diff --git a/brax/envs/inverted_double_pendulum.py b/brax/envs/inverted_double_pendulum.py
index b7dd2b603..d296a84d1 100644
--- a/brax/envs/inverted_double_pendulum.py
+++ b/brax/envs/inverted_double_pendulum.py
@@ -62,7 +62,7 @@ class InvertedDoublePendulum(PipelineEnv):
   pendulum system, followed by the velocities of those individual parts (their
   derivatives) with all the positions ordered before all the velocities.
 
-  The observation is a `ndarray` with shape `(11,)` where the elements
+  The observation is a `ndarray` with shape `(8,)` where the elements
   correspond to the following:
 
   | Num | Observation                                                       |
@@ -96,9 +96,19 @@ class InvertedDoublePendulum(PipelineEnv):
 
   ### Rewards
 
-  The goal is to make the inverted pendulum stand upright (within a certain
-  angle limit) as long as possible - as such a reward of +1 is awarded for each
-  timestep that the pole is upright.
+  The total reward is: ***reward*** *=* *alive_bonus - distance_penalty - velocity_penalty*.
+
+    - *alive_bonus*:
+    Every timestep that the Inverted Pendulum is healthy (see definition in section "Episode Termination"),
+    it gets a reward of fixed value `healthy_reward` (default is $10$).
+    - *distance_penalty*:
+    This reward is a measure of how far the *tip* of the second pendulum (the only free end) moves,
+    and it is calculated as $0.01 x_{pole2-tip}^2 + (y_{pole2-tip}-2)^2$,
+    where $x_{pole2-tip}, y_{pole2-tip}$ are the xy-coordinatesof the tip of the second pole.
+    - *velocity_penalty*:
+    A negative reward to penalize the agent for moving too fast.
+    $10^{-3} \omega_1 + 5 \times 10^{-3} \omega_2$,
+    where $\omega_1, \omega_2$ are the angular velocities of the hinges.
 
   ### Starting State
 
@@ -107,11 +117,11 @@ class InvertedDoublePendulum(PipelineEnv):
 
   ### Episode Termination
 
-  The episode terminates when any of the following happens:
-
-  1. The episode duration reaches 1000 timesteps.
-  2. The absolute value of the vertical angle between the pole and the cart is
-  greater than 0.2 radians.
+  The episode terminates when the  y_coordinate of the tip of the second 
+  pole $\leq 1$.
+  
+  Note: The maximum standing height of the system is 1.2 m when all the parts 
+  are perpendicularly vertical on top of each other.
   """
   # pyformat: enable
 
@@ -152,18 +162,19 @@ def step(self, state: State, action: jax.Array) -> State:
     """Run one timestep of the environment's dynamics."""
     pipeline_state = self.pipeline_step(state.pipeline_state, action)
 
-    tip = base.Transform.create(pos=jp.array([0.0, 0.0, 0.6])).do(
-        pipeline_state.x.take(2)
+    tip = pipeline_state.x.take(2).do(
+      base.Transform.create(pos=jp.array([0.0, 0.0, 0.6]))
     )
     x, _, y = tip.pos
-    dist_penalty = 0.01 * x**2 + (y - 2) ** 2
     v1, v2 = pipeline_state.qd[1:]
+    
+    dist_penalty = 0.01 * x**2 + (y - 2) ** 2
     vel_penalty = 1e-3 * v1**2 + 5e-3 * v2**2
     alive_bonus = 10
 
     obs = self._get_obs(pipeline_state)
-    reward = alive_bonus - dist_penalty - vel_penalty
     done = jp.where(y <= 1, jp.float32(1), jp.float32(0))
+    reward = (1 - done) * alive_bonus - dist_penalty - vel_penalty
 
     return state.replace(
         pipeline_state=pipeline_state, obs=obs, reward=reward, done=done