diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
index 6f6711d..068cc50 100644
--- a/.github/workflows/test.yml
+++ b/.github/workflows/test.yml
@@ -98,7 +98,7 @@ jobs:
       - name: Run tests
         run: |
           source .venv/bin/activate
-          pytest --cov=./gym_pusht --cov-report=xml tests
+          pytest --cov=./gym_xarm tests
 
       #   TODO(aliberts): Link with HF Codecov account
       # - name: Upload coverage reports to Codecov with GitHub Action
diff --git a/gym_xarm/tasks/base.py b/gym_xarm/tasks/base.py
index 44550da..68c8f43 100644
--- a/gym_xarm/tasks/base.py
+++ b/gym_xarm/tasks/base.py
@@ -111,7 +111,7 @@ def _initialize_observation_space(self):
         image_shape = (self.observation_height, self.observation_width, 3)
         obs = self.get_obs()
         if self.obs_type == "state":
-            observation_space = gym.spaces.Box(-np.inf, np.inf, shape=obs.shape, dtype=np.float64)
+            observation_space = gym.spaces.Box(-1000.0, 1000.0, shape=obs.shape, dtype=np.float64)
         elif self.obs_type == "pixels":
             observation_space = gym.spaces.Box(low=0, high=255, shape=image_shape, dtype=np.uint8)
         elif self.obs_type == "pixels_agent_pos":
@@ -119,7 +119,7 @@ def _initialize_observation_space(self):
                 {
                     "pixels": gym.spaces.Box(low=0, high=255, shape=image_shape, dtype=np.uint8),
                     "agent_pos": gym.spaces.Box(
-                        low=-np.inf, high=np.inf, shape=obs["agent_pos"].shape, dtype=np.float64
+                        low=-1000.0, high=1000.0, shape=obs["agent_pos"].shape, dtype=np.float64
                     ),
                 }
             )
diff --git a/gym_xarm/tasks/lift.py b/gym_xarm/tasks/lift.py
index 4ecd0c2..00457b0 100644
--- a/gym_xarm/tasks/lift.py
+++ b/gym_xarm/tasks/lift.py
@@ -78,8 +78,8 @@ def _sample_goal(self):
 
         # Object
         object_pos = self.center_of_table - np.array([0.15, 0.10, 0.07])
-        object_pos[0] += self.np_random.uniform(-0.05, 0.05, size=1)
-        object_pos[1] += self.np_random.uniform(-0.05, 0.05, size=1)
+        object_pos[0] += self.np_random.uniform(-0.05, 0.05)
+        object_pos[1] += self.np_random.uniform(-0.05, 0.05)
         object_qpos = self._utils.get_joint_qpos(self.model, self.data, "object_joint0")
         object_qpos[:3] = object_pos
         self._utils.set_joint_qpos(self.model, self.data, "object_joint0", object_qpos)