diff --git a/fancy_gym/black_box/black_box_wrapper.py b/fancy_gym/black_box/black_box_wrapper.py
index fb7328c..9b3e95e 100644
--- a/fancy_gym/black_box/black_box_wrapper.py
+++ b/fancy_gym/black_box/black_box_wrapper.py
@@ -50,7 +50,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         self.tracking_controller = tracking_controller
         # self.time_steps = np.linspace(0, self.duration, self.traj_steps)
         # self.traj_gen.set_mp_times(self.time_steps)
-        self.traj_gen.set_duration(self.duration - self.dt, self.dt)
+        self.traj_gen.set_duration(self.duration, self.dt)
 
         # reward computation
         self.reward_aggregation = reward_aggregation
@@ -78,11 +78,13 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         bc_time = np.array(0 if not self.do_replanning else self.current_traj_steps * self.dt)
         self.traj_gen.set_boundary_conditions(bc_time, self.current_pos, self.current_vel)
         # TODO: remove the - self.dt after Bruces fix.
-        self.traj_gen.set_duration(None if self.learn_sub_trajectories else self.duration - self.dt, self.dt)
+        self.traj_gen.set_duration(None if self.learn_sub_trajectories else self.duration, self.dt)
         # traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
         trajectory = get_numpy(self.traj_gen.get_traj_pos())
         velocity = get_numpy(self.traj_gen.get_traj_vel())
 
+        print(len(trajectory))
+
         if self.do_replanning:
             # Remove first part of trajectory as this is already over
             trajectory = trajectory[self.current_traj_steps:]
diff --git a/fancy_gym/examples/examples_movement_primitives.py b/fancy_gym/examples/examples_movement_primitives.py
index 22e95ac..3794112 100644
--- a/fancy_gym/examples/examples_movement_primitives.py
+++ b/fancy_gym/examples/examples_movement_primitives.py
@@ -106,31 +106,31 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 
     """
 
-    base_env_id = "HoleReacher-v0"
+    base_env_id = "Reacher5d-v0"
 
     # Replace this wrapper with the custom wrapper for your environment by inheriting from the RawInterfaceWrapper.
     # You can also add other gym.Wrappers in case they are needed.
-    wrappers = [fancy_gym.envs.classic_control.hole_reacher.MPWrapper]
+    wrappers = [fancy_gym.envs.mujoco.reacher.MPWrapper]
 
-    # # For a ProMP
-    # trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
-    #                                'weight_scale': 2}
-    # phase_generator_kwargs = {'phase_generator_type': 'linear'}
-    # controller_kwargs = {'controller_type': 'velocity'}
-    # basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
-    #                           'num_basis': 5,
-    #                           'num_basis_zero_start': 1
-    #                           }
-
-    # For a DMP
-    trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
-                                   'weight_scale': 500}
-    phase_generator_kwargs = {'phase_generator_type': 'exp',
-                              'alpha_phase': 2.5}
+    # For a ProMP
+    trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
+                                   'weight_scale': 2}
+    phase_generator_kwargs = {'phase_generator_type': 'linear'}
     controller_kwargs = {'controller_type': 'velocity'}
-    basis_generator_kwargs = {'basis_generator_type': 'rbf',
-                              'num_basis': 5
+    basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
+                              'num_basis': 5,
+                              'num_basis_zero_start': 1
                               }
+
+    # # For a DMP
+    # trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
+    #                                'weight_scale': 500}
+    # phase_generator_kwargs = {'phase_generator_type': 'exp',
+    #                           'alpha_phase': 2.5}
+    # controller_kwargs = {'controller_type': 'velocity'}
+    # basis_generator_kwargs = {'basis_generator_type': 'rbf',
+    #                           'num_basis': 5
+    #                           }
     env = fancy_gym.make_bb(env_id=base_env_id, wrappers=wrappers, black_box_kwargs={},
                             traj_gen_kwargs=trajectory_generator_kwargs, controller_kwargs=controller_kwargs,
                             phase_kwargs=phase_generator_kwargs, basis_kwargs=basis_generator_kwargs,
@@ -155,15 +155,15 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 
 
 if __name__ == '__main__':
-    render = True
+    render = False
     # DMP
-    example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
+    # example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
     #
     # # ProMP
-    example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
+    # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
 
     # Altered basis functions
-    obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=5, render=render)
+    # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
 
     # Custom MP
     example_fully_custom_mp(seed=10, iterations=1, render=render)