diff --git a/fancy_gym/black_box/black_box_wrapper.py b/fancy_gym/black_box/black_box_wrapper.py
index 9619954..fd5032b 100644
--- a/fancy_gym/black_box/black_box_wrapper.py
+++ b/fancy_gym/black_box/black_box_wrapper.py
@@ -100,15 +100,10 @@ class BlackBoxWrapper(gym.ObservationWrapper):
 
         self.traj_gen.set_initial_conditions(init_time, condition_pos, condition_vel)
         self.traj_gen.set_duration(duration, self.dt)
-        # traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
+
         position = get_numpy(self.traj_gen.get_traj_pos())
         velocity = get_numpy(self.traj_gen.get_traj_vel())
 
-        # if self.do_replanning:
-        #     # Remove first part of trajectory as this is already over
-        #     position = position[self.current_traj_steps:]
-        #     velocity = velocity[self.current_traj_steps:]
-
         return position, velocity
 
     def _get_traj_gen_action_space(self):
@@ -179,8 +174,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
                                                  t + 1 + self.current_traj_steps)
                         and self.plan_steps < self.max_planning_times):
 
-                self.condition_pos = pos if self.condition_on_desired else None
-                self.condition_vel = vel if self.condition_on_desired else None
+                if self.condition_on_desired:
+                    self.condition_pos = pos
+                    self.condition_vel = vel
 
                 break
 
@@ -207,6 +203,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         self.current_traj_steps = 0
         self.plan_steps = 0
         self.traj_gen.reset()
-        self.condition_vel = None
         self.condition_pos = None
+        self.condition_vel = None
         return super(BlackBoxWrapper, self).reset()
diff --git a/fancy_gym/meta/__init__.py b/fancy_gym/meta/__init__.py
index 9304c72..63b15c2 100644
--- a/fancy_gym/meta/__init__.py
+++ b/fancy_gym/meta/__init__.py
@@ -26,6 +26,9 @@ DEFAULT_BB_DICT_ProMP = {
         'basis_generator_type': 'zero_rbf',
         'num_basis': 5,
         'num_basis_zero_start': 1
+    },
+    'black_box_kwargs': {
+        'condition_on_desired': False,
     }
 }
 
@@ -50,7 +53,11 @@ DEFAULT_BB_DICT_ProDMP = {
         'basis_generator_type': 'prodmp',
         'num_basis': 3,
         'alpha': 10
+    },
+    'black_box_kwargs': {
+        'condition_on_desired': False,
     }
+
 }
 
 _goal_change_envs = ["assembly-v2", "pick-out-of-hole-v2", "plate-slide-v2", "plate-slide-back-v2",