diff --git a/fancy_gym/black_box/black_box_wrapper.py b/fancy_gym/black_box/black_box_wrapper.py
index a8baa84..ad79fc9 100644
--- a/fancy_gym/black_box/black_box_wrapper.py
+++ b/fancy_gym/black_box/black_box_wrapper.py
@@ -194,7 +194,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
                 if done or self.replanning_schedule(current_pos, current_vel, obs, c_action,
                                                     t + 1 + self.current_traj_steps):
 
-                    if self.max_planning_times is not None and self.plan_steps >= self.max_planning_times:
+                    if not done and self.max_planning_times is not None and self.plan_steps >= self.max_planning_times:
                         continue
 
                     self.condition_pos = pos if self.condition_on_desired else None
diff --git a/fancy_gym/examples/examples_movement_primitives.py b/fancy_gym/examples/examples_movement_primitives.py
index 7ac6c69..a58d08b 100644
--- a/fancy_gym/examples/examples_movement_primitives.py
+++ b/fancy_gym/examples/examples_movement_primitives.py
@@ -162,11 +162,11 @@ if __name__ == '__main__':
     # ProMP
     # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
     # example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
-    example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
+    # example_mp("TableTennis4DProMP-v0", seed=10, iterations=20, render=render)
 
     # ProDMP
     # example_mp("BoxPushingDenseReplanProDMP-v0", seed=10, iterations=4, render=render)
-
+    example_mp("TableTennis4DProDMP-v0", seed=10, iterations=20, render=render)
     # Altered basis functions
     # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)