diff --git a/fancy_gym/envs/mujoco/beerpong/mp_wrapper.py b/fancy_gym/envs/mujoco/beerpong/mp_wrapper.py
index 17a11e1..452ee05 100644
--- a/fancy_gym/envs/mujoco/beerpong/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/beerpong/mp_wrapper.py
@@ -6,6 +6,23 @@ from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+    mp_config = {
+        'ProMP': {
+            'phase_generator_kwargs': {
+                'learn_tau': True
+            },
+            'controller_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]),
+            },
+            'basis_generator_kwargs': {
+                'num_basis': 2,
+                'num_basis_zero_start': 2,
+            },
+        },
+        'DMP': {},
+        'ProDMP': {},
+    }
 
     @property
     def context_mask(self) -> np.ndarray:
@@ -39,3 +56,23 @@ class MPWrapper(RawInterfaceWrapper):
         xyz[-1] = 0.840
         self.model.body_pos[self.cup_table_id] = xyz
         return self.get_observation_from_step(self.get_obs())
+
+
+class MPWrapper_FixedRelease(MPWrapper):
+    mp_config = {
+        'ProMP': {
+            'phase_generator_kwargs': {
+                'tau': 0.62,
+            },
+            'controller_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]),
+            },
+            'basis_generator_kwargs': {
+                'num_basis': 2,
+                'num_basis_zero_start': 2,
+            },
+        },
+        'DMP': {},
+        'ProDMP': {},
+    }