diff --git a/alr_envs/alr/__init__.py b/alr_envs/alr/__init__.py
index 3182b72..f91e004 100644
--- a/alr_envs/alr/__init__.py
+++ b/alr_envs/alr/__init__.py
@@ -391,7 +391,8 @@ register(
         max_episode_steps=600,
         kwargs={
             "rndm_goal": False,
-            "cup_goal_pos": [-0.3, -1.2]
+            "cup_goal_pos": [0.1, -2.0],
+            "learn_release_step": True
         }
     )
 
@@ -403,7 +404,8 @@ register(
         max_episode_steps=600,
         kwargs={
             "rndm_goal": True,
-            "cup_goal_pos": [-0.3, -1.2]
+            "cup_goal_pos": [-0.3, -1.2],
+            "learn_release_step": True
         }
     )
 
@@ -546,34 +548,72 @@ for _v in _versions:
     )
     ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
+# ## Beerpong
+# _versions = ["v0", "v1"]
+# for _v in _versions:
+#     _env_id = f'BeerpongProMP-{_v}'
+#     register(
+#         id=_env_id,
+#         entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
+#         kwargs={
+#             "name": f"alr_envs:ALRBeerPong-{_v}",
+#             "wrappers": [mujoco.beerpong.MPWrapper],
+#             "mp_kwargs": {
+#                 "num_dof": 7,
+#                 "num_basis": 2,
+#                 # "duration": 1,
+#                 "duration": 0.5,
+#                 # "post_traj_time": 2,
+#                 "post_traj_time": 2.5,
+#                 "policy_type": "motor",
+#                 "weights_scale": 0.14,
+#                 # "weights_scale": 1,
+#                 "zero_start": True,
+#                 "zero_goal": False,
+#                 "policy_kwargs": {
+#                     "p_gains": np.array([       1.5,   5,   2.55,    3,   2.,    2,   1.25]),
+#                     "d_gains": np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125])
+#                 }
+#             }
+#         }
+#     )
+#     ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
+
 ## Beerpong
 _versions = ["v0", "v1"]
 for _v in _versions:
     _env_id = f'BeerpongProMP-{_v}'
     register(
         id=_env_id,
-        entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
+        entry_point='alr_envs.utils.make_env_helpers:make_mp_env_helper',
         kwargs={
             "name": f"alr_envs:ALRBeerPong-{_v}",
-            "wrappers": [mujoco.beerpong.MPWrapper],
-            "mp_kwargs": {
-                "num_dof": 7,
-                "num_basis": 2,
-                # "duration": 1,
-                "duration": 0.5,
-                # "post_traj_time": 2,
-                "post_traj_time": 2.5,
-                "policy_type": "motor",
-                "weights_scale": 0.14,
-                # "weights_scale": 1,
-                "zero_start": True,
-                "zero_goal": False,
-                "policy_kwargs": {
-                    "p_gains": np.array([       1.5,   5,   2.55,    3,   2.,    2,   1.25]),
-                    "d_gains": np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125])
+            "wrappers": [mujoco.beerpong.NewMPWrapper],
+            "ep_wrapper_kwargs": {
+                "weight_scale": 1
+                },
+            "movement_primitives_kwargs": {
+                'movement_primitives_type': 'promp',
+                'num_dof': 7
+                },
+            "phase_generator_kwargs": {
+                'phase_generator_type': 'linear',
+                'delay': 0,
+                'tau': 0.8,     # initial value
+                'learn_tau': True,
+                'learn_delay': False
+                },
+            "controller_kwargs": {
+                'controller_type': 'motor',
+                "p_gains": np.array([1.5, 5, 2.55, 3, 2., 2, 1.25]),
+                "d_gains": np.array([0.02333333, 0.1, 0.0625, 0.08, 0.03, 0.03, 0.0125]),
+                },
+            "basis_generator_kwargs": {
+                'basis_generator_type': 'zero_rbf',
+                'num_basis': 2,
+                'num_basis_zero_start': 2
                 }
             }
-        }
     )
     ALL_ALR_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
diff --git a/alr_envs/alr/mujoco/beerpong/__init__.py b/alr_envs/alr/mujoco/beerpong/__init__.py
index 989b5a9..18e33ce 100644
--- a/alr_envs/alr/mujoco/beerpong/__init__.py
+++ b/alr_envs/alr/mujoco/beerpong/__init__.py
@@ -1 +1,2 @@
-from .mp_wrapper import MPWrapper
\ No newline at end of file
+from .mp_wrapper import MPWrapper
+from .new_mp_wrapper import NewMPWrapper
\ No newline at end of file
diff --git a/alr_envs/alr/mujoco/beerpong/beerpong.py b/alr_envs/alr/mujoco/beerpong/beerpong.py
index f5d2bd8..661d10c 100644
--- a/alr_envs/alr/mujoco/beerpong/beerpong.py
+++ b/alr_envs/alr/mujoco/beerpong/beerpong.py
@@ -3,6 +3,7 @@ import os
 
 import numpy as np
 from gym import utils
+from gym import spaces
 from gym.envs.mujoco import MujocoEnv
 from alr_envs.alr.mujoco.beerpong.beerpong_reward_staged import BeerPongReward
 
@@ -17,7 +18,7 @@ CUP_POS_MAX = np.array([0.32, -1.2])
 
 class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
     def __init__(self, frame_skip=1, apply_gravity_comp=True, noisy=False,
-                 rndm_goal=False, cup_goal_pos=None):
+                 rndm_goal=False, learn_release_step=True, cup_goal_pos=None):
         cup_goal_pos = np.array(cup_goal_pos if cup_goal_pos is not None else [-0.3, -1.2, 0.840])
         if cup_goal_pos.shape[0]==2:
             cup_goal_pos = np.insert(cup_goal_pos, 2, 0.840)
@@ -51,10 +52,9 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
             self.noise_std = 0.01
         else:
             self.noise_std = 0
-
+        self.learn_release_step = learn_release_step
         reward_function = BeerPongReward
         self.reward_function = reward_function()
-        self.n_table_bounces_first = 0
 
         MujocoEnv.__init__(self, self.xml_path, frame_skip)
         utils.EzPickle.__init__(self)
@@ -63,6 +63,13 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
     def start_pos(self):
         return self._start_pos
 
+    def _set_action_space(self):
+        bounds = self.model.actuator_ctrlrange.copy().astype(np.float32)
+        bounds = np.concatenate((bounds, [[50, self.ep_length*0.333]]), axis=0)
+        low, high = bounds.T
+        self.action_space = spaces.Box(low=low, high=high, dtype=np.float32)
+        return self.action_space
+
     @property
     def start_vel(self):
         return self._start_vel
@@ -76,8 +83,6 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
         return self.sim.data.qvel[0:7].copy()
 
     def reset(self):
-        print(not self.reward_function.ball_ground_contact_first)
-        self.n_table_bounces_first += int(not self.reward_function.ball_ground_contact_first)
         self.reward_function.reset(self.add_noise)
         return super().reset()
 
@@ -104,14 +109,17 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
         return self._get_obs()
 
     def step(self, a):
+        self._release_step = a[-1] if self.learn_release_step else self._release_step
+        self._release_step = np.clip(self._release_step, self.action_space.low[-1], self.action_space.high[-1]) \
+            if self.learn_release_step else self._release_step
         reward_dist = 0.0
         angular_vel = 0.0
-        reward_ctrl = - np.square(a).sum()
-
+        applied_action = a[:a.shape[0]-int(self.learn_release_step)]
+        reward_ctrl = - np.square(applied_action).sum()
         if self.apply_gravity_comp:
-            a = a + self.sim.data.qfrc_bias[:len(a)].copy() / self.model.actuator_gear[:, 0]
+            applied_action += self.sim.data.qfrc_bias[:len(applied_action)].copy() / self.model.actuator_gear[:, 0]
         try:
-            self.do_simulation(a, self.frame_skip)
+            self.do_simulation(applied_action, self.frame_skip)
             if self._steps < self._release_step:
                 self.sim.data.qpos[7::] = self.sim.data.site_xpos[self.ball_site_id, :].copy()
                 self.sim.data.qvel[7::] = self.sim.data.site_xvelp[self.ball_site_id, :].copy()
@@ -125,7 +133,7 @@ class ALRBeerBongEnv(MujocoEnv, utils.EzPickle):
         ob = self._get_obs()
 
         if not crash:
-            reward, reward_infos = self.reward_function.compute_reward(self, a)
+            reward, reward_infos = self.reward_function.compute_reward(self, applied_action)
             success = reward_infos['success']
             is_collided = reward_infos['is_collided']
             ball_pos = reward_infos['ball_pos']
diff --git a/alr_envs/alr/mujoco/beerpong/beerpong_reward_staged.py b/alr_envs/alr/mujoco/beerpong/beerpong_reward_staged.py
index 24c48be..910763a 100644
--- a/alr_envs/alr/mujoco/beerpong/beerpong_reward_staged.py
+++ b/alr_envs/alr/mujoco/beerpong/beerpong_reward_staged.py
@@ -162,6 +162,10 @@ class BeerPongReward:
                 min_dist_coeff, final_dist_coeff, rew_offset = 0, 1, 0
             reward = rew_offset - min_dist_coeff * min_dist ** 2 - final_dist_coeff * final_dist ** 2 - \
                      1e-4 * np.mean(action_cost)
+            if env.learn_release_step and not self.ball_in_cup:
+                too_small = (env._release_step<50)*(env._release_step-50)**2
+                too_big = (env._release_step>200)*0.2*(env._release_step-200)**2
+                reward = reward - too_small -too_big
             # 1e-7*np.mean(action_cost)
             success = self.ball_in_cup
         else:
diff --git a/alr_envs/alr/mujoco/beerpong/new_mp_wrapper.py b/alr_envs/alr/mujoco/beerpong/new_mp_wrapper.py
index ca2e17e..9cd6374 100644
--- a/alr_envs/alr/mujoco/beerpong/new_mp_wrapper.py
+++ b/alr_envs/alr/mujoco/beerpong/new_mp_wrapper.py
@@ -1,13 +1,15 @@
-from mp_wrapper import BaseMPWrapper
+from alr_envs.mp.episodic_wrapper import EpisodicWrapper
 from typing import Union, Tuple
 import numpy as np
+import gym
 
 
-class MPWrapper(BaseMPWrapper):
-
+class NewMPWrapper(EpisodicWrapper):
+    @property
     def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
         return self.env.sim.data.qpos[0:7].copy()
 
+    @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
         return self.env.sim.data.qvel[0:7].copy()
 
@@ -18,3 +20,25 @@ class MPWrapper(BaseMPWrapper):
             [True] * 2,  # xy position of cup
             [False]  # env steps
         ])
+
+    def _step_callback(self, t: int, env_spec_params: Union[np.ndarray, None], step_action: np.ndarray) -> Union[np.ndarray]:
+        if self.env.learn_release_step:
+            return np.concatenate((step_action, np.atleast_1d(env_spec_params)))
+        else:
+            return step_action
+
+    def _episode_callback(self, action: np.ndarray) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
+        if self.env.learn_release_step:
+            return action[:-1], action[-1]  # mp_params, release step
+        else:
+            return action, None
+
+    def set_action_space(self):
+        if self.env.learn_release_step:
+            min_action_bounds, max_action_bounds = self.mp.get_param_bounds()
+            min_action_bounds = np.concatenate((min_action_bounds.numpy(), [self.env.action_space.low[-1]]))
+            max_action_bounds = np.concatenate((max_action_bounds.numpy(), [self.env.action_space.high[-1]]))
+            self.mp_action_space = gym.spaces.Box(low=min_action_bounds, high=max_action_bounds, dtype=np.float32)
+            return self.mp_action_space
+        else:
+            return super(NewMPWrapper, self).set_action_space()
diff --git a/alr_envs/alr/mujoco/reacher/new_mp_wrapper.py b/alr_envs/alr/mujoco/reacher/new_mp_wrapper.py
index 5475366..02dc1d8 100644
--- a/alr_envs/alr/mujoco/reacher/new_mp_wrapper.py
+++ b/alr_envs/alr/mujoco/reacher/new_mp_wrapper.py
@@ -1,9 +1,9 @@
-from mp_wrapper import BaseMPWrapper
+from alr_envs.mp.episodic_wrapper import EpisodicWrapper
 from typing import Union, Tuple
 import numpy as np
 
 
-class MPWrapper(BaseMPWrapper):
+class MPWrapper(EpisodicWrapper):
 
     @property
     def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
diff --git a/alr_envs/examples/pd_control_gain_tuning.py b/alr_envs/examples/pd_control_gain_tuning.py
index 90aac11..465042c 100644
--- a/alr_envs/examples/pd_control_gain_tuning.py
+++ b/alr_envs/examples/pd_control_gain_tuning.py
@@ -39,7 +39,7 @@ actual_vel = np.zeros((len(pos), *base_shape))
 act = np.zeros((len(pos), *base_shape))
 
 for t, pos_vel in enumerate(zip(pos, vel)):
-    actions = env.policy.get_action(pos_vel[0], pos_vel[1])
+    actions = env.policy.get_action(pos_vel[0], pos_vel[1],, self.current_vel, self.current_pos
     actions = np.clip(actions, env.full_action_space.low, env.full_action_space.high)
     _, _, _, _ = env.env.step(actions)
     act[t, :] = actions
diff --git a/alr_envs/mp/__init__.py b/alr_envs/mp/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/alr_envs/mp/basis_generator_factory.py b/alr_envs/mp/basis_generator_factory.py
new file mode 100644
index 0000000..610ad20
--- /dev/null
+++ b/alr_envs/mp/basis_generator_factory.py
@@ -0,0 +1,17 @@
+from mp_pytorch import PhaseGenerator, NormalizedRBFBasisGenerator, ZeroStartNormalizedRBFBasisGenerator
+from mp_pytorch.basis_gn.rhytmic_basis import RhythmicBasisGenerator
+
+ALL_TYPES = ["rbf", "zero_rbf", "rhythmic"]
+
+
+def get_basis_generator(basis_generator_type: str, phase_generator: PhaseGenerator, **kwargs):
+    basis_generator_type = basis_generator_type.lower()
+    if basis_generator_type == "rbf":
+        return NormalizedRBFBasisGenerator(phase_generator, **kwargs)
+    elif basis_generator_type == "zero_rbf":
+        return ZeroStartNormalizedRBFBasisGenerator(phase_generator, **kwargs)
+    elif basis_generator_type == "rhythmic":
+        return RhythmicBasisGenerator(phase_generator, **kwargs)
+    else:
+        raise ValueError(f"Specified basis generator type {basis_generator_type} not supported, "
+                         f"please choose one of {ALL_TYPES}.")
diff --git a/alr_envs/mp/controllers/__init__.py b/alr_envs/mp/controllers/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/alr_envs/mp/controllers/base_controller.py b/alr_envs/mp/controllers/base_controller.py
new file mode 100644
index 0000000..1ac1522
--- /dev/null
+++ b/alr_envs/mp/controllers/base_controller.py
@@ -0,0 +1,4 @@
+class BaseController:
+
+    def get_action(self, des_pos, des_vel, c_pos, c_vel):
+        raise NotImplementedError
diff --git a/alr_envs/mp/controllers/controller_factory.py b/alr_envs/mp/controllers/controller_factory.py
new file mode 100644
index 0000000..1c1cfec
--- /dev/null
+++ b/alr_envs/mp/controllers/controller_factory.py
@@ -0,0 +1,21 @@
+from alr_envs.mp.controllers.meta_world_controller import MetaWorldController
+from alr_envs.mp.controllers.pd_controller import PDController
+from alr_envs.mp.controllers.vel_controller import VelController
+from alr_envs.mp.controllers.pos_controller import PosController
+
+ALL_TYPES = ["motor", "velocity", "position", "metaworld"]
+
+
+def get_controller(controller_type: str, **kwargs):
+    controller_type = controller_type.lower()
+    if controller_type == "motor":
+        return PDController(**kwargs)
+    elif controller_type == "velocity":
+        return VelController()
+    elif controller_type == "position":
+        return PosController()
+    elif controller_type == "metaworld":
+        return MetaWorldController()
+    else:
+        raise ValueError(f"Specified controller type {controller_type} not supported, "
+                         f"please choose one of {ALL_TYPES}.")
\ No newline at end of file
diff --git a/alr_envs/mp/controllers/meta_world_controller.py b/alr_envs/mp/controllers/meta_world_controller.py
new file mode 100644
index 0000000..07988e5
--- /dev/null
+++ b/alr_envs/mp/controllers/meta_world_controller.py
@@ -0,0 +1,25 @@
+import numpy as np
+
+from alr_envs.mp.controllers.base_controller import BaseController
+
+
+class MetaWorldController(BaseController):
+    """
+    A Metaworld Controller. Using position and velocity information from a provided environment,
+    the controller calculates a response based on the desired position and velocity.
+    Unlike the other Controllers, this is a special controller for MetaWorld environments.
+    They use a position delta for the xyz coordinates and a raw position for the gripper opening.
+
+    :param env: A position environment
+    """
+
+    def get_action(self, des_pos, des_vel, c_pos, c_vel):
+        gripper_pos = des_pos[-1]
+
+        cur_pos = env.current_pos[:-1]
+        xyz_pos = des_pos[:-1]
+
+        assert xyz_pos.shape == cur_pos.shape, \
+            f"Mismatch in dimension between desired position {xyz_pos.shape} and current position {cur_pos.shape}"
+        trq = np.hstack([(xyz_pos - cur_pos), gripper_pos])
+        return trq
diff --git a/alr_envs/mp/controllers/pd_controller.py b/alr_envs/mp/controllers/pd_controller.py
new file mode 100644
index 0000000..d22f6b4
--- /dev/null
+++ b/alr_envs/mp/controllers/pd_controller.py
@@ -0,0 +1,28 @@
+from typing import Union, Tuple
+
+from alr_envs.mp.controllers.base_controller import BaseController
+
+
+class PDController(BaseController):
+    """
+    A PD-Controller. Using position and velocity information from a provided environment,
+    the controller calculates a response based on the desired position and velocity
+
+    :param env: A position environment
+    :param p_gains: Factors for the proportional gains
+    :param d_gains: Factors for the differential gains
+    """
+
+    def __init__(self,
+                 p_gains: Union[float, Tuple] = 1,
+                 d_gains: Union[float, Tuple] = 0.5):
+        self.p_gains = p_gains
+        self.d_gains = d_gains
+
+    def get_action(self, des_pos, des_vel, c_pos, c_vel):
+        assert des_pos.shape == c_pos.shape, \
+            f"Mismatch in dimension between desired position {des_pos.shape} and current position {c_pos.shape}"
+        assert des_vel.shape == c_vel.shape, \
+            f"Mismatch in dimension between desired velocity {des_vel.shape} and current velocity {c_vel.shape}"
+        trq = self.p_gains * (des_pos - c_pos) + self.d_gains * (des_vel - c_vel)
+        return trq
diff --git a/alr_envs/mp/controllers/pos_controller.py b/alr_envs/mp/controllers/pos_controller.py
new file mode 100644
index 0000000..bec3c68
--- /dev/null
+++ b/alr_envs/mp/controllers/pos_controller.py
@@ -0,0 +1,9 @@
+from alr_envs.mp.controllers.base_controller import BaseController
+
+
+class PosController(BaseController):
+    """
+    A Position Controller. The controller calculates a response only based on the desired position.
+    """
+    def get_action(self, des_pos, des_vel, c_pos, c_vel):
+        return des_pos
diff --git a/alr_envs/mp/controllers/vel_controller.py b/alr_envs/mp/controllers/vel_controller.py
new file mode 100644
index 0000000..38128be
--- /dev/null
+++ b/alr_envs/mp/controllers/vel_controller.py
@@ -0,0 +1,9 @@
+from alr_envs.mp.controllers.base_controller import BaseController
+
+
+class VelController(BaseController):
+    """
+    A Velocity Controller. The controller calculates a response only based on the desired velocity.
+    """
+    def get_action(self, des_pos, des_vel, c_pos, c_vel):
+        return des_vel
diff --git a/mp_wrapper.py b/alr_envs/mp/episodic_wrapper.py
similarity index 57%
rename from mp_wrapper.py
rename to alr_envs/mp/episodic_wrapper.py
index 3defe07..ef0723e 100644
--- a/mp_wrapper.py
+++ b/alr_envs/mp/episodic_wrapper.py
@@ -3,15 +3,13 @@ from typing import Union, Tuple
 
 import gym
 import numpy as np
-
 from gym import spaces
-from gym.envs.mujoco import MujocoEnv
-
-from policies import get_policy_class, BaseController
 from mp_pytorch.mp.mp_interfaces import MPInterface
 
+from alr_envs.mp.controllers.base_controller import BaseController
 
-class BaseMPWrapper(gym.Env, ABC):
+
+class EpisodicWrapper(gym.Env, ABC):
     """
     Base class for movement primitive based gym.Wrapper implementations.
 
@@ -20,41 +18,34 @@ class BaseMPWrapper(gym.Env, ABC):
         num_dof: Dimension of the action space of the wrapped env
         num_basis: Number of basis functions per dof
         duration: Length of the trajectory of the movement primitive in seconds
-        post_traj_time: Time for which the last position of the trajectory is fed to the environment to continue
-        simulation in seconds
-        policy_type: Type or object defining the policy that is used to generate action based on the trajectory
+        controller: Type or object defining the policy that is used to generate action based on the trajectory
         weight_scale: Scaling parameter for the actions given to this wrapper
         render_mode: Equivalent to gym render mode
     """
-
     def __init__(self,
-                 env: MujocoEnv,
+                 env: gym.Env,
                  mp: MPInterface,
+                 controller: BaseController,
                  duration: float,
-                 policy_type: Union[str, BaseController] = None,
                  render_mode: str = None,
-                 verbose=2,
-                 **mp_kwargs
-                 ):
+                 verbose: int = 1,
+                 weight_scale: float = 1):
         super().__init__()
 
-        assert env.dt is not None
         self.env = env
-        self.dt = env.dt
+        try:
+            self.dt = env.dt
+        except AttributeError:
+            raise AttributeError("step based environment needs to have a function 'dt' ")
         self.duration = duration
         self.traj_steps = int(duration / self.dt)
         self.post_traj_steps = self.env.spec.max_episode_steps - self.traj_steps
 
-        # TODO: move to constructor, use policy factory instead what Fabian already coded
-        if isinstance(policy_type, str):
-            # pop policy kwargs here such that they are not passed to the initialize_mp method
-            self.policy = get_policy_class(policy_type, self, **mp_kwargs.pop('policy_kwargs', {}))
-        else:
-            self.policy = policy_type
-
+        self.controller = controller
         self.mp = mp
         self.env = env
         self.verbose = verbose
+        self.weight_scale = weight_scale
 
         # rendering
         self.render_mode = render_mode
@@ -62,19 +53,24 @@ class BaseMPWrapper(gym.Env, ABC):
         # self.time_steps = np.linspace(0, self.duration, self.traj_steps + 1)
         self.time_steps = np.linspace(0, self.duration, self.traj_steps)
         self.mp.set_mp_times(self.time_steps)
-
         # action_bounds = np.inf * np.ones((np.prod(self.mp.num_params)))
         min_action_bounds, max_action_bounds = mp.get_param_bounds()
-        self.action_space = gym.spaces.Box(low=min_action_bounds.numpy(), high=max_action_bounds.numpy(),
+        self.mp_action_space = gym.spaces.Box(low=min_action_bounds.numpy(), high=max_action_bounds.numpy(),
                                            dtype=np.float32)
 
+        self.action_space = self.set_action_space()
         self.active_obs = self.set_active_obs()
         self.observation_space = spaces.Box(low=self.env.observation_space.low[self.active_obs],
                                             high=self.env.observation_space.high[self.active_obs],
                                             dtype=self.env.observation_space.dtype)
 
     def get_trajectory(self, action: np.ndarray) -> Tuple:
-        self.mp.set_params(action)
+        # TODO: this follows the implementation of the mp_pytorch library which includes the paramters tau and delay at
+        #  the beginning of the array.
+        ignore_indices = int(self.mp.learn_tau) + int(self.mp.learn_delay)
+        scaled_mp_params = action.copy()
+        scaled_mp_params[ignore_indices:] *= self.weight_scale
+        self.mp.set_params(scaled_mp_params)
         self.mp.set_boundary_conditions(bc_time=self.time_steps[:1], bc_pos=self.current_pos, bc_vel=self.current_vel)
         traj_dict = self.mp.get_mp_trajs(get_pos = True, get_vel = True)
         trajectory_tensor, velocity_tensor = traj_dict['pos'], traj_dict['vel']
@@ -88,9 +84,54 @@ class BaseMPWrapper(gym.Env, ABC):
 
         return trajectory, velocity
 
+    def set_action_space(self):
+        """
+        This function can be used to modify the action space for considering actions which are not learned via motion
+        primitives. E.g. ball releasing time for the beer pong task. By default, it is the parameter space of the
+        motion primitive.
+        Only needs to be overwritten if the action space needs to be modified.
+        """
+        return self.mp_action_space
+
+    def _episode_callback(self, action: np.ndarray) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
+        """
+        Used to extract the parameters for the motion primitive and other parameters from an action array which might
+        include other actions like ball releasing time for the beer pong environment.
+        This only needs to be overwritten if the action space is modified.
+        Args:
+            action: a vector instance of the whole action space, includes mp parameters and additional parameters if
+            specified, else only mp parameters
+
+        Returns:
+            Tuple: mp_arguments and other arguments
+        """
+        return action, None
+
+    def _step_callback(self, t: int, env_spec_params: Union[np.ndarray, None], step_action: np.ndarray) -> Union[np.ndarray]:
+        """
+        This function can be used to modify the step_action with additional parameters e.g. releasing the ball in the
+        Beerpong env. The parameters used should not be part of the motion primitive parameters.
+        Returns step_action by default, can be overwritten in individual mp_wrappers.
+        Args:
+            t: the current time step of the episode
+            env_spec_params: the environment specific parameter, as defined in fucntion _episode_callback
+            (e.g. ball release time in Beer Pong)
+            step_action: the current step-based action
+
+        Returns:
+            modified step action
+        """
+        return step_action
+
     @abstractmethod
-    def set_active_obs(self):
-        pass
+    def set_active_obs(self) -> np.ndarray:
+        """
+        This function defines the contexts. The contexts are defined as specific observations.
+        Returns:
+            boolearn array representing the indices of the observations
+
+        """
+        return np.ones(self.env.observation_space.shape[0], dtype=bool)
 
     @property
     @abstractmethod
@@ -116,38 +157,34 @@ class BaseMPWrapper(gym.Env, ABC):
         """
         raise NotImplementedError()
 
-    def _step_callback(self, t, action):
-        pass
-
     def step(self, action: np.ndarray):
         """ This function generates a trajectory based on a MP and then does the usual loop over reset and step"""
         # TODO: Think about sequencing
         # TODO: Reward Function rather here?
         # agent to learn when to release the ball
-        trajectory, velocity = self.get_trajectory(action)
+        mp_params, env_spec_params = self._episode_callback(action)
+        trajectory, velocity = self.get_trajectory(mp_params)
 
         trajectory_length = len(trajectory)
-        actions = np.zeros(shape=(trajectory_length,) + self.env.action_space.shape)
-        if isinstance(self.env.observation_space, spaces.Dict):  # For goal environments
-            observations = np.zeros(shape=(trajectory_length,) + self.env.observation_space["observation"].shape,
-                                    dtype=self.env.observation_space.dtype)
-        else:
+        if self.verbose >=2 :
+            actions = np.zeros(shape=(trajectory_length,) + self.env.action_space.shape)
             observations = np.zeros(shape=(trajectory_length,) + self.env.observation_space.shape,
-                                    dtype=self.env.observation_space.dtype)
-        rewards = np.zeros(shape=(trajectory_length,))
+                                        dtype=self.env.observation_space.dtype)
+            rewards = np.zeros(shape=(trajectory_length,))
         trajectory_return = 0
 
         infos = dict()
 
         for t, pos_vel in enumerate(zip(trajectory, velocity)):
-            ac = self.policy.get_action(pos_vel[0], pos_vel[1])
-            callback_action = self._step_callback(t, action)
-            if callback_action is not None:
-                ac = np.concatenate((callback_action, ac))      # include callback action at first pos of vector
-            actions[t, :] = np.clip(ac, self.env.action_space.low, self.env.action_space.high)
-            obs, rewards[t], done, info = self.env.step(actions[t, :])
-            observations[t, :] = obs["observation"] if isinstance(self.env.observation_space, spaces.Dict) else obs
-            trajectory_return += rewards[t]
+            step_action = self.controller.get_action(pos_vel[0], pos_vel[1], self.current_pos, self.current_vel)
+            step_action = self._step_callback(t, env_spec_params, step_action)   # include possible callback info
+            c_action = np.clip(step_action, self.env.action_space.low, self.env.action_space.high)
+            obs, c_reward, done, info = self.env.step(c_action)
+            if self.verbose >= 2:
+                actions[t, :] = c_action
+                rewards[t] = c_reward
+                observations[t, :] = obs
+            trajectory_return += c_reward
             for k, v in info.items():
                 elems = infos.get(k, [None] * trajectory_length)
                 elems[t] = v
@@ -158,14 +195,14 @@ class BaseMPWrapper(gym.Env, ABC):
             if done:
                 break
         infos.update({k: v[:t + 1] for k, v in infos.items()})
-        infos['trajectory'] = trajectory
-        if self.verbose == 2:
+        if self.verbose >= 2:
+            infos['trajectory'] = trajectory
             infos['step_actions'] = actions[:t + 1]
             infos['step_observations'] = observations[:t + 1]
             infos['step_rewards'] = rewards[:t + 1]
             infos['trajectory_length'] = t + 1
         done = True
-        return self.get_observation_from_step(observations[t]), trajectory_return, done, infos
+        return self.get_observation_from_step(obs), trajectory_return, done, infos
 
     def reset(self):
         return self.get_observation_from_step(self.env.reset())
diff --git a/alr_envs/mp/mp_factory.py b/alr_envs/mp/mp_factory.py
new file mode 100644
index 0000000..5cf7231
--- /dev/null
+++ b/alr_envs/mp/mp_factory.py
@@ -0,0 +1,22 @@
+from mp_pytorch.mp.dmp import DMP
+from mp_pytorch.mp.promp import ProMP
+from mp_pytorch.mp.idmp import IDMP
+
+from mp_pytorch.basis_gn.basis_generator import BasisGenerator
+
+ALL_TYPES = ["promp", "dmp", "idmp"]
+
+
+def get_movement_primitive(
+        movement_primitives_type: str, action_dim: int, basis_generator: BasisGenerator, **kwargs
+        ):
+    movement_primitives_type = movement_primitives_type.lower()
+    if movement_primitives_type == "promp":
+        return ProMP(basis_generator, action_dim, **kwargs)
+    elif movement_primitives_type == "dmp":
+        return DMP(basis_generator, action_dim, **kwargs)
+    elif movement_primitives_type == 'idmp':
+        return IDMP(basis_generator, action_dim, **kwargs)
+    else:
+        raise ValueError(f"Specified movement primitive type {movement_primitives_type} not supported, "
+                         f"please choose one of {ALL_TYPES}.")
\ No newline at end of file
diff --git a/alr_envs/mp/phase_generator_factory.py b/alr_envs/mp/phase_generator_factory.py
new file mode 100644
index 0000000..45cfdc1
--- /dev/null
+++ b/alr_envs/mp/phase_generator_factory.py
@@ -0,0 +1,20 @@
+from mp_pytorch import LinearPhaseGenerator, ExpDecayPhaseGenerator
+from mp_pytorch.phase_gn.rhythmic_phase_generator import RhythmicPhaseGenerator
+from mp_pytorch.phase_gn.smooth_phase_generator import SmoothPhaseGenerator
+
+ALL_TYPES = ["linear", "exp", "rhythmic", "smooth"]
+
+
+def get_phase_generator(phase_generator_type, **kwargs):
+    phase_generator_type = phase_generator_type.lower()
+    if phase_generator_type == "linear":
+        return LinearPhaseGenerator(**kwargs)
+    elif phase_generator_type == "exp":
+        return ExpDecayPhaseGenerator(**kwargs)
+    elif phase_generator_type == "rhythmic":
+        return RhythmicPhaseGenerator(**kwargs)
+    elif phase_generator_type == "smooth":
+        return SmoothPhaseGenerator(**kwargs)
+    else:
+        raise ValueError(f"Specified phase generator type {phase_generator_type} not supported, "
+                         f"please choose one of {ALL_TYPES}.")
\ No newline at end of file
diff --git a/alr_envs/utils/make_env_helpers.py b/alr_envs/utils/make_env_helpers.py
index 4300439..0c06906 100644
--- a/alr_envs/utils/make_env_helpers.py
+++ b/alr_envs/utils/make_env_helpers.py
@@ -1,13 +1,20 @@
 import warnings
-from typing import Iterable, Type, Union
+from typing import Iterable, Type, Union, Mapping, MutableMapping
 
 import gym
 import numpy as np
 from gym.envs.registration import EnvSpec
 
-from mp_env_api import MPEnvWrapper
 from mp_env_api.mp_wrappers.dmp_wrapper import DmpWrapper
 from mp_env_api.mp_wrappers.promp_wrapper import ProMPWrapper
+from mp_pytorch import MPInterface
+
+from alr_envs.mp.basis_generator_factory import get_basis_generator
+from alr_envs.mp.controllers.base_controller import BaseController
+from alr_envs.mp.controllers.controller_factory import get_controller
+from alr_envs.mp.mp_factory import get_movement_primitive
+from alr_envs.mp.episodic_wrapper import EpisodicWrapper
+from alr_envs.mp.phase_generator_factory import get_phase_generator
 
 
 def make_rank(env_id: str, seed: int, rank: int = 0, return_callable=True, **kwargs):
@@ -92,7 +99,8 @@ def make(env_id: str, seed, **kwargs):
     return env
 
 
-def _make_wrapped_env(env_id: str, wrappers: Iterable[Type[gym.Wrapper]], seed=1, **kwargs):
+def _make_wrapped_env(env_id: str, wrappers: Iterable[Type[gym.Wrapper]], mp: MPInterface, controller: BaseController,
+                      ep_wrapper_kwargs: Mapping, seed=1, **kwargs):
     """
     Helper function for creating a wrapped gym environment using MPs.
     It adds all provided wrappers to the specified environment and verifies at least one MPEnvWrapper is
@@ -108,14 +116,102 @@ def _make_wrapped_env(env_id: str, wrappers: Iterable[Type[gym.Wrapper]], seed=1
     """
     # _env = gym.make(env_id)
     _env = make(env_id, seed, **kwargs)
-
-    assert any(issubclass(w, MPEnvWrapper) for w in wrappers), \
-        "At least one MPEnvWrapper is required in order to leverage motion primitive environments."
+    has_episodic_wrapper = False
     for w in wrappers:
-        _env = w(_env)
-
+        # only wrap the environment if not EpisodicWrapper, e.g. for vision
+        if not issubclass(w, EpisodicWrapper):
+            _env = w(_env)
+        else: # if EpisodicWrapper, use specific constructor
+            has_episodic_wrapper = True
+            _env = w(env=_env, mp=mp, controller=controller, **ep_wrapper_kwargs)
+    assert has_episodic_wrapper, \
+            "At least one MPEnvWrapper is required in order to leverage motion primitive environments."
     return _env
 
+def make_mp_from_kwargs(
+        env_id: str, wrappers: Iterable, ep_wrapper_kwargs: MutableMapping, mp_kwargs: MutableMapping,
+        controller_kwargs: MutableMapping, phase_kwargs: MutableMapping, basis_kwargs: MutableMapping, seed=1,
+        sequenced=False, **kwargs
+        ):
+    """
+    This can also be used standalone for manually building a custom DMP environment.
+    Args:
+        ep_wrapper_kwargs:
+        basis_kwargs:
+        phase_kwargs:
+        controller_kwargs:
+        env_id: base_env_name,
+        wrappers: list of wrappers (at least an EpisodicWrapper),
+        seed: seed of environment
+        sequenced: When true, this allows to sequence multiple ProMPs by specifying the duration of each sub-trajectory,
+                this behavior is much closer to step based learning.
+        mp_kwargs: dict of at least {num_dof: int, num_basis: int} for DMP
+
+    Returns: DMP wrapped gym env
+
+    """
+    _verify_time_limit(mp_kwargs.get("duration", None), kwargs.get("time_limit", None))
+    dummy_env = make(env_id, seed)
+    if ep_wrapper_kwargs.get('duration', None) is None:
+        ep_wrapper_kwargs['duration'] = dummy_env.spec.max_episode_steps*dummy_env.dt
+    if phase_kwargs.get('tau', None) is None:
+        phase_kwargs['tau'] = ep_wrapper_kwargs['duration']
+    action_dim = mp_kwargs.pop('num_dof', None)
+    action_dim = action_dim if action_dim is not None else np.prod(dummy_env.action_space.shape).item()
+    phase_gen = get_phase_generator(**phase_kwargs)
+    basis_gen = get_basis_generator(phase_generator=phase_gen, **basis_kwargs)
+    controller = get_controller(**controller_kwargs)
+    mp = get_movement_primitive(action_dim=action_dim, basis_generator=basis_gen, **mp_kwargs)
+    _env = _make_wrapped_env(env_id=env_id, wrappers=wrappers, mp=mp, controller=controller,
+                             ep_wrapper_kwargs=ep_wrapper_kwargs, seed=seed, **kwargs)
+    return _env
+
+
+def make_mp_env_helper(**kwargs):
+    """
+    Helper function for registering a DMP gym environments.
+    Args:
+        **kwargs: expects at least the following:
+        {
+        "name": base environment name.
+        "wrappers": list of wrappers (at least an EpisodicWrapper is required),
+        "movement_primitives_kwargs": {
+            "movement_primitives_type": type_of_your_movement_primitive,
+            non default arguments for the movement primitive instance
+            ...
+            }
+        "controller_kwargs": {
+            "controller_type": type_of_your_controller,
+            non default arguments for the controller instance
+            ...
+            },
+        "basis_generator_kwargs": {
+            "basis_generator_type": type_of_your_basis_generator,
+            non default arguments for the basis generator instance
+            ...
+            },
+        "phase_generator_kwargs": {
+            "phase_generator_type": type_of_your_phase_generator,
+            non default arguments for the phase generator instance
+            ...
+            },
+        }
+
+    Returns: MP wrapped gym env
+
+    """
+    seed = kwargs.pop("seed", None)
+    wrappers = kwargs.pop("wrappers")
+
+    mp_kwargs = kwargs.pop("movement_primitives_kwargs")
+    ep_wrapper_kwargs = kwargs.pop('ep_wrapper_kwargs')
+    contr_kwargs = kwargs.pop("controller_kwargs")
+    phase_kwargs = kwargs.pop("phase_generator_kwargs")
+    basis_kwargs = kwargs.pop("basis_generator_kwargs")
+
+    return make_mp_from_kwargs(env_id=kwargs.pop("name"), wrappers=wrappers,  ep_wrapper_kwargs=ep_wrapper_kwargs,
+                               mp_kwargs=mp_kwargs, controller_kwargs=contr_kwargs, phase_kwargs=phase_kwargs,
+                               basis_kwargs=basis_kwargs, **kwargs, seed=seed)
 
 def make_dmp_env(env_id: str, wrappers: Iterable, seed=1, mp_kwargs={}, **kwargs):
     """
diff --git a/policies.py b/policies.py
deleted file mode 100644
index fd89f9e..0000000
--- a/policies.py
+++ /dev/null
@@ -1,129 +0,0 @@
-from typing import Tuple, Union
-
-import numpy as np
-
-
-
-class BaseController:
-    def __init__(self, env, **kwargs):
-        self.env = env
-
-    def get_action(self, des_pos, des_vel):
-        raise NotImplementedError
-
-
-class PosController(BaseController):
-    """
-    A Position Controller. The controller calculates a response only based on the desired position.
-    """
-    def get_action(self, des_pos, des_vel):
-        return des_pos
-
-
-class VelController(BaseController):
-    """
-    A Velocity Controller. The controller calculates a response only based on the desired velocity.
-    """
-    def get_action(self, des_pos, des_vel):
-        return des_vel
-
-
-class PDController(BaseController):
-    """
-    A PD-Controller. Using position and velocity information from a provided environment,
-    the controller calculates a response based on the desired position and velocity
-
-    :param env: A position environment
-    :param p_gains: Factors for the proportional gains
-    :param d_gains: Factors for the differential gains
-    """
-
-    def __init__(self,
-                 env,
-                 p_gains: Union[float, Tuple],
-                 d_gains: Union[float, Tuple]):
-        self.p_gains = p_gains
-        self.d_gains = d_gains
-        super(PDController, self).__init__(env)
-
-    def get_action(self, des_pos, des_vel):
-        cur_pos = self.env.current_pos
-        cur_vel = self.env.current_vel
-        assert des_pos.shape == cur_pos.shape, \
-            f"Mismatch in dimension between desired position {des_pos.shape} and current position {cur_pos.shape}"
-        assert des_vel.shape == cur_vel.shape, \
-            f"Mismatch in dimension between desired velocity {des_vel.shape} and current velocity {cur_vel.shape}"
-        trq = self.p_gains * (des_pos - cur_pos) + self.d_gains * (des_vel - cur_vel)
-        return trq
-
-
-class MetaWorldController(BaseController):
-    """
-    A Metaworld Controller. Using position and velocity information from a provided environment,
-    the controller calculates a response based on the desired position and velocity.
-    Unlike the other Controllers, this is a special controller for MetaWorld environments.
-    They use a position delta for the xyz coordinates and a raw position for the gripper opening.
-
-    :param env: A position environment
-    """
-
-    def __init__(self,
-                 env
-                 ):
-        super(MetaWorldController, self).__init__(env)
-
-    def get_action(self, des_pos, des_vel):
-        gripper_pos = des_pos[-1]
-
-        cur_pos = self.env.current_pos[:-1]
-        xyz_pos = des_pos[:-1]
-
-        assert xyz_pos.shape == cur_pos.shape, \
-            f"Mismatch in dimension between desired position {xyz_pos.shape} and current position {cur_pos.shape}"
-        trq = np.hstack([(xyz_pos - cur_pos), gripper_pos])
-        return trq
-
-
-#TODO: Do we need this class?
-class PDControllerExtend(BaseController):
-    """
-    A PD-Controller. Using position and velocity information from a provided positional environment,
-    the controller calculates a response based on the desired position and velocity
-
-    :param env: A position environment
-    :param p_gains: Factors for the proportional gains
-    :param d_gains: Factors for the differential gains
-    """
-
-    def __init__(self,
-                 env,
-                 p_gains: Union[float, Tuple],
-                 d_gains: Union[float, Tuple]):
-
-        self.p_gains = p_gains
-        self.d_gains = d_gains
-        super(PDControllerExtend, self).__init__(env)
-
-    def get_action(self, des_pos, des_vel):
-        cur_pos = self.env.current_pos
-        cur_vel = self.env.current_vel
-        if len(des_pos) != len(cur_pos):
-            des_pos = self.env.extend_des_pos(des_pos)
-        if len(des_vel) != len(cur_vel):
-            des_vel = self.env.extend_des_vel(des_vel)
-        trq = self.p_gains * (des_pos - cur_pos) + self.d_gains * (des_vel - cur_vel)
-        return trq
-
-
-def get_policy_class(policy_type, env, **kwargs):
-    if policy_type == "motor":
-        return PDController(env, **kwargs)
-    elif policy_type == "velocity":
-        return VelController(env)
-    elif policy_type == "position":
-        return PosController(env)
-    elif policy_type == "metaworld":
-        return MetaWorldController(env)
-    else:
-        raise ValueError(f"Invalid controller type {policy_type} provided. Only 'motor', 'velocity', 'position'  "
-                         f"and 'metaworld are currently supported controllers.")