diff --git a/alr_envs/classic_control/hole_reacher/hole_reacher.py b/alr_envs/classic_control/hole_reacher/hole_reacher.py
index a09dab1..6f134d4 100644
--- a/alr_envs/classic_control/hole_reacher/hole_reacher.py
+++ b/alr_envs/classic_control/hole_reacher/hole_reacher.py
@@ -122,13 +122,27 @@ class HoleReacherEnv(gym.Env):
         return self._get_obs().copy()
 
     def _generate_hole(self):
-        self._tmp_x = self.np_random.uniform(1, 3.5, 1) if self.initial_x is None else np.copy(self.initial_x)
-        self._tmp_width = self.np_random.uniform(0.15, 0.5, 1) if self.initial_width is None else np.copy(
-            self.initial_width)
-        # TODO we do not want this right now.
-        self._tmp_depth = self.np_random.uniform(1, 1, 1) if self.initial_depth is None else np.copy(
-            self.initial_depth)
-        self._goal = np.hstack([self._tmp_x, -self._tmp_depth])
+        if self.initial_width is None:
+            width = self.np_random.uniform(0.15, 0.5, 1)
+        else:
+            width = np.copy(self.initial_width)
+        if self.initial_x is None:
+            # sample whole on left or right side
+            direction = np.random.choice([-1, 1])
+            # Hole center needs to be half the width away from the arm to give a valid setting.
+            x = direction * self.np_random.uniform(width / 2, 3.5, 1)
+        else:
+            x = np.copy(self.initial_x)
+        if self.initial_depth is None:
+            # TODO we do not want this right now.
+            depth = self.np_random.uniform(1, 1, 1)
+        else:
+            depth = np.copy(self.initial_depth)
+
+        self._tmp_hole_width = width
+        self._tmp_hole_x = x
+        self._tmp_hole_depth = depth
+        self._goal = np.hstack([self._tmp_hole_x, -self._tmp_hole_depth])
 
     def _update_joints(self):
         """