diff --git a/fancy_gym/black_box/factory/basis_generator_factory.py b/fancy_gym/black_box/factory/basis_generator_factory.py
index 610ad20..4601953 100644
--- a/fancy_gym/black_box/factory/basis_generator_factory.py
+++ b/fancy_gym/black_box/factory/basis_generator_factory.py
@@ -1,5 +1,5 @@
-from mp_pytorch import PhaseGenerator, NormalizedRBFBasisGenerator, ZeroStartNormalizedRBFBasisGenerator
-from mp_pytorch.basis_gn.rhytmic_basis import RhythmicBasisGenerator
+from mp_pytorch.basis_gn import NormalizedRBFBasisGenerator, ZeroPaddingNormalizedRBFBasisGenerator
+from mp_pytorch.phase_gn import PhaseGenerator
 
 ALL_TYPES = ["rbf", "zero_rbf", "rhythmic"]
 
@@ -9,9 +9,10 @@ def get_basis_generator(basis_generator_type: str, phase_generator: PhaseGenerat
     if basis_generator_type == "rbf":
         return NormalizedRBFBasisGenerator(phase_generator, **kwargs)
     elif basis_generator_type == "zero_rbf":
-        return ZeroStartNormalizedRBFBasisGenerator(phase_generator, **kwargs)
+        return ZeroPaddingNormalizedRBFBasisGenerator(phase_generator, **kwargs)
     elif basis_generator_type == "rhythmic":
-        return RhythmicBasisGenerator(phase_generator, **kwargs)
+        raise NotImplementedError()
+        # return RhythmicBasisGenerator(phase_generator, **kwargs)
     else:
         raise ValueError(f"Specified basis generator type {basis_generator_type} not supported, "
                          f"please choose one of {ALL_TYPES}.")
diff --git a/fancy_gym/black_box/factory/phase_generator_factory.py b/fancy_gym/black_box/factory/phase_generator_factory.py
index ca0dd84..67e17f8 100644
--- a/fancy_gym/black_box/factory/phase_generator_factory.py
+++ b/fancy_gym/black_box/factory/phase_generator_factory.py
@@ -1,6 +1,7 @@
-from mp_pytorch import LinearPhaseGenerator, ExpDecayPhaseGenerator
-from mp_pytorch.phase_gn.rhythmic_phase_generator import RhythmicPhaseGenerator
-from mp_pytorch.phase_gn.smooth_phase_generator import SmoothPhaseGenerator
+from mp_pytorch.phase_gn import LinearPhaseGenerator, ExpDecayPhaseGenerator
+
+# from mp_pytorch.phase_gn.rhythmic_phase_generator import RhythmicPhaseGenerator
+# from mp_pytorch.phase_gn.smooth_phase_generator import SmoothPhaseGenerator
 
 ALL_TYPES = ["linear", "exp", "rhythmic", "smooth"]
 
@@ -12,9 +13,11 @@ def get_phase_generator(phase_generator_type, **kwargs):
     elif phase_generator_type == "exp":
         return ExpDecayPhaseGenerator(**kwargs)
     elif phase_generator_type == "rhythmic":
-        return RhythmicPhaseGenerator(**kwargs)
+        raise NotImplementedError()
+        # return RhythmicPhaseGenerator(**kwargs)
     elif phase_generator_type == "smooth":
-        return SmoothPhaseGenerator(**kwargs)
+        raise NotImplementedError()
+        # return SmoothPhaseGenerator(**kwargs)
     else:
         raise ValueError(f"Specified phase generator type {phase_generator_type} not supported, "
                          f"please choose one of {ALL_TYPES}.")
diff --git a/fancy_gym/black_box/factory/trajectory_generator_factory.py b/fancy_gym/black_box/factory/trajectory_generator_factory.py
index f7ca6e2..2b93a6c 100644
--- a/fancy_gym/black_box/factory/trajectory_generator_factory.py
+++ b/fancy_gym/black_box/factory/trajectory_generator_factory.py
@@ -1,7 +1,5 @@
-from mp_pytorch.basis_gn.basis_generator import BasisGenerator
-from mp_pytorch.mp.dmp import DMP
-from mp_pytorch.mp.idmp import IDMP
-from mp_pytorch.mp.promp import ProMP
+from mp_pytorch.basis_gn import BasisGenerator
+from mp_pytorch.mp import ProDMP, DMP, ProMP
 
 ALL_TYPES = ["promp", "dmp", "idmp"]
 
@@ -15,7 +13,7 @@ def get_trajectory_generator(
     elif trajectory_generator_type == "dmp":
         return DMP(basis_generator, action_dim, **kwargs)
     elif trajectory_generator_type == 'idmp':
-        return IDMP(basis_generator, action_dim, **kwargs)
+        return ProDMP(basis_generator, action_dim, **kwargs)
     else:
         raise ValueError(f"Specified movement primitive type {trajectory_generator_type} not supported, "
                          f"please choose one of {ALL_TYPES}.")
diff --git a/fancy_gym/utils/make_env_helpers.py b/fancy_gym/utils/make_env_helpers.py
index 0f832ae..b0bfe8b 100644
--- a/fancy_gym/utils/make_env_helpers.py
+++ b/fancy_gym/utils/make_env_helpers.py
@@ -10,15 +10,14 @@ import numpy as np
 from gym.envs.registration import register, registry
 
 try:
-    from dm_control import suite, manipulation, composer
-    from dm_control.rl import control
+    from dm_control import suite, manipulation
 except ImportError:
     pass
 
 try:
     import metaworld
 except Exception:
-    # catch Exception due to Mujoco-py
+    # catch Exception as Import error does not catch missing mujoco-py
     pass
 
 import fancy_gym
@@ -227,7 +226,7 @@ def make_bb_env_helper(**kwargs):
 
 
 def make_dmc(
-        env_id: Union[str, composer.Environment, control.Environment],
+        env_id: str,
         seed: int = None,
         visualize_reward: bool = True,
         time_limit: Union[None, float] = None,
@@ -274,7 +273,7 @@ def make_dmc(
     return env
 
 
-def make_metaworld(env_id, seed, **kwargs):
+def make_metaworld(env_id: str, seed: int, **kwargs):
     if env_id not in metaworld.ML1.ENV_NAMES:
         raise ValueError(f'Specified environment "{env_id}" not present in metaworld ML1.')
 
diff --git a/setup.py b/setup.py
index 3f67e1a..3d428e2 100644
--- a/setup.py
+++ b/setup.py
@@ -27,8 +27,7 @@ setup(
     ],
     extras_require=extras,
     install_requires=[
-        'gym>=0.24.0',
-        'mujoco==2.2.0',
+        'gym[mujoco]>=0.24.0',
         'mp_pytorch @ git+https://github.com/ALRhub/MP_PyTorch.git@main'
     ],
     packages=[package for package in find_packages() if package.startswith("fancy_gym")],