diff --git a/alr_envs/__init__.py b/alr_envs/__init__.py
index 9fb3ae2..5664d7c 100644
--- a/alr_envs/__init__.py
+++ b/alr_envs/__init__.py
@@ -236,7 +236,7 @@ for v in versions:
             "mp_kwargs": {
                 "num_dof": 2 if "long" not in v.lower() else 5,
                 "num_basis": 5,
-                "duration": 2,
+                "duration": 20,
                 "width": 0.025,
                 "policy_type": "velocity",
                 "weights_scale": 0.2,
@@ -492,7 +492,7 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append("dmc_reacher-hard_detpmp-v0")
 
-dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse", "two_poles", "three_poles"]
+dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse"]
 
 for task in dmc_cartpole_tasks:
     env_id = f'dmc_cartpole-{task}_dmp-v0'
@@ -552,6 +552,120 @@ for task in dmc_cartpole_tasks:
     )
     ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
 
+env_id = f'dmc_cartpole-two_poles_dmp-v0'
+register(
+    id=env_id,
+    entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
+    # max_episode_steps=1,
+    kwargs={
+        "name": f"cartpole-two_poles",
+        # "time_limit": 1,
+        "camera_id": 0,
+        "episode_length": 1000,
+        "wrappers": [dmc.suite.cartpole.TwoPolesMPWrapper],
+        "mp_kwargs": {
+            "num_dof": 1,
+            "num_basis": 5,
+            "duration": 10,
+            "learn_goal": True,
+            "alpha_phase": 2,
+            "bandwidth_factor": 2,
+            "policy_type": "motor",
+            "weights_scale": 50,
+            "goal_scale": 0.1,
+            "policy_kwargs": {
+                "p_gains": 10,
+                "d_gains": 10
+            }
+        }
+    }
+)
+ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
+
+env_id = f'dmc_cartpole-two_poles_detpmp-v0'
+register(
+    id=env_id,
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": f"cartpole-two_poles",
+        # "time_limit": 1,
+        "camera_id": 0,
+        "episode_length": 1000,
+        "wrappers": [dmc.suite.cartpole.TwoPolesMPWrapper],
+        "mp_kwargs": {
+            "num_dof": 1,
+            "num_basis": 5,
+            "duration": 10,
+            "width": 0.025,
+            "policy_type": "motor",
+            "weights_scale": 0.2,
+            "zero_start": True,
+            "policy_kwargs": {
+                "p_gains": 10,
+                "d_gains": 10
+            }
+        }
+    }
+)
+ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
+
+env_id = f'dmc_cartpole-three_poles_dmp-v0'
+register(
+    id=env_id,
+    entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
+    # max_episode_steps=1,
+    kwargs={
+        "name": f"cartpole-three_poles",
+        # "time_limit": 1,
+        "camera_id": 0,
+        "episode_length": 1000,
+        "wrappers": [dmc.suite.cartpole.ThreePolesMPWrapper],
+        "mp_kwargs": {
+            "num_dof": 1,
+            "num_basis": 5,
+            "duration": 10,
+            "learn_goal": True,
+            "alpha_phase": 2,
+            "bandwidth_factor": 2,
+            "policy_type": "motor",
+            "weights_scale": 50,
+            "goal_scale": 0.1,
+            "policy_kwargs": {
+                "p_gains": 10,
+                "d_gains": 10
+            }
+        }
+    }
+)
+ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(env_id)
+
+env_id = f'dmc_cartpole-three_poles_detpmp-v0'
+register(
+    id=env_id,
+    entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
+    kwargs={
+        "name": f"cartpole-three_poles",
+        # "time_limit": 1,
+        "camera_id": 0,
+        "episode_length": 1000,
+        "wrappers": [dmc.suite.cartpole.ThreePolesMPWrapper],
+        "mp_kwargs": {
+            "num_dof": 1,
+            "num_basis": 5,
+            "duration": 10,
+            "width": 0.025,
+            "policy_type": "motor",
+            "weights_scale": 0.2,
+            "zero_start": True,
+            "policy_kwargs": {
+                "p_gains": 10,
+                "d_gains": 10
+            }
+        }
+    }
+)
+ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DetPMP"].append(env_id)
+
 ### Manipulation
 
 register(
@@ -758,7 +872,7 @@ for task in object_change_envs:
         id=env_id,
         entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
         kwargs={
-            "name": env_id,
+            "name": task,
             "wrappers": [meta.object_change.MPWrapper],
             "mp_kwargs": {
                 "num_dof": 4,
@@ -792,7 +906,7 @@ for task in goal_and_object_change_envs:
         id=env_id,
         entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
         kwargs={
-            "name": env_id,
+            "name": task,
             "wrappers": [meta.goal_and_object_change.MPWrapper],
             "mp_kwargs": {
                 "num_dof": 4,
@@ -816,7 +930,7 @@ for task in goal_and_endeffector_change_envs:
         id=env_id,
         entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
         kwargs={
-            "name": env_id,
+            "name": task,
             "wrappers": [meta.goal_and_endeffector_change.MPWrapper],
             "mp_kwargs": {
                 "num_dof": 4,
diff --git a/alr_envs/dmc/__init__.py b/alr_envs/dmc/__init__.py
index c5a343d..b1cf281 100644
--- a/alr_envs/dmc/__init__.py
+++ b/alr_envs/dmc/__init__.py
@@ -1,4 +1,3 @@
-# from alr_envs.dmc import manipulation, suite
 from alr_envs.dmc.suite import ball_in_cup
 from alr_envs.dmc.suite import reacher
 from alr_envs.dmc.suite import cartpole
diff --git a/alr_envs/dmc/manipulation/__init__.py b/alr_envs/dmc/manipulation/__init__.py
index e69de29..5d17d4d 100644
--- a/alr_envs/dmc/manipulation/__init__.py
+++ b/alr_envs/dmc/manipulation/__init__.py
@@ -0,0 +1 @@
+from alr_envs.dmc.manipulation import reach
diff --git a/alr_envs/dmc/suite/__init__.py b/alr_envs/dmc/suite/__init__.py
index e69de29..f889cad 100644
--- a/alr_envs/dmc/suite/__init__.py
+++ b/alr_envs/dmc/suite/__init__.py
@@ -0,0 +1 @@
+from alr_envs.dmc.suite import cartpole, ball_in_cup, reacher
diff --git a/alr_envs/dmc/suite/cartpole/__init__.py b/alr_envs/dmc/suite/cartpole/__init__.py
index 823077a..c5f9bee 100644
--- a/alr_envs/dmc/suite/cartpole/__init__.py
+++ b/alr_envs/dmc/suite/cartpole/__init__.py
@@ -1,3 +1,3 @@
 from .mp_wrapper import MPWrapper
 from .mp_wrapper import TwoPolesMPWrapper
-from .mp_wrapper import ThreePolesMPWrapper
\ No newline at end of file
+from .mp_wrapper import ThreePolesMPWrapper
diff --git a/alr_envs/utils/make_env_helpers.py b/alr_envs/utils/make_env_helpers.py
index 466f7cf..755b8ce 100644
--- a/alr_envs/utils/make_env_helpers.py
+++ b/alr_envs/utils/make_env_helpers.py
@@ -1,5 +1,4 @@
-import logging
-from typing import Iterable, List, Type, Union
+from typing import Iterable, Type, Union
 
 import gym
 import numpy as np
diff --git a/test/test_envs.py b/test/test_envs.py
index 8c21295..bf12693 100644
--- a/test/test_envs.py
+++ b/test/test_envs.py
@@ -99,6 +99,12 @@ class TestEnvironments(unittest.TestCase):
                     self.assertEqual(rwd1, rwd2, f"Rewards [{i}] {rwd1} and {rwd2} do not match.")
                     self.assertEqual(done1, done2, f"Dones [{i}] {done1} and {done2} do not match.")
 
+    def test_environment_functionality_meta(self):
+        """Tests that environments runs without errors using random actions."""
+        for id in alr_envs.ALL_METAWORLD_MOTION_PRIMITIVE_ENVIRONMENTS['DetPMP']:
+            with self.subTest(msg=id):
+                self._run_env(id)
+
 
 if __name__ == '__main__':
     unittest.main()