diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py
index b5b7a16..c23e879 100644
--- a/fancy_gym/envs/__init__.py
+++ b/fancy_gym/envs/__init__.py
@@ -585,10 +585,10 @@ for _v in _versions:
     kwargs_dict_tt_prodmp['controller_kwargs']['d_gains'] = 0.5 * np.array([0.1, 0.4, 0.2, 0.4, 0.1, 0.4, 0.1])
     kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['weights_scale'] = 0.7
     kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
-    kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = False
+    kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['relative_goal'] = True
     kwargs_dict_tt_prodmp['trajectory_generator_kwargs']['disable_goal'] = True
-    kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.5, 2.0]
-    kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.02, 0.2]
+    kwargs_dict_tt_prodmp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
+    kwargs_dict_tt_prodmp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
     kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_tau'] = True
     kwargs_dict_tt_prodmp['phase_generator_kwargs']['learn_delay'] = True
     kwargs_dict_tt_prodmp['basis_generator_kwargs']['num_basis'] = 3