diff --git a/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl b/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl
index 99ac5b8..25a5c8c 100644
--- a/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl
+++ b/src/RL/Envs/LocalCOMWithAdditionalShapeRewardEnv.jl
@@ -114,8 +114,8 @@ function state_update_hook!(
 
     distance_to_local_center_of_mass_sum = 0.0
 
-    for id in 1:n_particles
-        n_neighbours = env_helper.n_neighbours[id]
+    for particle_id in 1:n_particles
+        n_neighbours = env_helper.n_neighbours[particle_id]
 
         if n_neighbours == 0
             state_id = env.shared.n_states
@@ -124,20 +124,14 @@ function state_update_hook!(
                 env_helper.max_distance_to_local_center_of_mass
         else
             vec_to_local_center_of_mass =
-                env_helper.vec_to_neighbour_sums[id] / n_neighbours
-
+                env_helper.vec_to_neighbour_sums[particle_id] / n_neighbours
             distance = ReCo.norm2d(vec_to_local_center_of_mass)
-
-            env_helper.distances_to_local_center_of_mass[id] = distance
-
+            env_helper.distances_to_local_center_of_mass[particle_id] = distance
             distance_to_local_center_of_mass_sum += distance
-
             distance_state_ind = find_state_ind(distance, env.distance_state_space)
 
-            si, co = sincos(particles[id].φ)
-
+            si, co = sincos(particles[particle_id].φ)
             direction_angle = ReCo.angle2(SVector(co, si), vec_to_local_center_of_mass)
-
             direction_state_ind = find_state_ind(
                 direction_angle, env.direction_angle_state_space
             )
@@ -145,7 +139,7 @@ function state_update_hook!(
             state_id = env.shared.state_id_tensor[distance_state_ind, direction_state_ind]
         end
 
-        env_helper.shared.states_id[id] = state_id
+        env_helper.shared.states_id[particle_id] = state_id
     end
 
     mean_distance_to_local_center_of_mass =
@@ -171,16 +165,14 @@ function update_reward!(
     env_helper::LocalCOMWithAdditionalShapeRewardEnvHelper,
     particle::ReCo.Particle,
 )
-    id = particle.id
-
     normalization = env_helper.shared.n_particles # TODO: Add factor from steps
-    n_neighbours = env_helper.n_neighbours[id]
+    n_neighbours = env_helper.n_neighbours[particle.id]
 
     if n_neighbours == 0
         env.shared.reward = 0.0
     else
         reward = minimizing_reward(
-            env_helper.distances_to_local_center_of_mass[id],
+            env_helper.distances_to_local_center_of_mass[particle.id],
             env_helper.max_distance_to_local_center_of_mass,
         )
 
diff --git a/src/RL/Envs/OriginEnv.jl b/src/RL/Envs/OriginEnv.jl
new file mode 100644
index 0000000..1b92e5c
--- /dev/null
+++ b/src/RL/Envs/OriginEnv.jl
@@ -0,0 +1,105 @@
+export OriginEnv
+
+using ..ReCo: ReCo
+
+struct OriginEnv <: Env
+    shared::EnvSharedProps
+
+    distance_state_space::Vector{Interval}
+    direction_angle_state_space::Vector{Interval}
+
+    function OriginEnv(;
+        n_distance_states::Int64=4, n_direction_angle_states::Int64=3, args
+    )
+        @assert n_distance_states > 1
+        @assert n_direction_angle_states > 1
+
+        direction_angle_state_space = gen_angle_state_space(n_direction_angle_states)
+
+        min_distance = 0.0
+        max_distance = sqrt(2) * args.half_box_len
+
+        distance_state_space = gen_distance_state_space(
+            min_distance, max_distance, n_distance_states
+        )
+
+        n_states = n_distance_states * n_direction_angle_states
+
+        shared = EnvSharedProps(n_states, (n_distance_states, n_direction_angle_states))
+
+        return new(shared, distance_state_space, direction_angle_state_space)
+    end
+end
+
+mutable struct OriginEnvHelper <: EnvHelper
+    shared::EnvHelperSharedProps
+
+    distances_to_origin::Vector{Float64}
+    max_distance_to_origin::Float64
+
+    half_box_len::Float64
+
+    function OriginEnvHelper(shared::EnvHelperSharedProps, half_box_len::Float64)
+        max_distance_to_origin = sqrt(2) * half_box_len
+
+        return new(
+            shared,
+            fill(SVector(0.0, 0.0), shared.n_particles),
+            max_distance_to_origin,
+            half_box_len,
+        )
+    end
+end
+
+function gen_env_helper(::OriginEnv, env_helper_shared::EnvHelperSharedProps; args)
+    return OriginEnvHelper(env_helper_shared, args.half_box_len)
+end
+
+function pre_integration_hook!(::OriginEnvHelper)
+    return nothing
+end
+
+function state_update_helper_hook!(
+    ::OriginEnvHelper, id1::Int64, id2::Int64, r⃗₁₂::SVector{2,Float64}
+)
+    return nothing
+end
+
+function state_update_hook!(env_helper::OriginEnvHelper, particles::Vector{ReCo.Particle})
+    n_particles = env_helper.shared.n_particles
+
+    env = env_helper.shared.env
+
+    for particle_id in 1:n_particles
+        vec_to_origin = -particles[particle_id].c
+        distance_to_origin = ReCo.norm2d(vec_to_origin)
+        env_helper.distances_to_origin[particle_id] = distance_to_origin
+        distance_state_ind = find_state_ind(distance_to_origin, env.distance_state_space)
+
+        si, co = sincos(particles[particle_id].φ)
+        direction_angle = ReCo.angle2(SVector(co, si), vec_to_origin)
+        direction_state_ind = find_state_ind(
+            direction_angle, env.direction_angle_state_space
+        )
+
+        state_id = env.shared.state_id_tensor[distance_state_ind, direction_state_ind]
+
+        env_helper.shared.states_id[particle_id] = state_id
+    end
+
+    return nothing
+end
+
+function update_reward!(
+    env::OriginEnv, env_helper::OriginEnvHelper, particle::ReCo.Particle
+)
+    normalization = env_helper.shared.n_particles # TODO: Add factor from steps
+
+    reward = minimizing_reward(
+        env_helper.distances_to_origin[particle.id], env_helper.max_distance_to_origin
+    )
+
+    env.shared.reward = reward / normalization
+
+    return nothing
+end
\ No newline at end of file
diff --git a/src/RL/RL.jl b/src/RL/RL.jl
index 5570df1..25ba548 100644
--- a/src/RL/RL.jl
+++ b/src/RL/RL.jl
@@ -1,6 +1,6 @@
 module RL
 
-export run_rl, LocalCOMWithAdditionalShapeRewardEnv
+export run_rl, LocalCOMWithAdditionalShapeRewardEnv, OriginEnv
 
 using Base: OneTo
 
@@ -141,5 +141,6 @@ function run_rl(;
 end
 
 include("Envs/LocalCOMWithAdditionalShapeRewardEnv.jl")
+include("Envs/OriginEnv.jl")
 
 end # module
\ No newline at end of file