diff --git a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py
index 795962a..17485b3 100755
--- a/scripts/envs/open_manipulator/open_manipulator_reacher_env.py
+++ b/scripts/envs/open_manipulator/open_manipulator_reacher_env.py
@@ -78,16 +78,15 @@ class OpenManipulatorReacherEnv(gym.Env):
             # TODO: Add termination condition
             # if self.ros_interface.check_for_termination():
             #     self.done = True
-            if self.ros_interface.check_for_success():
+            if (
+                self.ros_interface.check_for_success()
+                or self.episode_steps == self._max_episode_steps
+            ):
                 self.done = True
                 self.episode_steps = 0
 
         obs = self.ros_interface.get_observation()
 
-        if self.episode_steps == self._max_episode_steps:
-            self.done = False
-            self.episode_steps = 0
-
         return obs, self.reward_rescale_ratio * self.reward, self.done, None
 
     def reset(self):