.hstack([self.env.data.mocap_pos.flatten(), r_close])
+        return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
diff --git a/alr_envs/meta/goal_object_change_mp_wrapper.py b/alr_envs/meta/goal_object_change_mp_wrapper.py
index 6811ace..63e16b7 100644
--- a/alr_envs/meta/goal_object_change_mp_wrapper.py
+++ b/alr_envs/meta/goal_object_change_mp_wrapper.py
@@ -53,7 +53,7 @@ class MPWrapper(MPEnvWrapper):
     @property
     def current_pos(self) -> Union[float, int, np.ndarray]:
         r_close = self.env.data.get_joint_qpos("r_close")
-        return np.hstack([self.env.data.mocap_pos.flatten(), r_close])
+        return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
diff --git a/alr_envs/meta/object_change_mp_wrapper.py b/alr_envs/meta/object_change_mp_wrapper.py
index c7e506b..4293148 100644
--- a/alr_envs/meta/object_change_mp_wrapper.py
+++ b/alr_envs/meta/object_change_mp_wrapper.py
@@ -53,7 +53,7 @@ class MPWrapper(MPEnvWrapper):
     @property
     def current_pos(self) -> Union[float, int, np.ndarray]:
         r_close = self.env.data.get_joint_qpos("r_close")
-        return np.hstack([self.env.data.mocap_pos.flatten(), r_close])
+        return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]: