diff --git a/.gitignore b/.gitignore
index 79c652b..ec01816 100644
--- a/.gitignore
+++ b/.gitignore
@@ -109,3 +109,5 @@ venv.bak/
 
 #configs
 /configs/db.cfg
+legacy/
+MUJOCO_LOG.TXT
diff --git a/MUJOCO_LOG.TXT b/MUJOCO_LOG.TXT
deleted file mode 100644
index d398e34..0000000
--- a/MUJOCO_LOG.TXT
+++ /dev/null
@@ -1,15 +0,0 @@
-Fri Aug 28 14:41:56 2020
-ERROR: GLEW initalization error: Missing GL version
-
-Fri Aug 28 14:59:14 2020
-ERROR: GLEW initalization error: Missing GL version
-
-Fri Aug 28 15:03:43 2020
-ERROR: GLEW initalization error: Missing GL version
-
-Fri Aug 28 15:07:03 2020
-ERROR: GLEW initalization error: Missing GL version
-
-Fri Aug 28 15:15:01 2020
-ERROR: GLEW initalization error: Missing GL version
-
diff --git a/alr_envs/__init__.py b/alr_envs/__init__.py
index a308852..da4204e 100644
--- a/alr_envs/__init__.py
+++ b/alr_envs/__init__.py
@@ -1,3 +1,4 @@
+import numpy as np
 from gym.envs.registration import register
 
 from alr_envs.stochastic_search.functions.f_rosenbrock import Rosenbrock
@@ -321,7 +322,9 @@ register(
         "bandwidth_factor": 2.5,
         "policy_type": "motor",
         "weights_scale": 100,
-        "return_to_start": True
+        "return_to_start": True,
+        "p_gains": np.array([4. / 3., 2.4, 2.5, 5. / 3., 2., 2., 1.25]),
+        "d_gains": np.array([0.0466, 0.12, 0.125, 0.04166, 0.06, 0.06, 0.025])
     }
 )
 
@@ -339,7 +342,9 @@ register(
         "bandwidth_factor": 2.5,
         "policy_type": "motor",
         "weights_scale": 100,
-        "return_to_start": True
+        "return_to_start": True,
+        "p_gains": np.array([4. / 3., 2.4, 2.5, 5. / 3., 2., 2., 1.25]),
+        "d_gains": np.array([0.0466, 0.12, 0.125, 0.04166, 0.06, 0.06, 0.025])
     }
 )
 
@@ -357,7 +362,9 @@ register(
         "policy_type": "motor",
         "weights_scale": 0.2,
         "zero_start": True,
-        "zero_goal": True
+        "zero_goal": True,
+        "p_gains": np.array([4./3., 2.4, 2.5, 5./3., 2., 2., 1.25]),
+        "d_gains": np.array([0.0466, 0.12, 0.125, 0.04166, 0.06, 0.06, 0.025])
     }
 )
 
@@ -374,7 +381,9 @@ register(
         "policy_type": "motor",
         "weights_scale": 0.2,
         "zero_start": True,
-        "zero_goal": True
+        "zero_goal": True,
+        "p_gains": np.array([4./3., 2.4, 2.5, 5./3., 2., 2., 1.25]),
+        "d_gains": np.array([0.0466, 0.12, 0.125, 0.04166, 0.06, 0.06, 0.025])
     }
 )
 
@@ -392,7 +401,9 @@ register(
         "bandwidth_factor": 2.5,
         "policy_type": "motor",
         "weights_scale": 50,
-        "goal_scale": 0.1
+        "goal_scale": 0.1,
+        "p_gains": np.array([4. / 3., 2.4, 2.5, 5. / 3., 2., 2., 1.25]),
+        "d_gains": np.array([0.0466, 0.12, 0.125, 0.04166, 0.06, 0.06, 0.025])
     }
 )
 
diff --git a/alr_envs/classic_control/hole_reacher.py b/alr_envs/classic_control/hole_reacher.py
index 730e7bf..281a771 100644
--- a/alr_envs/classic_control/hole_reacher.py
+++ b/alr_envs/classic_control/hole_reacher.py
@@ -7,7 +7,7 @@ from gym.utils import seeding
 from matplotlib import patches
 
 from alr_envs.classic_control.utils import check_self_collision
-from alr_envs.utils.mps.mp_environments import AlrEnv
+from alr_envs.utils.mps.alr_env import AlrEnv
 
 
 class HoleReacherEnv(AlrEnv):
diff --git a/alr_envs/classic_control/simple_reacher.py b/alr_envs/classic_control/simple_reacher.py
index 5b04aad..43b0381 100644
--- a/alr_envs/classic_control/simple_reacher.py
+++ b/alr_envs/classic_control/simple_reacher.py
@@ -5,7 +5,7 @@ import numpy as np
 from gym import spaces
 from gym.utils import seeding
 
-from alr_envs.utils.mps.mp_environments import AlrEnv
+from alr_envs.utils.mps.alr_env import AlrEnv
 
 
 class SimpleReacherEnv(AlrEnv):
diff --git a/alr_envs/classic_control/viapoint_reacher.py b/alr_envs/classic_control/viapoint_reacher.py
index 8edcc69..afaa26e 100644
--- a/alr_envs/classic_control/viapoint_reacher.py
+++ b/alr_envs/classic_control/viapoint_reacher.py
@@ -6,7 +6,7 @@ import numpy as np
 from gym.utils import seeding
 
 from alr_envs.classic_control.utils import check_self_collision
-from alr_envs.utils.mps.mp_environments import AlrEnv
+from alr_envs.utils.mps.alr_env import AlrEnv
 
 
 class ViaPointReacher(AlrEnv):
diff --git a/alr_envs/mujoco/alr_mujoco_env.py b/alr_envs/mujoco/alr_mujoco_env.py
index 8dbdabb..a95165c 100644
--- a/alr_envs/mujoco/alr_mujoco_env.py
+++ b/alr_envs/mujoco/alr_mujoco_env.py
@@ -7,7 +7,9 @@ from gym import error, spaces
 from gym.utils import seeding
 import numpy as np
 from os import path
-import gym
+
+from alr_envs.utils.mps.alr_env import AlrEnv
+from alr_envs.utils.positional_env import PositionalEnv
 
 try:
     import mujoco_py
@@ -33,7 +35,7 @@ def convert_observation_to_space(observation):
     return space
 
 
-class AlrMujocoEnv(gym.Env):
+class AlrMujocoEnv(PositionalEnv, AlrEnv):
     """
     Superclass for all MuJoCo environments.
     """
@@ -44,7 +46,7 @@ class AlrMujocoEnv(gym.Env):
         Args:
             model_path: path to xml file
             n_substeps: how many steps mujoco does per call to env.step
-            use_servo: use actuator defined in xml, use False for direct torque control
+            apply_gravity_comp: Whether gravity compensation should be active
         """
         if model_path.startswith("/"):
             fullpath = model_path
@@ -73,10 +75,6 @@ class AlrMujocoEnv(gym.Env):
 
         self._set_action_space()
 
-        # action = self.action_space.sample()
-        # observation, _reward, done, _info = self.step(action)
-        # assert not done
-
         observation = self._get_obs()  # TODO: is calling get_obs enough? should we call reset, or even step?
 
         self._set_observation_space(observation)
@@ -204,7 +202,7 @@ class AlrMujocoEnv(gym.Env):
 
         try:
             self.sim.step()
-        except mujoco_py.builder.MujocoException as e:
+        except mujoco_py.builder.MujocoException:
             error_in_sim = True
 
         return error_in_sim
diff --git a/alr_envs/mujoco/ball_in_a_cup/ball_in_a_cup.py b/alr_envs/mujoco/ball_in_a_cup/ball_in_a_cup.py
index e7da171..8ca948b 100644
--- a/alr_envs/mujoco/ball_in_a_cup/ball_in_a_cup.py
+++ b/alr_envs/mujoco/ball_in_a_cup/ball_in_a_cup.py
@@ -16,8 +16,6 @@ class ALRBallInACupEnv(alr_mujoco_env.AlrMujocoEnv, utils.EzPickle):
         self._q_vel = []
         # self.weight_matrix_scale = 50
         self.max_ctrl = np.array([150., 125., 40., 60., 5., 5., 2.])
-        self.p_gains = 1 / self.max_ctrl * np.array([200, 300, 100, 100, 10, 10, 2.5])
-        self.d_gains = 1 / self.max_ctrl * np.array([7, 15, 5, 2.5, 0.3, 0.3, 0.05])
 
         self.j_min = np.array([-2.6, -1.985, -2.8, -0.9, -4.55, -1.5707, -2.7])
         self.j_max = np.array([2.6, 1.985, 2.8, 3.14159, 1.25, 1.5707, 2.7])
diff --git a/alr_envs/utils/make_env_helpers.py b/alr_envs/utils/make_env_helpers.py
index d455496..e876ee8 100644
--- a/alr_envs/utils/make_env_helpers.py
+++ b/alr_envs/utils/make_env_helpers.py
@@ -1,5 +1,5 @@
-from alr_envs.utils.mps.dmp_wrapper import DmpWrapper
-from alr_envs.utils.mps.detpmp_wrapper import DetPMPWrapper
+from mp_env_api.mp_wrappers.dmp_wrapper import DmpWrapper
+from mp_env_api.mp_wrappers.detpmp_wrapper import DetPMPWrapper
 import gym
 from gym.vector.utils import write_to_shared_memory
 import sys
diff --git a/alr_envs/utils/mp_env_async_sampler.py b/alr_envs/utils/mp_env_async_sampler.py
index 5cda41f..30f23c5 100644
--- a/alr_envs/utils/mp_env_async_sampler.py
+++ b/alr_envs/utils/mp_env_async_sampler.py
@@ -91,20 +91,21 @@ class AlrContextualMpEnvSampler:
 
         repeat = int(np.ceil(n_samples / self.env.num_envs))
         vals = defaultdict(list)
+
+        obs = self.env.reset()
         for i in range(repeat):
-            new_contexts = self.env.reset()
-            vals['new_contexts'].append(new_contexts)
-            new_samples, new_contexts = dist.sample(new_contexts)
+            vals['obs'].append(obs)
+            new_samples, new_contexts = dist.sample(obs)
             vals['new_samples'].append(new_samples)
 
             obs, reward, done, info = self.env.step(new_samples)
-            vals['obs'].append(obs)
+
             vals['reward'].append(reward)
             vals['done'].append(done)
             vals['info'].append(info)
 
         # do not return values above threshold
-        return np.vstack(vals['new_samples'])[:n_samples], np.vstack(vals['new_contexts'])[:n_samples], \
+        return np.vstack(vals['new_samples'])[:n_samples], \
             np.vstack(vals['obs'])[:n_samples], np.hstack(vals['reward'])[:n_samples], \
             _flatten_list(vals['done'])[:n_samples], _flatten_list(vals['info'])[:n_samples]
 
diff --git a/alr_envs/utils/mps/__init__.py b/alr_envs/utils/mps/__init__.py
deleted file mode 100644
index e69de29..0000000
diff --git a/alr_envs/utils/mps/detpmp_wrapper.py b/alr_envs/utils/mps/detpmp_wrapper.py
deleted file mode 100644
index 8661781..0000000
--- a/alr_envs/utils/mps/detpmp_wrapper.py
+++ /dev/null
@@ -1,42 +0,0 @@
-import gym
-import numpy as np
-from mp_lib import det_promp
-
-from alr_envs.utils.mps.mp_environments import AlrEnv
-from alr_envs.utils.mps.mp_wrapper import MPWrapper
-
-
-class DetPMPWrapper(MPWrapper):
-    def __init__(self, env: AlrEnv, num_dof: int, num_basis: int, width: float, duration: float = 1, dt: float = 0.01,
-                 post_traj_time: float = 0., policy_type: str = None, weights_scale: float = 1.,
-                 zero_start: bool = False, zero_goal: bool = False, **mp_kwargs):
-        self.duration = duration  # seconds
-
-        dt = env.dt if hasattr(env, "dt") else dt
-        assert dt is not None
-        self.dt = dt
-
-        super().__init__(env, num_dof, dt, duration, post_traj_time, policy_type, weights_scale, num_basis=num_basis,
-                         width=width, zero_start=zero_start, zero_goal=zero_goal, **mp_kwargs)
-
-        action_bounds = np.inf * np.ones((self.mp.n_basis * self.mp.n_dof))
-        self.action_space = gym.spaces.Box(low=-action_bounds, high=action_bounds, dtype=np.float32)
-
-    def initialize_mp(self, num_dof: int, duration: int, dt: float, num_basis: int = 5, width: float = None,
-                      off: float = 0.01, zero_start: bool = False, zero_goal: bool = False):
-        pmp = det_promp.DeterministicProMP(n_basis=num_basis, n_dof=num_dof, width=width, off=off,
-                                           zero_start=zero_start, zero_goal=zero_goal)
-
-        weights = np.zeros(shape=(num_basis, num_dof))
-        pmp.set_weights(duration, weights)
-
-        return pmp
-
-    def mp_rollout(self, action):
-        params = np.reshape(action, newshape=(self.mp.n_basis, self.mp.n_dof)) * self.weights_scale
-        self.mp.set_weights(self.duration, params)
-        _, des_pos, des_vel, _ = self.mp.compute_trajectory(1 / self.dt, 1.)
-        if self.mp.zero_start:
-            des_pos += self.env.start_pos[None, :]
-
-        return des_pos, des_vel
diff --git a/alr_envs/utils/mps/dmp_wrapper.py b/alr_envs/utils/mps/dmp_wrapper.py
deleted file mode 100644
index 4958a98..0000000
--- a/alr_envs/utils/mps/dmp_wrapper.py
+++ /dev/null
@@ -1,76 +0,0 @@
-import gym
-import numpy as np
-from mp_lib import dmps
-from mp_lib.basis import DMPBasisGenerator
-from mp_lib.phase import ExpDecayPhaseGenerator
-
-from alr_envs.utils.mps.mp_environments import AlrEnv
-from alr_envs.utils.mps.mp_wrapper import MPWrapper
-
-
-class DmpWrapper(MPWrapper):
-
-    def __init__(self, env: AlrEnv, num_dof: int, num_basis: int,
-                 duration: int = 1, alpha_phase: float = 2., dt: float = None,
-                 learn_goal: bool = False, post_traj_time: float = 0.,
-                 weights_scale: float = 1., goal_scale: float = 1., bandwidth_factor: float = 3.,
-                 policy_type: str = None, render_mode: str = None):
-
-        """
-        This Wrapper generates a trajectory based on a DMP and will only return episodic performances.
-        Args:
-            env:
-            num_dof:
-            num_basis:
-            duration:
-            alpha_phase:
-            dt:
-            learn_goal:
-            post_traj_time:
-            policy_type:
-            weights_scale:
-            goal_scale:
-        """
-        self.learn_goal = learn_goal
-        dt = env.dt if hasattr(env, "dt") else dt
-        assert dt is not None
-        self.t = np.linspace(0, duration, int(duration / dt))
-        self.goal_scale = goal_scale
-
-        super().__init__(env, num_dof, dt, duration, post_traj_time, policy_type, weights_scale, render_mode,
-                         num_basis=num_basis, alpha_phase=alpha_phase, bandwidth_factor=bandwidth_factor)
-
-        action_bounds = np.inf * np.ones((np.prod(self.mp.weights.shape) + (num_dof if learn_goal else 0)))
-        self.action_space = gym.spaces.Box(low=-action_bounds, high=action_bounds, dtype=np.float32)
-
-    def initialize_mp(self, num_dof: int, duration: int, dt: float, num_basis: int = 5, alpha_phase: float = 2.,
-                      bandwidth_factor: int = 3):
-
-        phase_generator = ExpDecayPhaseGenerator(alpha_phase=alpha_phase, duration=duration)
-        basis_generator = DMPBasisGenerator(phase_generator, duration=duration, num_basis=num_basis,
-                                            basis_bandwidth_factor=bandwidth_factor)
-
-        dmp = dmps.DMP(num_dof=num_dof, basis_generator=basis_generator, phase_generator=phase_generator,
-                       duration=duration, dt=dt)
-
-        return dmp
-
-    def goal_and_weights(self, params):
-        assert params.shape[-1] == self.action_space.shape[0]
-        params = np.atleast_2d(params)
-
-        if self.learn_goal:
-            goal_pos = params[0, -self.mp.num_dimensions:]  # [num_dof]
-            params = params[:, :-self.mp.num_dimensions]  # [1,num_dof]
-        else:
-            goal_pos = self.env.goal_pos
-            assert goal_pos is not None
-
-        weight_matrix = np.reshape(params, self.mp.weights.shape)  # [num_basis, num_dof]
-        return goal_pos * self.goal_scale, weight_matrix * self.weights_scale
-
-    def mp_rollout(self, action):
-        self.mp.dmp_start_pos = self.env.start_pos
-        goal_pos, weight_matrix = self.goal_and_weights(action)
-        self.mp.set_weights(weight_matrix, goal_pos)
-        return self.mp.reference_trajectory(self.t)
diff --git a/alr_envs/utils/mps/mp_environments.py b/alr_envs/utils/mps/mp_environments.py
deleted file mode 100644
index 60db99b..0000000
--- a/alr_envs/utils/mps/mp_environments.py
+++ /dev/null
@@ -1,33 +0,0 @@
-from abc import abstractmethod
-from typing import Union
-
-import gym
-import numpy as np
-
-
-class AlrEnv(gym.Env):
-
-    @property
-    @abstractmethod
-    def active_obs(self):
-        """Returns boolean mask for each observation entry
-        whether the observation is returned for the contextual case or not.
-        This effectively allows to filter unwanted or unnecessary observations from the full step-based case.
-        """
-        return np.ones(self.observation_space.shape, dtype=bool)
-
-    @property
-    @abstractmethod
-    def start_pos(self) -> Union[float, int, np.ndarray]:
-        """
-        Returns the starting position of the joints
-        """
-        raise NotImplementedError()
-
-    @property
-    def goal_pos(self) -> Union[float, int, np.ndarray]:
-        """
-        Returns the current final position of the joints for the MP.
-        By default this returns the starting position.
-        """
-        return self.start_pos
diff --git a/alr_envs/utils/mps/mp_wrapper.py b/alr_envs/utils/mps/mp_wrapper.py
index 9ec1cbc..e69de29 100644
--- a/alr_envs/utils/mps/mp_wrapper.py
+++ b/alr_envs/utils/mps/mp_wrapper.py
@@ -1,113 +0,0 @@
-from abc import ABC, abstractmethod
-from collections import defaultdict
-
-import gym
-import numpy as np
-
-from alr_envs.utils.mps.mp_environments import AlrEnv
-from alr_envs.utils.policies import get_policy_class
-
-
-class MPWrapper(gym.Wrapper, ABC):
-
-    def __init__(self, env: AlrEnv, num_dof: int, dt: float, duration: float = 1, post_traj_time: float = 0.,
-                 policy_type: str = None, weights_scale: float = 1., render_mode: str = None, **mp_kwargs):
-        super().__init__(env)
-
-        # adjust observation space to reduce version
-        obs_sp = self.env.observation_space
-        self.observation_space = gym.spaces.Box(low=obs_sp.low[self.env.active_obs],
-                                                high=obs_sp.high[self.env.active_obs],
-                                                dtype=obs_sp.dtype)
-
-        assert dt is not None  # this should never happen as MPWrapper is a base class
-        self.post_traj_steps = int(post_traj_time / dt)
-
-        self.mp = self.initialize_mp(num_dof, duration, dt, **mp_kwargs)
-        self.weights_scale = weights_scale
-
-        policy_class = get_policy_class(policy_type)
-        self.policy = policy_class(env)
-
-        # rendering
-        self.render_mode = render_mode
-        self.render_kwargs = {}
-
-    # TODO: @Max I think this should not be in this class, this functionality should be part of your sampler.
-    def __call__(self, params, contexts=None):
-        """
-        Can be used to provide a batch of parameter sets
-        """
-        params = np.atleast_2d(params)
-        obs = []
-        rewards = []
-        dones = []
-        infos = []
-        # for p, c in zip(params, contexts):
-        for p in params:
-            # self.configure(c)
-            ob, reward, done, info = self.step(p)
-            obs.append(ob)
-            rewards.append(reward)
-            dones.append(done)
-            infos.append(info)
-
-        return obs, np.array(rewards), dones, infos
-
-    def reset(self):
-        return self.env.reset()[self.env.active_obs]
-
-    def step(self, action: np.ndarray):
-        """ This function generates a trajectory based on a DMP and then does the usual loop over reset and step"""
-        trajectory, velocity = self.mp_rollout(action)
-
-        if self.post_traj_steps > 0:
-            trajectory = np.vstack([trajectory, np.tile(trajectory[-1, :], [self.post_traj_steps, 1])])
-            velocity = np.vstack([velocity, np.zeros(shape=(self.post_traj_steps, self.mp.n_dof))])
-
-        self._trajectory = trajectory
-        # self._velocity = velocity
-
-        rewards = 0
-        infos = defaultdict(list)
-        # create random obs as the reset function is called externally
-        obs = self.env.observation_space.sample()
-
-        for t, pos_vel in enumerate(zip(trajectory, velocity)):
-            ac = self.policy.get_action(pos_vel[0], pos_vel[1])
-            obs, rew, done, info = self.env.step(ac)
-            rewards += rew
-            # TODO return all dicts?
-            [infos[k].append(v) for k, v in info.items()]
-            if self.render_mode:
-                self.env.render(mode=self.render_mode, **self.render_kwargs)
-            if done:
-                break
-
-        done = True
-        return obs[self.env.active_obs], rewards, done, infos
-
-    def render(self, mode='human', **kwargs):
-        """Only set render options here, such that they can be used during the rollout.
-        This only needs to be called once"""
-        self.render_mode = mode
-        self.render_kwargs = kwargs
-
-    @abstractmethod
-    def mp_rollout(self, action):
-        """
-        Generate trajectory and velocity based on the MP
-        Returns:
-            trajectory/positions, velocity
-        """
-        raise NotImplementedError()
-
-    @abstractmethod
-    def initialize_mp(self, num_dof: int, duration: float, dt: float, **kwargs):
-        """
-        Create respective instance of MP
-        Returns:
-             MP instance
-        """
-
-        raise NotImplementedError
diff --git a/alr_envs/utils/policies.py b/alr_envs/utils/policies.py
deleted file mode 100644
index e8874d6..0000000
--- a/alr_envs/utils/policies.py
+++ /dev/null
@@ -1,48 +0,0 @@
-from gym import Env
-
-from alr_envs.mujoco.alr_mujoco_env import AlrMujocoEnv
-
-
-class BaseController:
-    def __init__(self, env: Env):
-        self.env = env
-
-    def get_action(self, des_pos, des_vel):
-        raise NotImplementedError
-
-
-class PosController(BaseController):
-    def get_action(self, des_pos, des_vel):
-        return des_pos
-
-
-class VelController(BaseController):
-    def get_action(self, des_pos, des_vel):
-        return des_vel
-
-
-class PDController(BaseController):
-    def __init__(self, env: AlrMujocoEnv):
-        self.p_gains = env.p_gains
-        self.d_gains = env.d_gains
-        super(PDController, self).__init__(env)
-
-    def get_action(self, des_pos, des_vel):
-        # TODO: make standardized ALRenv such that all of them have current_pos/vel attributes
-        cur_pos = self.env.current_pos
-        cur_vel = self.env.current_vel
-        if len(des_pos) != len(cur_pos):
-            des_pos = self.env.extend_des_pos(des_pos)
-        if len(des_vel) != len(cur_vel):
-            des_vel = self.env.extend_des_vel(des_vel)
-        trq = self.p_gains * (des_pos - cur_pos) + self.d_gains * (des_vel - cur_vel)
-        return trq
-
-
-def get_policy_class(policy_type):
-    if policy_type == "motor":
-        return PDController
-    elif policy_type == "velocity":
-        return VelController
-    elif policy_type == "position":
-        return PosController