diff --git a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
index 294f88a..a508d84 100644
--- a/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
+++ b/fancy_gym/envs/mujoco/box_pushing/box_pushing_env.py
@@ -50,6 +50,7 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
         self._desired_rod_quat = desired_rod_quat
 
         self._episode_energy = 0.
+        self.velocity_profile = []
 
         self.observation_space = spaces.Box(
             low=-np.inf, high=np.inf, shape=(28,), dtype=np.float64
@@ -68,6 +69,8 @@ class BoxPushingEnvBase(MujocoEnv, utils.EzPickle):
 
         unstable_simulation = False
 
+        self.velocity_profile.append(self.data.qvel[:7].copy())
+
         try:
             self.do_simulation(resultant_action, self.frame_skip)
         except Exception as e: