diff --git a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py
index 1b2c730..7315b2f 100755
--- a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py
+++ b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py
@@ -76,10 +76,11 @@ class OpenManipulatorReacherEnv(gym.Env):
         if self.env_mode == "sim":
             self.reward = self.compute_reward()
             # TODO: Add termination condition
-            #            if self.ros_interface.check_for_termination():
-            #                self.done = True
+            # if self.ros_interface.check_for_termination():
+            #     self.done = True
             if self.ros_interface.check_for_success():
                 self.done = True
+                self.episode_steps = 0
 
         obs = self.ros_interface.get_observation()