diff --git a/alr_envs/classic_control/utils.py b/alr_envs/classic_control/utils.py
index f2ead72..3540ad2 100644
--- a/alr_envs/classic_control/utils.py
+++ b/alr_envs/classic_control/utils.py
@@ -1,6 +1,7 @@
 from alr_envs.classic_control.hole_reacher import HoleReacher
 from alr_envs.classic_control.viapoint_reacher import ViaPointReacher
 from alr_envs.utils.dmp_env_wrapper import DmpEnvWrapper
+from alr_envs.utils.detpmp_env_wrapper import DetPMPEnvWrapper
 
 
 def make_viapointreacher_env(rank, seed=0):
@@ -53,7 +54,7 @@ def make_holereacher_env(rank, seed=0):
                            hole_width=0.15,
                            hole_depth=1,
                            hole_x=1,
-                           collision_penalty=100000)
+                           collision_penalty=1000)
 
         _env = DmpEnvWrapper(_env,
                              num_dof=5,
@@ -66,6 +67,46 @@ def make_holereacher_env(rank, seed=0):
                              policy_type="velocity",
                              weights_scale=100,
                              )
+
+        _env.seed(seed + rank)
+        return _env
+
+    return _init
+
+
+def make_holereacher_env_pmp(rank, seed=0):
+    """
+    Utility function for multiprocessed env.
+
+    :param env_id: (str) the environment ID
+    :param num_env: (int) the number of environments you wish to have in subprocesses
+    :param seed: (int) the initial seed for RNG
+    :param rank: (int) index of the subprocess
+    :returns a function that generates an environment
+    """
+
+    def _init():
+        _env = HoleReacher(num_links=5,
+                           allow_self_collision=False,
+                           allow_wall_collision=False,
+                           hole_width=0.15,
+                           hole_depth=1,
+                           hole_x=1,
+                           collision_penalty=1000)
+
+        _env = DetPMPEnvWrapper(_env,
+                                num_dof=5,
+                                num_basis=5,
+                                width=0.005,
+                                policy_type="velocity",
+                                start_pos=_env.start_pos,
+                                duration=2,
+                                post_traj_time=0,
+                                dt=_env.dt,
+                                weights_scale=0.15,
+                                zero_start=True,
+                                zero_goal=False
+                                )
         _env.seed(seed + rank)
         return _env
 
diff --git a/alr_envs/mujoco/ball_in_a_cup/utils.py b/alr_envs/mujoco/ball_in_a_cup/utils.py
index d65b1fe..876875c 100644
--- a/alr_envs/mujoco/ball_in_a_cup/utils.py
+++ b/alr_envs/mujoco/ball_in_a_cup/utils.py
@@ -60,7 +60,7 @@ def make_env(rank, seed=0):
                                duration=3.5,
                                post_traj_time=4.5,
                                dt=env.dt,
-                               weights_scale=0.15,
+                               weights_scale=0.25,
                                zero_start=True,
                                zero_goal=True
                                )
diff --git a/alr_envs/utils/detpmp_env_wrapper.py b/alr_envs/utils/detpmp_env_wrapper.py
index 3e72c06..f49862e 100644
--- a/alr_envs/utils/detpmp_env_wrapper.py
+++ b/alr_envs/utils/detpmp_env_wrapper.py
@@ -34,7 +34,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
         self.post_traj_steps = int(post_traj_time / dt)
 
         self.start_pos = start_pos
-        self.zero_centered = zero_start
+        self.zero_start = zero_start
 
         policy_class = get_policy_class(policy_type)
         self.policy = policy_class(env)
@@ -55,7 +55,7 @@ class DetPMPEnvWrapper(gym.Wrapper):
         params = np.reshape(params, newshape=(self.num_basis, self.num_dof)) * self.weights_scale
         self.pmp.set_weights(self.duration, params)
         t, des_pos, des_vel, des_acc = self.pmp.compute_trajectory(1 / self.dt, 1.)
-        if self.zero_centered:
+        if self.zero_start:
             des_pos += self.start_pos[None, :]
 
         if self.post_traj_steps > 0: