diff --git a/alr_envs/classic_control/utils.py b/alr_envs/classic_control/utils.py
index 9da138f..f2ead72 100644
--- a/alr_envs/classic_control/utils.py
+++ b/alr_envs/classic_control/utils.py
@@ -23,11 +23,12 @@ def make_viapointreacher_env(rank, seed=0):
                              num_dof=5,
                              num_basis=5,
                              duration=2,
-                             alpha_phase=2,
+                             alpha_phase=2.5,
                              dt=_env.dt,
                              start_pos=_env.start_pos,
                              learn_goal=False,
-                             policy_type="velocity")
+                             policy_type="velocity",
+                             weights_scale=50)
         _env.seed(seed + rank)
         return _env
 
diff --git a/alr_envs/classic_control/viapoint_reacher.py b/alr_envs/classic_control/viapoint_reacher.py
index 1cad10e..f6a3474 100644
--- a/alr_envs/classic_control/viapoint_reacher.py
+++ b/alr_envs/classic_control/viapoint_reacher.py
@@ -83,7 +83,7 @@ class ViaPointReacher(gym.Env):
         if not self._is_collided:
             if self._steps == 100:
                 dist_reward = np.linalg.norm(self.end_effector - self.via_point)
-            if self._steps == 200:
+            if self._steps == 199:
                 dist_reward = np.linalg.norm(self.end_effector - self.goal_point)
 
         reward = - dist_reward ** 2
diff --git a/dmp_env_wrapper_example.py b/dmp_env_wrapper_example.py
index b971574..6fd0a57 100644
--- a/dmp_env_wrapper_example.py
+++ b/dmp_env_wrapper_example.py
@@ -14,10 +14,19 @@ if __name__ == "__main__":
 
     test_env = make_viapointreacher_env(0)()
 
-    params = np.random.randn(n_samples, dim)
+    # params = np.random.randn(n_samples, dim)
+    params = np.array([ 217.54494933,   -1.85169983,   24.08414447,   42.23816868,
+         23.32071702,    7.60780651,  -31.74777741,  265.50634253,
+        463.43822562,  245.93948374, -272.64003621,  -45.24999553,
+        503.21185823,  809.17742517,  393.12387021, -196.54196471,
+          6.79327307,  374.82429078,  552.4119579 ,  197.3963343 ,
+        243.87357056,  -39.56041541, -616.93957463, -710.0772516 ,
+       -414.21769789])
+
     # params = np.hstack([50 * np.random.randn(n_samples, 25), np.tile(np.array([np.pi/2, -np.pi/4, -np.pi/4, -np.pi/4, -np.pi/4]), [n_samples, 1])])
 
-    test_env.rollout(params, render=True)
+    rew, info = test_env.rollout(params, render=True)
+    print(rew)
 
     # out = env(params)
     # print(out)