diff --git a/fancy_gym/dmc/manipulation/reach_site/mp_wrapper.py b/fancy_gym/dmc/manipulation/reach_site/mp_wrapper.py
index bc3445a..fbfd592 100644
--- a/fancy_gym/dmc/manipulation/reach_site/mp_wrapper.py
+++ b/fancy_gym/dmc/manipulation/reach_site/mp_wrapper.py
@@ -13,7 +13,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'p_gains': 50.0,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 0.2,
+                'weights_scale': 0.2,
             },
         },
         'DMP': {
@@ -25,7 +25,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'alpha_phase': 2,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 500,
+                'weights_scale': 500,
             },
         },
         'ProDMP': {},
diff --git a/fancy_gym/dmc/suite/ball_in_cup/mp_wrapper.py b/fancy_gym/dmc/suite/ball_in_cup/mp_wrapper.py
index aef9896..4441fb0 100644
--- a/fancy_gym/dmc/suite/ball_in_cup/mp_wrapper.py
+++ b/fancy_gym/dmc/suite/ball_in_cup/mp_wrapper.py
@@ -20,7 +20,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'alpha_phase': 2,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 10
+                'weights_scale': 10
             },
         },
         'ProDMP': {},
diff --git a/fancy_gym/dmc/suite/cartpole/mp_wrapper.py b/fancy_gym/dmc/suite/cartpole/mp_wrapper.py
index 9373cf2..d4c8dcc 100644
--- a/fancy_gym/dmc/suite/cartpole/mp_wrapper.py
+++ b/fancy_gym/dmc/suite/cartpole/mp_wrapper.py
@@ -13,7 +13,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'd_gains': 10,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 0.2,
+                'weights_scale': 0.2,
             },
         },
         'DMP': {
@@ -25,7 +25,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'alpha_phase': 2,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 500,
+                'weights_scale': 500,
             },
         },
         'ProDMP': {},
diff --git a/fancy_gym/dmc/suite/reacher/mp_wrapper.py b/fancy_gym/dmc/suite/reacher/mp_wrapper.py
index 5fcf5a7..8741d91 100644
--- a/fancy_gym/dmc/suite/reacher/mp_wrapper.py
+++ b/fancy_gym/dmc/suite/reacher/mp_wrapper.py
@@ -10,7 +10,7 @@ class MPWrapper(RawInterfaceWrapper):
         'ProMP': {
             'controller_kwargs': {
                 'p_gains': 50.0,
-                'weight_scale': 0.2,
+                'weights_scale': 0.2,
             },
         },
         'DMP': {
@@ -21,7 +21,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'alpha_phase': 2,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 500,
+                'weights_scale': 500,
             },
         },
         'ProDMP': {},
diff --git a/fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py b/fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py
index c8e6dcc..4c56f87 100644
--- a/fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py
+++ b/fancy_gym/envs/classic_control/hole_reacher/mp_wrapper.py
@@ -13,7 +13,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'controller_type': 'velocity',
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 2,
+                'weights_scale': 2,
             },
         },
         'DMP': {
@@ -22,7 +22,7 @@ class MPWrapper(RawInterfaceWrapper):
             },
             'trajectory_generator_kwargs': {
                 # TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
-                'weight_scale': 500,
+                'weights_scale': 500,
             },
             'phase_generator_kwargs': {
                 'alpha_phase': 2.5,
diff --git a/fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py b/fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py
index 2ee3cd1..d2f90d5 100644
--- a/fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py
+++ b/fancy_gym/envs/classic_control/simple_reacher/mp_wrapper.py
@@ -20,7 +20,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'd_gains': 0.075,
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 50,
+                'weights_scale': 50,
             },
             'phase_generator_kwargs': {
                 'alpha_phase': 2,
diff --git a/fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py b/fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py
index c07b651..b915ec0 100644
--- a/fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py
+++ b/fancy_gym/envs/classic_control/viapoint_reacher/mp_wrapper.py
@@ -18,7 +18,7 @@ class MPWrapper(RawInterfaceWrapper):
                 'controller_type': 'velocity',
             },
             'trajectory_generator_kwargs': {
-                'weight_scale': 50,
+                'weights_scale': 50,
             },
             'phase_generator_kwargs': {
                 'alpha_phase': 2,
diff --git a/fancy_gym/examples/example_replanning_envs.py b/fancy_gym/examples/example_replanning_envs.py
index 977ce9e..05be6ad 100644
--- a/fancy_gym/examples/example_replanning_envs.py
+++ b/fancy_gym/examples/example_replanning_envs.py
@@ -1,5 +1,6 @@
 import fancy_gym
 
+
 def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False):
     env = fancy_gym.make(env_name, seed=seed)
     env.reset()
@@ -15,6 +16,7 @@ def example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1
     env.close()
     del env
 
+
 def example_custom_replanning_envs(seed=0, iteration=100, render=True):
     # id for a step-based environment
     base_env_id = "BoxPushingDense-v0"
@@ -22,7 +24,7 @@ def example_custom_replanning_envs(seed=0, iteration=100, render=True):
     wrappers = [fancy_gym.envs.mujoco.box_pushing.mp_wrapper.MPWrapper]
 
     trajectory_generator_kwargs = {'trajectory_generator_type': 'prodmp',
-                                   'weight_scale': 1}
+                                   'weights_scale': 1}
     phase_generator_kwargs = {'phase_generator_type': 'exp'}
     controller_kwargs = {'controller_type': 'velocity'}
     basis_generator_kwargs = {'basis_generator_type': 'prodmp',
@@ -59,4 +61,4 @@ if __name__ == "__main__":
     example_run_replanning_env(env_name="BoxPushingDenseReplanProDMP-v0", seed=1, iterations=1, render=False)
 
     # run a custom replanning environment
-    example_custom_replanning_envs(seed=0, iteration=8, render=True)
\ No newline at end of file
+    example_custom_replanning_envs(seed=0, iteration=8, render=True)
diff --git a/fancy_gym/examples/examples_movement_primitives.py b/fancy_gym/examples/examples_movement_primitives.py
index 7388b4b..5913774 100644
--- a/fancy_gym/examples/examples_movement_primitives.py
+++ b/fancy_gym/examples/examples_movement_primitives.py
@@ -114,7 +114,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 
     # For a ProMP
     trajectory_generator_kwargs = {'trajectory_generator_type': 'promp',
-                                   'weight_scale': 2}
+                                   'weights_scale': 2}
     phase_generator_kwargs = {'phase_generator_type': 'linear'}
     controller_kwargs = {'controller_type': 'velocity'}
     basis_generator_kwargs = {'basis_generator_type': 'zero_rbf',
@@ -124,7 +124,7 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 
     # # For a DMP
     # trajectory_generator_kwargs = {'trajectory_generator_type': 'dmp',
-    #                                'weight_scale': 500}
+    #                                'weights_scale': 500}
     # phase_generator_kwargs = {'phase_generator_type': 'exp',
     #                           'alpha_phase': 2.5}
     # controller_kwargs = {'controller_type': 'velocity'}