diff --git a/urdfenvs/urdf_common/urdf_env.py b/urdfenvs/urdf_common/urdf_env.py
index f5daf858..f94d3b0f 100644
--- a/urdfenvs/urdf_common/urdf_env.py
+++ b/urdfenvs/urdf_common/urdf_env.py
@@ -396,7 +396,8 @@ def reset_obstacles(self) -> None:
         for obst_id, obstacle in self._obsts.items():
             if obstacle.type() == "urdf":
                 pos = obstacle.position()
-                vel = obstacle.position()
+                vel = obstacle.velocity() # [0.0, 0.0, 0.0]
+                ori = obstacle.orientation().tolist()
             else:
                 pos = obstacle.position(t=0).tolist()
                 vel = obstacle.velocity(t=0).tolist()