diff --git a/panda_gym/envs/core.py b/panda_gym/envs/core.py
index 2004b8cf..fdaffe0e 100644
--- a/panda_gym/envs/core.py
+++ b/panda_gym/envs/core.py
@@ -233,12 +233,12 @@ def __init__(
         observation, _ = self.reset()  # required for init; seed can be changed later
         observation_shape = observation["observation"].shape
         achieved_goal_shape = observation["achieved_goal"].shape
-        desired_goal_shape = observation["achieved_goal"].shape
+        desired_goal_shape = observation["desired_goal"].shape
         self.observation_space = spaces.Dict(
             dict(
                 observation=spaces.Box(-10.0, 10.0, shape=observation_shape, dtype=np.float32),
-                desired_goal=spaces.Box(-10.0, 10.0, shape=achieved_goal_shape, dtype=np.float32),
-                achieved_goal=spaces.Box(-10.0, 10.0, shape=desired_goal_shape, dtype=np.float32),
+                desired_goal=spaces.Box(-10.0, 10.0, shape=desired_goal_shape, dtype=np.float32),
+                achieved_goal=spaces.Box(-10.0, 10.0, shape=achieved_goal_shape, dtype=np.float32),
             )
         )
         self.action_space = self.robot.action_space