diff --git a/alr_envs/mujoco/ball_in_a_cup/utils.py b/alr_envs/mujoco/ball_in_a_cup/utils.py
index a9a7098..39c8a8f 100644
--- a/alr_envs/mujoco/ball_in_a_cup/utils.py
+++ b/alr_envs/mujoco/ball_in_a_cup/utils.py
@@ -88,13 +88,13 @@ def make_simple_env(rank, seed=0):
         env = DetPMPEnvWrapper(env,
                                num_dof=3,
                                num_basis=5,
-                               width=0.005,
+                               width=0.02,
                                policy_type="motor",
                                start_pos=env.start_pos[1::2],
                                duration=3.5,
                                post_traj_time=4.5,
                                dt=env.dt,
-                               weights_scale=0.5,
+                               weights_scale=0.2,
                                zero_start=True,
                                zero_goal=True
                                )
diff --git a/dmp_pd_control_example.py b/dmp_pd_control_example.py
index 9cb8798..67c09b4 100644
--- a/dmp_pd_control_example.py
+++ b/dmp_pd_control_example.py
@@ -1,11 +1,11 @@
-from alr_envs.mujoco.ball_in_a_cup.utils import make_env
+from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env
 from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
 import numpy as np
 
 
 if __name__ == "__main__":
 
-    dim = 35
+    dim = 15
     n_cpus = 4
 
     # n_samples = 10
@@ -18,9 +18,12 @@ if __name__ == "__main__":
     # rewards, infos = vec_env(params)
     # print(rewards)
     #
-    non_vec_env = make_env(0, 0)()
+    non_vec_env = make_simple_env(0, 0)()
 
-    params = 0.5 * np.random.randn(dim)
+    # params = 0.5 * np.random.randn(dim)
+    params = np.array([[11.90777345,  4.47656072, -2.49030537,  2.29386444, -3.5645336 ,
+         2.97729181,  4.65224072,  3.72020235,  4.3658366 , -5.8489886 ,
+         9.8045112 ,  2.95405854,  4.56178261,  4.70669295,  4.55522522]])
 
     out2 = non_vec_env.rollout(params, render=True)