diff --git a/alr_envs/alr/mujoco/reacher/alr_reacher.py b/alr_envs/alr/mujoco/reacher/alr_reacher.py
index 42fe5a7..74cff4d 100644
--- a/alr_envs/alr/mujoco/reacher/alr_reacher.py
+++ b/alr_envs/alr/mujoco/reacher/alr_reacher.py
@@ -89,12 +89,14 @@ class ALRReacherEnv(MujocoEnv, utils.EzPickle):
 
 class ALRReacherOptCtrlEnv(ALRReacherEnv):
     def __init__(self, steps_before_reward=200, n_links=5, balance=False):
-        super(ALRReacherOptCtrlEnv, self).__init__(steps_before_reward, n_links, balance)
         self.goal = np.array([0.1, 0.1])
+        super(ALRReacherOptCtrlEnv, self).__init__(steps_before_reward, n_links, balance)
 
     def _get_obs(self):
         theta = self.sim.data.qpos.flat[:self.n_links]
+        tip_pos = self.get_body_com("fingertip")
         return np.concatenate([
+            tip_pos[:2],
             theta,
             self.sim.data.qvel.flat[:self.n_links],  # this is angular velocity
         ])