diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py
index 35e1ccf..3b26345 100644
--- a/fancy_gym/envs/__init__.py
+++ b/fancy_gym/envs/__init__.py
@@ -77,6 +77,7 @@ DEFAULT_BB_DICT_ProDMP = {
     },
     "phase_generator_kwargs": {
         'phase_generator_type': 'exp',
+        'tau': 1.5,
     },
     "controller_kwargs": {
         'controller_type': 'motor',
@@ -529,7 +530,8 @@ for _v in _versions:
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 0.3
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['auto_scale_basis'] = True
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_offset'] = 1.0
-    kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 4
+    kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['disable_goal'] = True
+    kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['num_basis'] = 5
     kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3
     kwargs_dict_box_pushing_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
     kwargs_dict_box_pushing_prodmp['black_box_kwargs']['max_planning_times'] = 4
@@ -560,7 +562,7 @@ for _v in _versions:
     kwargs_dict_tt_promp['phase_generator_kwargs']['tau_bound'] = [0.8, 1.5]
     kwargs_dict_tt_promp['phase_generator_kwargs']['delay_bound'] = [0.05, 0.15]
     kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis'] = 3
-    kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_start'] = 2
+    kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_start'] = 1
     kwargs_dict_tt_promp['basis_generator_kwargs']['num_basis_zero_goal'] = 1
     kwargs_dict_tt_promp['black_box_kwargs']['verbose'] = 2
     register(
diff --git a/fancy_gym/examples/mp_params_tuning.py b/fancy_gym/examples/mp_params_tuning.py
new file mode 100644
index 0000000..a0ac386
--- /dev/null
+++ b/fancy_gym/examples/mp_params_tuning.py
@@ -0,0 +1,10 @@
+import fancy_gym
+
+def compare_bases_shape(env1_id, env2_id):
+    env1 = fancy_gym.make(env1_id, seed=0)
+    env1.traj_gen.show_scaled_basis(plot=True)
+    env2 = fancy_gym.make(env2_id, seed=0)
+    env2.traj_gen.show_scaled_basis(plot=True)
+    return
+if __name__ == '__main__':
+    compare_bases_shape("BoxPushingDenseReplanProDMP-v0", "BoxPushingDenseProMP-v0")
\ No newline at end of file