diff --git a/fancy_gym/envs/registry.py b/fancy_gym/envs/registry.py
index 0172eaa..9e37fcc 100644
--- a/fancy_gym/envs/registry.py
+++ b/fancy_gym/envs/registry.py
@@ -15,14 +15,21 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 class DefaultMPWrapper(RawInterfaceWrapper):
     @property
     def context_mask(self):
+        # If the env already defines a context_mask, we will use that
+        if hasattr(self.env, 'context_mask'):
+            return self.env.context_mask
+
+        # Otherwise we will use the whole observation as the context. (Write a custom MPWrapper to change this behavior)
         return np.full(self.env.observation_space.shape, True)
 
     @property
     def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
+        assert hasattr(self.env, 'current_pos'), 'DefaultMPWrapper was unable to access env.current_pos. Please write a custom MPWrapper (recommended) or expose this attribute directly.'
         return self.env.current_pos
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
+        assert hasattr(self.env, 'current_vel'), 'DefaultMPWrapper was unable to access env.current_vel. Please write a custom MPWrapper (recommended) or expose this attribute directly.'
         return self.env.current_vel
 
 
@@ -105,6 +112,7 @@ def register(
         mp_wrapper=DefaultMPWrapper,
         register_step_based=True,  # TODO: Detect
         add_mp_types=KNOWN_MPS,
+        mp_config_override={},
         **kwargs
 ):
     if not callable(mp_wrapper):  # mp_wrapper can be given as a String (same notation as for entry_point)
@@ -113,15 +121,15 @@ def register(
         mp_wrapper = getattr(mod, attr_name)
     if register_step_based:
         gym_register(id=id, entry_point=entry_point, **kwargs)
-    register_mps(id, mp_wrapper, add_mp_types)
+    register_mps(id, mp_wrapper, add_mp_types, mp_config_override)
 
 
-def register_mps(id, mp_wrapper, add_mp_types=KNOWN_MPS):
+def register_mps(id, mp_wrapper, add_mp_types=KNOWN_MPS, mp_config_override={}):
     for mp_type in add_mp_types:
-        register_mp(id, mp_wrapper, mp_type)
+        register_mp(id, mp_wrapper, mp_type, mp_config_override.get(mp_type, {}))
 
 
-def register_mp(id, mp_wrapper, mp_type):
+def register_mp(id, mp_wrapper, mp_type, mp_config_override={}):
     assert mp_type in KNOWN_MPS, 'Unknown mp_type'
     assert id not in ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS[mp_type], f'The environment {id} is already registered for {mp_type}.'
     parts = id.split('-')
@@ -133,13 +141,14 @@ def register_mp(id, mp_wrapper, mp_type):
         kwargs={
             'underlying_id': id,
             'mp_wrapper': mp_wrapper,
-            'mp_type': mp_type
+            'mp_type': mp_type,
+            '_mp_config_override_register': mp_config_override
         }
     )
     ALL_FANCY_MOVEMENT_PRIMITIVE_ENVIRONMENTS[mp_type].append(fancy_id)
 
 
-def bb_env_constructor(underlying_id, mp_wrapper, mp_type, mp_config_override={}, **kwargs):
+def bb_env_constructor(underlying_id, mp_wrapper, mp_type, mp_config_override={}, _mp_config_override_register={}, **kwargs):
     raw_underlying_env = gym_make(underlying_id, **kwargs)
     underlying_env = mp_wrapper(raw_underlying_env)
 
@@ -150,6 +159,7 @@ def bb_env_constructor(underlying_id, mp_wrapper, mp_type, mp_config_override={}
 
     config = copy.deepcopy(_BB_DEFAULTS[mp_type]) if inherit_defaults else {}
     nested_update(config, active_mp_config)
+    nested_update(config, _mp_config_override_register)
     nested_update(config, mp_config_override)
 
     wrappers = config.pop("wrappers")