diff --git a/alr_envs/dmc/__init__.py b/alr_envs/dmc/__init__.py
index dc3adf0..ca27f79 100644
--- a/alr_envs/dmc/__init__.py
+++ b/alr_envs/dmc/__init__.py
@@ -1,11 +1,61 @@
+from copy import deepcopy
+
 from . import manipulation, suite
 
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS = {"DMP": [], "ProMP": []}
 
 from gym.envs.registration import register
 
-# DeepMind Control Suite (DMC)
+DEFAULT_BB_DICT_ProMP = {
+    "name": 'EnvName',
+    "wrappers": [],
+    "trajectory_generator_kwargs": {
+        'trajectory_generator_type': 'promp'
+    },
+    "phase_generator_kwargs": {
+        'phase_generator_type': 'linear'
+    },
+    "controller_kwargs": {
+        'controller_type': 'motor',
+        "p_gains": 1.0,
+        "d_gains": 0.1,
+    },
+    "basis_generator_kwargs": {
+        'basis_generator_type': 'zero_rbf',
+        'num_basis': 5,
+        'num_basis_zero_start': 1
+    }
+}
 
+DEFAULT_BB_DICT_DMP = {
+    "name": 'EnvName',
+    "wrappers": [],
+    "trajectory_generator_kwargs": {
+        'trajectory_generator_type': 'dmp'
+    },
+    "phase_generator_kwargs": {
+        'phase_generator_type': 'exp'
+    },
+    "controller_kwargs": {
+        'controller_type': 'motor',
+        "p_gains": 1.0,
+        "d_gains": 0.1,
+    },
+    "basis_generator_kwargs": {
+        'basis_generator_type': 'rbf',
+        'num_basis': 5
+    }
+}
+
+
+# DeepMind Control Suite (DMC)
+kwargs_dict_bic_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_bic_dmp['name'] = f"ball_in_cup-catch"
+kwargs_dict_bic_dmp['wrappers'].append(suite.ball_in_cup.MPWrapper)
+kwargs_dict_bic_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+kwargs_dict_bic_dmp['trajectory_generator_kwargs']['weight_scale'] = 10  # TODO: weight scale 1, but goal scale 0.1
+kwargs_dict_bic_dmp['controller_kwargs']['p_gains'] = 50
+kwargs_dict_bic_dmp['controller_kwargs']['d_gains'] = 1
 register(
     id=f'dmc_ball_in_cup-catch_dmp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
@@ -33,6 +83,11 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_ball_in_cup-catch_dmp-v0")
 
+kwargs_dict_bic_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_bic_promp['name'] = f"ball_in_cup-catch"
+kwargs_dict_bic_promp['wrappers'].append(suite.ball_in_cup.MPWrapper)
+kwargs_dict_bic_promp['controller_kwargs']['p_gains'] = 50
+kwargs_dict_bic_promp['controller_kwargs']['d_gains'] = 1
 register(
     id=f'dmc_ball_in_cup-catch_promp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
@@ -56,6 +111,13 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_ball_in_cup-catch_promp-v0")
 
+kwargs_dict_reacher_easy_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_reacher_easy_dmp['name'] = f"reacher-easy"
+kwargs_dict_reacher_easy_dmp['wrappers'].append(suite.reacher.MPWrapper)
+kwargs_dict_reacher_easy_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+kwargs_dict_reacher_easy_dmp['trajectory_generator_kwargs']['weight_scale'] = 500  # TODO: weight scale 50, but goal scale 0.1
+kwargs_dict_reacher_easy_dmp['controller_kwargs']['p_gains'] = 50
+kwargs_dict_reacher_easy_dmp['controller_kwargs']['d_gains'] = 1
 register(
     id=f'dmc_reacher-easy_dmp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
@@ -84,6 +146,12 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-easy_dmp-v0")
 
+kwargs_dict_reacher_easy_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_reacher_easy_promp['name'] = f"reacher-easy"
+kwargs_dict_reacher_easy_promp['wrappers'].append(suite.reacher.MPWrapper)
+kwargs_dict_reacher_easy_promp['controller_kwargs']['p_gains'] = 50
+kwargs_dict_reacher_easy_promp['controller_kwargs']['d_gains'] = 1
+kwargs_dict_reacher_easy_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
 register(
     id=f'dmc_reacher-easy_promp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
@@ -108,6 +176,13 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append("dmc_reacher-easy_promp-v0")
 
+kwargs_dict_reacher_hard_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_reacher_hard_dmp['name'] = f"reacher-hard"
+kwargs_dict_reacher_hard_dmp['wrappers'].append(suite.reacher.MPWrapper)
+kwargs_dict_reacher_hard_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+kwargs_dict_reacher_hard_dmp['trajectory_generator_kwargs']['weight_scale'] = 500  # TODO: weight scale 50, but goal scale 0.1
+kwargs_dict_reacher_hard_dmp['controller_kwargs']['p_gains'] = 50
+kwargs_dict_reacher_hard_dmp['controller_kwargs']['d_gains'] = 1
 register(
     id=f'dmc_reacher-hard_dmp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
@@ -136,6 +211,12 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_reacher-hard_dmp-v0")
 
+kwargs_dict_reacher_hard_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_reacher_hard_promp['name'] = f"reacher-hard"
+kwargs_dict_reacher_hard_promp['wrappers'].append(suite.reacher.MPWrapper)
+kwargs_dict_reacher_hard_promp['controller_kwargs']['p_gains'] = 50
+kwargs_dict_reacher_hard_promp['controller_kwargs']['d_gains'] = 1
+kwargs_dict_reacher_hard_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
 register(
     id=f'dmc_reacher-hard_promp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
@@ -164,6 +245,14 @@ _dmc_cartpole_tasks = ["balance", "balance_sparse", "swingup", "swingup_sparse"]
 
 for _task in _dmc_cartpole_tasks:
     _env_id = f'dmc_cartpole-{_task}_dmp-v0'
+    kwargs_dict_cartpole_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+    kwargs_dict_cartpole_dmp['name'] = f"cartpole-{_task}"
+    kwargs_dict_cartpole_dmp['camera_id'] = 0
+    kwargs_dict_cartpole_dmp['wrappers'].append(suite.cartpole.MPWrapper)
+    kwargs_dict_cartpole_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+    kwargs_dict_cartpole_dmp['trajectory_generator_kwargs']['weight_scale'] = 500  # TODO: weight scale 50, but goal scale 0.1
+    kwargs_dict_cartpole_dmp['controller_kwargs']['p_gains'] = 10
+    kwargs_dict_cartpole_dmp['controller_kwargs']['d_gains'] = 10
     register(
         id=_env_id,
         entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
@@ -194,6 +283,13 @@ for _task in _dmc_cartpole_tasks:
     ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
     _env_id = f'dmc_cartpole-{_task}_promp-v0'
+    kwargs_dict_cartpole_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+    kwargs_dict_cartpole_promp['name'] = f"cartpole-{_task}"
+    kwargs_dict_cartpole_promp['camera_id'] = 0
+    kwargs_dict_cartpole_promp['wrappers'].append(suite.cartpole.MPWrapper)
+    kwargs_dict_cartpole_promp['controller_kwargs']['p_gains'] = 10
+    kwargs_dict_cartpole_promp['controller_kwargs']['d_gains'] = 10
+    kwargs_dict_cartpole_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
     register(
         id=_env_id,
         entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',
@@ -219,6 +315,14 @@ for _task in _dmc_cartpole_tasks:
     )
     ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
+kwargs_dict_cartpole2poles_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_cartpole2poles_dmp['name'] = f"cartpole-two_poles"
+kwargs_dict_cartpole2poles_dmp['camera_id'] = 0
+kwargs_dict_cartpole2poles_dmp['wrappers'].append(suite.cartpole.TwoPolesMPWrapper)
+kwargs_dict_cartpole2poles_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+kwargs_dict_cartpole2poles_dmp['trajectory_generator_kwargs']['weight_scale'] = 500  # TODO: weight scale 50, but goal scale 0.1
+kwargs_dict_cartpole2poles_dmp['controller_kwargs']['p_gains'] = 10
+kwargs_dict_cartpole2poles_dmp['controller_kwargs']['d_gains'] = 10
 _env_id = f'dmc_cartpole-two_poles_dmp-v0'
 register(
     id=_env_id,
@@ -249,6 +353,13 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
+kwargs_dict_cartpole2poles_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_cartpole2poles_promp['name'] = f"cartpole-two_poles"
+kwargs_dict_cartpole2poles_promp['camera_id'] = 0
+kwargs_dict_cartpole2poles_promp['wrappers'].append(suite.cartpole.TwoPolesMPWrapper)
+kwargs_dict_cartpole2poles_promp['controller_kwargs']['p_gains'] = 10
+kwargs_dict_cartpole2poles_promp['controller_kwargs']['d_gains'] = 10
+kwargs_dict_cartpole2poles_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
 _env_id = f'dmc_cartpole-two_poles_promp-v0'
 register(
     id=_env_id,
@@ -275,6 +386,14 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
+kwargs_dict_cartpole3poles_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_cartpole3poles_dmp['name'] = f"cartpole-three_poles"
+kwargs_dict_cartpole3poles_dmp['camera_id'] = 0
+kwargs_dict_cartpole3poles_dmp['wrappers'].append(suite.cartpole.ThreePolesMPWrapper)
+kwargs_dict_cartpole3poles_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+kwargs_dict_cartpole3poles_dmp['trajectory_generator_kwargs']['weight_scale'] = 500  # TODO: weight scale 50, but goal scale 0.1
+kwargs_dict_cartpole3poles_dmp['controller_kwargs']['p_gains'] = 10
+kwargs_dict_cartpole3poles_dmp['controller_kwargs']['d_gains'] = 10
 _env_id = f'dmc_cartpole-three_poles_dmp-v0'
 register(
     id=_env_id,
@@ -305,6 +424,13 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append(_env_id)
 
+kwargs_dict_cartpole3poles_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_cartpole3poles_promp['name'] = f"cartpole-three_poles"
+kwargs_dict_cartpole3poles_promp['camera_id'] = 0
+kwargs_dict_cartpole3poles_promp['wrappers'].append(suite.cartpole.ThreePolesMPWrapper)
+kwargs_dict_cartpole3poles_promp['controller_kwargs']['p_gains'] = 10
+kwargs_dict_cartpole3poles_promp['controller_kwargs']['d_gains'] = 10
+kwargs_dict_cartpole3poles_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
 _env_id = f'dmc_cartpole-three_poles_promp-v0'
 register(
     id=_env_id,
@@ -332,7 +458,12 @@ register(
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["ProMP"].append(_env_id)
 
 # DeepMind Manipulation
-
+kwargs_dict_mani_reach_site_features_dmp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_mani_reach_site_features_dmp['name'] = f"manipulation-reach_site_features"
+kwargs_dict_mani_reach_site_features_dmp['wrappers'].append(manipulation.reach_site.MPWrapper)
+kwargs_dict_mani_reach_site_features_dmp['phase_generator_kwargs']['alpha_phase'] = 2
+kwargs_dict_mani_reach_site_features_dmp['trajectory_generator_kwargs']['weight_scale'] = 500  # TODO: weight scale 50, but goal scale 0.1
+kwargs_dict_mani_reach_site_features_dmp['controller_kwargs']['controller_type'] = 'velocity'
 register(
     id=f'dmc_manipulation-reach_site_dmp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_dmp_env_helper',
@@ -357,6 +488,11 @@ register(
 )
 ALL_DEEPMIND_MOTION_PRIMITIVE_ENVIRONMENTS["DMP"].append("dmc_manipulation-reach_site_dmp-v0")
 
+kwargs_dict_mani_reach_site_features_promp = deepcopy(DEFAULT_BB_DICT_DMP)
+kwargs_dict_mani_reach_site_features_promp['name'] = f"manipulation-reach_site_features"
+kwargs_dict_mani_reach_site_features_promp['wrappers'].append(manipulation.reach_site.MPWrapper)
+kwargs_dict_mani_reach_site_features_promp['trajectory_generator_kwargs']['weight_scale'] = 0.2
+kwargs_dict_mani_reach_site_features_promp['controller_kwargs']['controller_type'] = 'velocity'
 register(
     id=f'dmc_manipulation-reach_site_promp-v0',
     entry_point='alr_envs.utils.make_env_helpers:make_promp_env_helper',