diff --git a/fancy_gym/black_box/factory/basis_generator_factory.py b/fancy_gym/black_box/factory/basis_generator_factory.py
index 4601953..53e1940 100644
--- a/fancy_gym/black_box/factory/basis_generator_factory.py
+++ b/fancy_gym/black_box/factory/basis_generator_factory.py
@@ -1,4 +1,5 @@
-from mp_pytorch.basis_gn import NormalizedRBFBasisGenerator, ZeroPaddingNormalizedRBFBasisGenerator
+from mp_pytorch.basis_gn import NormalizedRBFBasisGenerator, ZeroPaddingNormalizedRBFBasisGenerator, \
+    ProDMPBasisGenerator
 from mp_pytorch.phase_gn import PhaseGenerator
 
 ALL_TYPES = ["rbf", "zero_rbf", "rhythmic"]
@@ -10,6 +11,10 @@ def get_basis_generator(basis_generator_type: str, phase_generator: PhaseGenerat
         return NormalizedRBFBasisGenerator(phase_generator, **kwargs)
     elif basis_generator_type == "zero_rbf":
         return ZeroPaddingNormalizedRBFBasisGenerator(phase_generator, **kwargs)
+    elif basis_generator_type == "prodmp":
+        from mp_pytorch.phase_gn import ExpDecayPhaseGenerator
+        assert isinstance(phase_generator, ExpDecayPhaseGenerator)
+        return ProDMPBasisGenerator(phase_generator, **kwargs)
     elif basis_generator_type == "rhythmic":
         raise NotImplementedError()
         # return RhythmicBasisGenerator(phase_generator, **kwargs)
diff --git a/fancy_gym/dmc/__init__.py b/fancy_gym/dmc/__init__.py
index 22ae47f..397e6fa 100644
--- a/fancy_gym/dmc/__init__.py
+++ b/fancy_gym/dmc/__init__.py
@@ -2,7 +2,7 @@ from copy import deepcopy
 
 from . import manipulation, suite
 
-ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
+ALL_DMC_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
 
 from gym.envs.registration import register
 
diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py
index 9f0299e..2e8d61e 100644
--- a/fancy_gym/envs/__init__.py
+++ b/fancy_gym/envs/__init__.py
@@ -17,7 +17,7 @@ from .mujoco.hopper_throw.hopper_throw_in_basket import MAX_EPISODE_STEPS_HOPPER
 from .mujoco.reacher.reacher import ReacherEnv, MAX_EPISODE_STEPS_REACHER
 from .mujoco.walker_2d_jump.walker_2d_jump import MAX_EPISODE_STEPS_WALKERJUMP
 
-ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
+ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
 
 DEFAULT_BB_DICT_ProMP = {
     "name": 'EnvName',
@@ -205,7 +205,6 @@ register(
     max_episode_steps=FIXED_RELEASE_STEP,
 )
 
-
 # movement Primitive Environments
 
 ## Simple Reacher
diff --git a/fancy_gym/meta/README.MD b/fancy_gym/meta/README.MD
index c8d9cd1..1664cb0 100644
--- a/fancy_gym/meta/README.MD
+++ b/fancy_gym/meta/README.MD
@@ -1,6 +1,6 @@
 # MetaWorld Wrappers
 
-These are the Environment Wrappers for selected [Metaworld](https://meta-world.github.io/) environments in order to use our Motion Primitive gym interface with them. 
+These are the Environment Wrappers for selected [Metaworld](https://meta-world.github.io/) environments in order to use our Movement Primitive gym interface with them. 
 All Metaworld environments have a 39 dimensional observation space with the same structure. The tasks differ only in the objective and the initial observations that are randomized. 
 Unused observations are zeroed out. E.g. for `Button-Press-v2` the observation mask looks the following:
 ```python
diff --git a/fancy_gym/meta/__init__.py b/fancy_gym/meta/__init__.py
index 04438f4..4fb23b2 100644
--- a/fancy_gym/meta/__init__.py
+++ b/fancy_gym/meta/__init__.py
@@ -5,7 +5,7 @@ from gym import register
 from . import goal_object_change_mp_wrapper, goal_change_mp_wrapper, goal_endeffector_change_mp_wrapper, \
     object_change_mp_wrapper
 
-ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
+ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
 
 # MetaWorld
 
@@ -28,11 +28,31 @@ DEFAULT_BB_DICT_ProMP = {
     }
 }
 
+DEFAULT_BB_DICT_ProDMP = {
+    "name": 'EnvName',
+    "wrappers": [],
+    "trajectory_generator_kwargs": {
+        'trajectory_generator_type': 'prodmp'
+    },
+    "phase_generator_kwargs": {
+        'phase_generator_type': 'exp'
+    },
+    "controller_kwargs": {
+        'controller_type': 'metaworld',
+    },
+    "basis_generator_kwargs": {
+        'basis_generator_type': 'prodmp',
+        'num_basis': 5
+    }
+}
+
 _goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",
                      "plate-slide-side-v2", "plate-slide-back-side-v2"]
 for _task in _goal_change_envs:
     task_id_split = _task.split("-")
     name = "".join([s.capitalize() for s in task_id_split[:-1]])
+
+    # ProMP
     _env_id = f'{name}ProMP-{task_id_split[-1]}'
     kwargs_dict_goal_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
     kwargs_dict_goal_change_promp['wrappers'].append(goal_change_mp_wrapper.MPWrapper)
@@ -45,10 +65,25 @@ for _task in _goal_change_envs:
     )
     ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
+    # ProDMP
+    _env_id = f'{name}ProDMP-{task_id_split[-1]}'
+    kwargs_dict_goal_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
+    kwargs_dict_goal_change_prodmp['wrappers'].append(goal_change_mp_wrapper.MPWrapper)
+    kwargs_dict_goal_change_prodmp['name'] = f'metaworld:{_task}'
+
+    register(
+        id=_env_id,
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
+        kwargs=kwargs_dict_goal_change_prodmp
+    )
+    ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
+
 _object_change_envs = ["bin-picking-v2", "hammer-v2", "sweep-into-v2"]
 for _task in _object_change_envs:
     task_id_split = _task.split("-")
     name = "".join([s.capitalize() for s in task_id_split[:-1]])
+
+    # ProMP
     _env_id = f'{name}ProMP-{task_id_split[-1]}'
     kwargs_dict_object_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
     kwargs_dict_object_change_promp['wrappers'].append(object_change_mp_wrapper.MPWrapper)
@@ -60,6 +95,18 @@ for _task in _object_change_envs:
     )
     ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
+    # ProDMP
+    _env_id = f'{name}ProDMP-{task_id_split[-1]}'
+    kwargs_dict_object_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
+    kwargs_dict_object_change_prodmp['wrappers'].append(object_change_mp_wrapper.MPWrapper)
+    kwargs_dict_object_change_prodmp['name'] = f'metaworld:{_task}'
+    register(
+        id=_env_id,
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
+        kwargs=kwargs_dict_object_change_prodmp
+    )
+    ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
+
 _goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press-wall-v2", "button-press-topdown-v2",
                                 "button-press-topdown-wall-v2", "coffee-button-v2", "coffee-pull-v2",
                                 "coffee-push-v2", "dial-turn-v2", "disassemble-v2", "door-close-v2",
@@ -74,6 +121,8 @@ _goal_and_object_change_envs = ["box-close-v2", "button-press-v2", "button-press
 for _task in _goal_and_object_change_envs:
     task_id_split = _task.split("-")
     name = "".join([s.capitalize() for s in task_id_split[:-1]])
+
+    # ProMP
     _env_id = f'{name}ProMP-{task_id_split[-1]}'
     kwargs_dict_goal_and_object_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
     kwargs_dict_goal_and_object_change_promp['wrappers'].append(goal_object_change_mp_wrapper.MPWrapper)
@@ -86,10 +135,26 @@ for _task in _goal_and_object_change_envs:
     )
     ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
+    # ProDMP
+    _env_id = f'{name}ProDMP-{task_id_split[-1]}'
+    kwargs_dict_goal_and_object_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
+    kwargs_dict_goal_and_object_change_prodmp['wrappers'].append(goal_object_change_mp_wrapper.MPWrapper)
+    kwargs_dict_goal_and_object_change_prodmp['name'] = f'metaworld:{_task}'
+
+    register(
+        id=_env_id,
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
+        kwargs=kwargs_dict_goal_and_object_change_prodmp
+    )
+    ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
+
+
 _goal_and_endeffector_change_envs = ["basketball-v2"]
 for _task in _goal_and_endeffector_change_envs:
     task_id_split = _task.split("-")
     name = "".join([s.capitalize() for s in task_id_split[:-1]])
+
+    # ProMP
     _env_id = f'{name}ProMP-{task_id_split[-1]}'
     kwargs_dict_goal_and_endeffector_change_promp = deepcopy(DEFAULT_BB_DICT_ProMP)
     kwargs_dict_goal_and_endeffector_change_promp['wrappers'].append(goal_endeffector_change_mp_wrapper.MPWrapper)
@@ -101,3 +166,16 @@ for _task in _goal_and_endeffector_change_envs:
         kwargs=kwargs_dict_goal_and_endeffector_change_promp
     )
     ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
+
+    # ProDMP
+    _env_id = f'{name}ProDMP-{task_id_split[-1]}'
+    kwargs_dict_goal_and_endeffector_change_prodmp = deepcopy(DEFAULT_BB_DICT_ProDMP)
+    kwargs_dict_goal_and_endeffector_change_prodmp['wrappers'].append(goal_endeffector_change_mp_wrapper.MPWrapper)
+    kwargs_dict_goal_and_endeffector_change_prodmp['name'] = f'metaworld:{_task}'
+
+    register(
+        id=_env_id,
+        entry_point='fancy_gym.utils.make_env_helpers:make_bb_env_helper',
+        kwargs=kwargs_dict_goal_and_endeffector_change_prodmp
+    )
+    ALL_METAWORLD_MOVEMENT_PRIMITIVE_ENVIRONMENTS["ProDMP"].append(_env_id)
diff --git a/fancy_gym/open_ai/__init__.py b/fancy_gym/open_ai/__init__.py
index 3e0b770..ca87c84 100644
--- a/fancy_gym/open_ai/__init__.py
+++ b/fancy_gym/open_ai/__init__.py
@@ -5,7 +5,7 @@ from gym import register
 from . import mujoco
 from .deprecated_needs_gym_robotics import robotics
 
-ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
+ALL_GYM_MOVEMENT_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": [], "ProDMP": []}
 
 DEFAULT_BB_DICT_ProMP = {
     "name": 'EnvName',