diff --git a/fancy_gym/black_box/black_box_wrapper.py b/fancy_gym/black_box/black_box_wrapper.py
index 0cd4ae6..45a92f5 100644
--- a/fancy_gym/black_box/black_box_wrapper.py
+++ b/fancy_gym/black_box/black_box_wrapper.py
@@ -2,6 +2,7 @@ from typing import Tuple, Optional, Callable
 
 import gym
 import numpy as np
+import torch
 from gym import spaces
 from mp_pytorch.mp.mp_interfaces import MPInterface
 
@@ -74,7 +75,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         self.verbose = verbose
 
         # condition value
-        self.desired_conditioning = False
+        self.desired_conditioning = True
         self.condition_pos = None
         self.condition_vel = None
 
@@ -105,6 +106,10 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         if self.current_traj_steps == 0:
             self.condition_pos = self.current_pos
             self.condition_vel = self.current_vel
+
+        bc_time = torch.as_tensor(bc_time, dtype=torch.float32)
+        self.condition_pos = torch.as_tensor(self.condition_pos, dtype=torch.float32)
+        self.condition_vel = torch.as_tensor(self.condition_vel, dtype=torch.float32)
         self.traj_gen.set_boundary_conditions(bc_time, self.condition_pos, self.condition_vel)
         self.traj_gen.set_duration(duration, self.dt)
         # traj_dict = self.traj_gen.get_trajs(get_pos=True, get_vel=True)
diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py
index 1ad261f..f8c4597 100644
--- a/fancy_gym/envs/__init__.py
+++ b/fancy_gym/envs/__init__.py
@@ -498,10 +498,10 @@ for _v in _versions:
     kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.])
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([3.4944e+01, 4.3734e+01, 9.6711e+01, 2.4429e+02, 5.8272e+02])
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 3.1264e-01
-    # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = 0.3 * np.array([100., 166., 500., 1000.])
-    # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3 * 1.
     kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 5
     kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['alpha'] = 10.
+    kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try
+    kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
     kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_replan_times'] = 4
     kwargs_dict_box_pushing_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 25 == 0
     register(