diff --git a/alr_envs/__init__.py b/alr_envs/__init__.py
index 7bff610..fd79c25 100644
--- a/alr_envs/__init__.py
+++ b/alr_envs/__init__.py
@@ -1,7 +1,7 @@
 from gym.envs.registration import register
 
 from alr_envs.stochastic_search.functions.f_rosenbrock import Rosenbrock
-from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
+# from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
 
 # Mujoco
 
@@ -119,37 +119,89 @@ register(
         "n_links": 5,
         "allow_self_collision": False,
         "allow_wall_collision": False,
-        "hole_width": 0.15,
+        "hole_width": 0.25,
         "hole_depth": 1,
-        "hole_x": 1,
+        "hole_x": 2,
         "collision_penalty": 100,
     }
 )
 
-# DMP environments
+# MP environments
 
 register(
     id='ViaPointReacherDMP-v0',
-    entry_point='alr_envs.classic_control.viapoint_reacher:viapoint_dmp',
+    entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
     # max_episode_steps=1,
+    kwargs={
+        "name": "alr_envs:ViaPointReacher-v0",
+        "num_dof": 5,
+        "num_basis": 5,
+        "duration": 2,
+        "alpha_phase": 2,
+        "learn_goal": False,
+        "policy_type": "velocity",
+        "weights_scale": 50,
+    }
 )
 
 register(
     id='HoleReacherDMP-v0',
-    entry_point='alr_envs.classic_control.hole_reacher:holereacher_dmp',
+    entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
     # max_episode_steps=1,
+    kwargs={
+        "name": "alr_envs:HoleReacher-v0",
+        "num_dof": 5,
+        "num_basis": 5,
+        "duration": 2,
+        "learn_goal": True,
+        "alpha_phase": 2,
+        "bandwidth_factor": 2,
+        "policy_type": "velocity",
+        "weights_scale": 50,
+        "goal_scale": 0.1
+    }
 )
 
+# TODO: properly add final_pos
 register(
     id='HoleReacherFixedGoalDMP-v0',
-    entry_point='alr_envs.classic_control.hole_reacher:holereacher_fix_goal_dmp',
+    entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
     # max_episode_steps=1,
+    kwargs={
+        "name": "alr_envs:HoleReacher-v0",
+        "num_dof": 5,
+        "num_basis": 5,
+        "duration": 2,
+        "learn_goal": False,
+        "alpha_phase": 2,
+        "policy_type": "velocity",
+        "weights_scale": 50,
+        "goal_scale": 0.1
+    }
 )
 
 register(
     id='HoleReacherDetPMP-v0',
     entry_point='alr_envs.classic_control.hole_reacher:holereacher_detpmp',
     # max_episode_steps=1,
+    # TODO: add mp kwargs
+)
+
+register(
+    id='BiacSimpleDMP-v0',
+    entry_point='alr_envs.utils.make_env_helpers:make_dmp_env',
+    kwargs={
+        "name": "alr_envs:HoleReacher-v0",
+        "num_dof": 5,
+        "num_basis": 5,
+        "duration": 2,
+        "learn_goal": True,
+        "alpha_phase": 2,
+        "bandwidth_factor": 2,
+        "policy_type": "velocity",
+        "weights_scale": 50,
+        "goal_scale": 0.1
+    }
 )
 
 # BBO functions
diff --git a/alr_envs/classic_control/__init__.py b/alr_envs/classic_control/__init__.py
index a831c43..8d31d19 100644
--- a/alr_envs/classic_control/__init__.py
+++ b/alr_envs/classic_control/__init__.py
@@ -1,3 +1,3 @@
 from alr_envs.classic_control.simple_reacher import SimpleReacherEnv
 from alr_envs.classic_control.viapoint_reacher import ViaPointReacher
-from alr_envs.classic_control.hole_reacher import HoleReacher
\ No newline at end of file
+from alr_envs.classic_control.hole_reacher import HoleReacher
diff --git a/alr_envs/classic_control/hole_reacher.py b/alr_envs/classic_control/hole_reacher.py
index 8f8feda..3b382f9 100644
--- a/alr_envs/classic_control/hole_reacher.py
+++ b/alr_envs/classic_control/hole_reacher.py
@@ -2,40 +2,7 @@ import gym
 import numpy as np
 import matplotlib.pyplot as plt
 from matplotlib import patches
-
-from alr_envs import DmpWrapper
-from alr_envs.utils.wrapper.detpmp_wrapper import DetPMPWrapper
-
-
-def ccw(A, B, C):
-    return (C[1] - A[1]) * (B[0] - A[0]) - (B[1] - A[1]) * (C[0] - A[0]) > 1e-12
-
-
-# Return true if line segments AB and CD intersect
-def intersect(A, B, C, D):
-    return ccw(A, C, D) != ccw(B, C, D) and ccw(A, B, C) != ccw(A, B, D)
-
-
-def holereacher_dmp(**kwargs):
-    _env = gym.make("alr_envs:HoleReacher-v0")
-    # _env = HoleReacher(**kwargs)
-    return DmpWrapper(_env, num_dof=5, num_basis=5, duration=2, dt=_env.dt, learn_goal=True, alpha_phase=3.5,
-                      start_pos=_env.start_pos, policy_type="velocity", weights_scale=100, goal_scale=0.1)
-
-
-def holereacher_fix_goal_dmp(**kwargs):
-    _env = gym.make("alr_envs:HoleReacher-v0")
-    # _env = HoleReacher(**kwargs)
-    return DmpWrapper(_env, num_dof=5, num_basis=5, duration=2, dt=_env.dt, learn_goal=False, alpha_phase=3.5,
-                      start_pos=_env.start_pos, policy_type="velocity", weights_scale=50, goal_scale=1,
-                      final_pos=np.array([2.02669572, -1.25966385, -1.51618198, -0.80946476, 0.02012344]))
-
-
-def holereacher_detpmp(**kwargs):
-    _env = gym.make("alr_envs:HoleReacher-v0")
-    # _env = HoleReacher(**kwargs)
-    return DetPMPWrapper(_env, num_dof=5, num_basis=5, width=0.005, policy_type="velocity", start_pos=_env.start_pos,
-                         duration=2, post_traj_time=0, dt=_env.dt, weights_scale=0.25, zero_start=True, zero_goal=False)
+from alr_envs.classic_control.utils import check_self_collision
 
 
 class HoleReacher(gym.Env):
@@ -166,7 +133,7 @@ class HoleReacher(gym.Env):
         wall_collision = False
 
         if not self.allow_self_collision:
-            self_collision = self.check_self_collision(line_points_in_taskspace)
+            self_collision = check_self_collision(line_points_in_taskspace)
             if np.any(np.abs(self._joint_angles) > np.pi) and not self.allow_self_collision:
                 self_collision = True
 
@@ -209,14 +176,6 @@ class HoleReacher(gym.Env):
 
         return np.squeeze(endeffector + self._joints[0, :])
 
-    def check_self_collision(self, line_points):
-        for i, line1 in enumerate(line_points):
-            for line2 in line_points[i + 2:, :, :]:
-                # if line1 != line2:
-                if intersect(line1[0], line1[-1], line2[0], line2[-1]):
-                    return True
-        return False
-
     def check_wall_collision(self, line_points):
 
         # all points that are before the hole in x
diff --git a/alr_envs/classic_control/utils.py b/alr_envs/classic_control/utils.py
index 5e362da..3a9bb50 100644
--- a/alr_envs/classic_control/utils.py
+++ b/alr_envs/classic_control/utils.py
@@ -1,155 +1,17 @@
-from alr_envs.classic_control.hole_reacher import HoleReacher
-from alr_envs.classic_control.viapoint_reacher import ViaPointReacher
-from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
-from alr_envs.utils.wrapper.detpmp_wrapper import DetPMPWrapper
-import numpy as np
+def ccw(A, B, C):
+    return (C[1] - A[1]) * (B[0] - A[0]) - (B[1] - A[1]) * (C[0] - A[0]) > 1e-12
 
 
-def make_viapointreacher_env(rank, seed=0):
-    """
-    Utility function for multiprocessed env.
-
-    :param env_id: (str) the environment ID
-    :param num_env: (int) the number of environments you wish to have in subprocesses
-    :param seed: (int) the initial seed for RNG
-    :param rank: (int) index of the subprocess
-    :returns a function that generates an environment
-    """
-
-    def _init():
-        _env = ViaPointReacher(n_links=5,
-                               allow_self_collision=False,
-                               collision_penalty=1000)
-
-        _env = DmpWrapper(_env,
-                          num_dof=5,
-                          num_basis=5,
-                          duration=2,
-                          alpha_phase=2.5,
-                          dt=_env.dt,
-                          start_pos=_env.start_pos,
-                          learn_goal=False,
-                          policy_type="velocity",
-                          weights_scale=50)
-        _env.seed(seed + rank)
-        return _env
-
-    return _init
+# Return true if line segments AB and CD intersect
+def intersect(A, B, C, D):
+    return ccw(A, C, D) != ccw(B, C, D) and ccw(A, B, C) != ccw(A, B, D)
 
 
-def make_holereacher_env(rank, seed=0):
-    """
-    Utility function for multiprocessed env.
+def check_self_collision(line_points):
+    for i, line1 in enumerate(line_points):
+        for line2 in line_points[i + 2:, :, :]:
+            # if line1 != line2:
+            if intersect(line1[0], line1[-1], line2[0], line2[-1]):
+                return True
+    return False
 
-    :param env_id: (str) the environment ID
-    :param num_env: (int) the number of environments you wish to have in subprocesses
-    :param seed: (int) the initial seed for RNG
-    :param rank: (int) index of the subprocess
-    :returns a function that generates an environment
-    """
-
-    def _init():
-        _env = HoleReacher(n_links=5,
-                           allow_self_collision=False,
-                           allow_wall_collision=False,
-                           hole_width=0.25,
-                           hole_depth=1,
-                           hole_x=2,
-                           collision_penalty=100)
-
-        _env = DmpWrapper(_env,
-                          num_dof=5,
-                          num_basis=5,
-                          duration=2,
-                          dt=_env.dt,
-                          learn_goal=True,
-                          alpha_phase=2,
-                          start_pos=_env.start_pos,
-                          policy_type="velocity",
-                          weights_scale=50,
-                          goal_scale=0.1
-                          )
-
-        _env.seed(seed + rank)
-        return _env
-
-    return _init
-
-
-def make_holereacher_fix_goal_env(rank, seed=0):
-    """
-    Utility function for multiprocessed env.
-
-    :param env_id: (str) the environment ID
-    :param num_env: (int) the number of environments you wish to have in subprocesses
-    :param seed: (int) the initial seed for RNG
-    :param rank: (int) index of the subprocess
-    :returns a function that generates an environment
-    """
-
-    def _init():
-        _env = HoleReacher(n_links=5,
-                           allow_self_collision=False,
-                           allow_wall_collision=False,
-                           hole_width=0.15,
-                           hole_depth=1,
-                           hole_x=1,
-                           collision_penalty=100)
-
-        _env = DmpWrapper(_env,
-                          num_dof=5,
-                          num_basis=5,
-                          duration=2,
-                          dt=_env.dt,
-                          learn_goal=False,
-                          final_pos=np.array([2.02669572, -1.25966385, -1.51618198, -0.80946476,  0.02012344]),
-                          alpha_phase=2,
-                          start_pos=_env.start_pos,
-                          policy_type="velocity",
-                          weights_scale=50,
-                          goal_scale=1
-                          )
-
-        _env.seed(seed + rank)
-        return _env
-
-    return _init
-
-
-def make_holereacher_env_pmp(rank, seed=0):
-    """
-    Utility function for multiprocessed env.
-
-    :param env_id: (str) the environment ID
-    :param num_env: (int) the number of environments you wish to have in subprocesses
-    :param seed: (int) the initial seed for RNG
-    :param rank: (int) index of the subprocess
-    :returns a function that generates an environment
-    """
-
-    def _init():
-        _env = HoleReacher(n_links=5,
-                           allow_self_collision=False,
-                           allow_wall_collision=False,
-                           hole_width=0.15,
-                           hole_depth=1,
-                           hole_x=1,
-                           collision_penalty=1000)
-
-        _env = DetPMPWrapper(_env,
-                             num_dof=5,
-                             num_basis=5,
-                             width=0.02,
-                             policy_type="velocity",
-                             start_pos=_env.start_pos,
-                             duration=2,
-                             post_traj_time=0,
-                             dt=_env.dt,
-                             weights_scale=0.2,
-                             zero_start=True,
-                             zero_goal=False
-                             )
-        _env.seed(seed + rank)
-        return _env
-
-    return _init
diff --git a/alr_envs/classic_control/viapoint_reacher.py b/alr_envs/classic_control/viapoint_reacher.py
index 2278bbc..127bf77 100644
--- a/alr_envs/classic_control/viapoint_reacher.py
+++ b/alr_envs/classic_control/viapoint_reacher.py
@@ -2,15 +2,7 @@ import gym
 import matplotlib.pyplot as plt
 import numpy as np
 
-from alr_envs import DmpWrapper
-from alr_envs.utils.utils import check_self_collision
-
-
-def viapoint_dmp(**kwargs):
-    _env = gym.make("alr_envs:ViaPointReacher-v0")
-    # _env = ViaPointReacher(**kwargs)
-    return DmpWrapper(_env, num_dof=5, num_basis=5, duration=2, alpha_phase=2.5, dt=_env.dt,
-                      start_pos=_env.start_pos, learn_goal=False, policy_type="velocity", weights_scale=50)
+from alr_envs.classic_control.utils import check_self_collision
 
 
 class ViaPointReacher(gym.Env):
diff --git a/alr_envs/mujoco/balancing.py b/alr_envs/mujoco/balancing.py
index 5976bc2..3e34298 100644
--- a/alr_envs/mujoco/balancing.py
+++ b/alr_envs/mujoco/balancing.py
@@ -4,7 +4,7 @@ import numpy as np
 from gym import utils
 from gym.envs.mujoco import mujoco_env
 
-from alr_envs.utils.utils import angle_normalize
+import alr_envs.utils.utils as alr_utils
 
 
 class BalancingEnv(mujoco_env.MujocoEnv, utils.EzPickle):
@@ -23,7 +23,7 @@ class BalancingEnv(mujoco_env.MujocoEnv, utils.EzPickle):
         mujoco_env.MujocoEnv.__init__(self, os.path.join(os.path.dirname(__file__), "assets", file_name), 2)
 
     def step(self, a):
-        angle = angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad")
+        angle = alr_utils.angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad")
         reward = - np.abs(angle)
 
         self.do_simulation(a, self.frame_skip)
diff --git a/alr_envs/mujoco/ball_in_a_cup/__init__.py b/alr_envs/mujoco/ball_in_a_cup/__init__.py
index e69de29..b884e38 100644
--- a/alr_envs/mujoco/ball_in_a_cup/__init__.py
+++ b/alr_envs/mujoco/ball_in_a_cup/__init__.py
@@ -0,0 +1 @@
+from alr_envs.mujoco.ball_in_a_cup.ball_in_a_cup_simple import ALRBallInACupEnv
diff --git a/alr_envs/mujoco/reacher/alr_reacher.py b/alr_envs/mujoco/reacher/alr_reacher.py
index 0fa8fb0..c6cca16 100644
--- a/alr_envs/mujoco/reacher/alr_reacher.py
+++ b/alr_envs/mujoco/reacher/alr_reacher.py
@@ -4,7 +4,7 @@ import numpy as np
 from gym import utils
 from gym.envs.mujoco import mujoco_env
 
-from alr_envs.utils.utils import angle_normalize
+import alr_envs.utils.utils as alr_utils
 
 
 class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
@@ -47,7 +47,7 @@ class ALRReacherEnv(mujoco_env.MujocoEnv, utils.EzPickle):
 
         if self.balance:
             reward_balance -= self.balance_weight * np.abs(
-                angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
+                alr_utils.angle_normalize(np.sum(self.sim.data.qpos.flat[:self.n_links]), type="rad"))
 
         reward = reward_dist + reward_ctrl + angular_vel + reward_balance
         self.do_simulation(a, self.frame_skip)
diff --git a/alr_envs/utils/legacy/__init__.py b/alr_envs/utils/legacy/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/alr_envs/utils/legacy/detpmp_env_wrapper.py b/alr_envs/utils/legacy/detpmp_env_wrapper.py
new file mode 100644
index 0000000..c667abf
--- /dev/null
+++ b/alr_envs/utils/legacy/detpmp_env_wrapper.py
@@ -0,0 +1,88 @@
+from alr_envs.utils.policies import get_policy_class
+from mp_lib import det_promp
+import numpy as np
+import gym
+
+
+class DetPMPEnvWrapper(gym.Wrapper):
+    def __init__(self,
+                 env,
+                 num_dof,
+                 num_basis,
+                 width,
+                 off=0.01,
+                 start_pos=None,
+                 duration=1,
+                 dt=0.01,
+                 post_traj_time=0.,
+                 policy_type=None,
+                 weights_scale=1,
+                 zero_start=False,
+                 zero_goal=False,
+                 ):
+        super(DetPMPEnvWrapper, self).__init__(env)
+        self.num_dof = num_dof
+        self.num_basis = num_basis
+        self.dim = num_dof * num_basis
+        self.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))
+        self.pmp.set_weights(duration, weights)
+        self.weights_scale = weights_scale
+
+        self.duration = duration
+        self.dt = dt
+        self.post_traj_steps = int(post_traj_time / dt)
+
+        self.start_pos = start_pos
+        self.zero_start = zero_start
+
+        policy_class = get_policy_class(policy_type)
+        self.policy = policy_class(env)
+
+    def __call__(self, params, contexts=None):
+        params = np.atleast_2d(params)
+        rewards = []
+        infos = []
+        for p, c in zip(params, contexts):
+            reward, info = self.rollout(p, c)
+            rewards.append(reward)
+            infos.append(info)
+
+        return np.array(rewards), infos
+
+    def rollout(self, params, context=None, render=False):
+        """ This function generates a trajectory based on a DMP and then does the usual loop over reset and step"""
+        params = np.reshape(params, newshape=(self.num_basis, self.num_dof)) * self.weights_scale
+        self.pmp.set_weights(self.duration, params)
+        t, des_pos, des_vel, des_acc = self.pmp.compute_trajectory(1 / self.dt, 1.)
+        if self.zero_start:
+            des_pos += self.start_pos[None, :]
+
+        if self.post_traj_steps > 0:
+            des_pos = np.vstack([des_pos, np.tile(des_pos[-1, :], [self.post_traj_steps, 1])])
+            des_vel = np.vstack([des_vel, np.zeros(shape=(self.post_traj_steps, self.num_dof))])
+
+        self._trajectory = des_pos
+        self._velocity = des_vel
+
+        rews = []
+        infos = []
+
+        self.env.configure(context)
+        self.env.reset()
+
+        for t, pos_vel in enumerate(zip(des_pos, des_vel)):
+            ac = self.policy.get_action(pos_vel[0], pos_vel[1])
+            obs, rew, done, info = self.env.step(ac)
+            rews.append(rew)
+            infos.append(info)
+            if render:
+                self.env.render(mode="human")
+            if done:
+                break
+
+        reward = np.sum(rews)
+
+        return reward, info
+
diff --git a/alr_envs/utils/dmp_async_vec_env.py b/alr_envs/utils/legacy/dmp_async_vec_env.py
similarity index 100%
rename from alr_envs/utils/dmp_async_vec_env.py
rename to alr_envs/utils/legacy/dmp_async_vec_env.py
diff --git a/alr_envs/utils/legacy/dmp_env_wrapper.py b/alr_envs/utils/legacy/dmp_env_wrapper.py
new file mode 100644
index 0000000..6835d80
--- /dev/null
+++ b/alr_envs/utils/legacy/dmp_env_wrapper.py
@@ -0,0 +1,125 @@
+from alr_envs.utils.policies import get_policy_class
+from mp_lib.phase import ExpDecayPhaseGenerator
+from mp_lib.basis import DMPBasisGenerator
+from mp_lib import dmps
+import numpy as np
+import gym
+
+
+class DmpEnvWrapper(gym.Wrapper):
+    def __init__(self,
+                 env,
+                 num_dof,
+                 num_basis,
+                 start_pos=None,
+                 final_pos=None,
+                 duration=1,
+                 dt=0.01,
+                 alpha_phase=2,
+                 bandwidth_factor=3,
+                 learn_goal=False,
+                 post_traj_time=0.,
+                 policy_type=None,
+                 weights_scale=1.,
+                 goal_scale=1.,
+                 ):
+        super(DmpEnvWrapper, self).__init__(env)
+        self.num_dof = num_dof
+        self.num_basis = num_basis
+        self.dim = num_dof * num_basis
+        if learn_goal:
+            self.dim += num_dof
+        self.learn_goal = learn_goal
+        self.duration = duration   # seconds
+        time_steps = int(duration / dt)
+        self.t = np.linspace(0, duration, time_steps)
+        self.post_traj_steps = int(post_traj_time / dt)
+
+        phase_generator = ExpDecayPhaseGenerator(alpha_phase=alpha_phase, duration=duration)
+        basis_generator = DMPBasisGenerator(phase_generator,
+                                            duration=duration,
+                                            num_basis=self.num_basis,
+                                            basis_bandwidth_factor=bandwidth_factor)
+
+        self.dmp = dmps.DMP(num_dof=num_dof,
+                            basis_generator=basis_generator,
+                            phase_generator=phase_generator,
+                            num_time_steps=time_steps,
+                            dt=dt
+                            )
+
+        self.dmp.dmp_start_pos = start_pos.reshape((1, num_dof))
+
+        dmp_weights = np.zeros((num_basis, num_dof))
+        if learn_goal:
+            dmp_goal_pos = np.zeros(num_dof)
+        else:
+            dmp_goal_pos = final_pos
+
+        self.dmp.set_weights(dmp_weights, dmp_goal_pos)
+        self.weights_scale = weights_scale
+        self.goal_scale = goal_scale
+
+        policy_class = get_policy_class(policy_type)
+        self.policy = policy_class(env)
+
+    def __call__(self, params, contexts=None):
+        params = np.atleast_2d(params)
+        rewards = []
+        infos = []
+        for p, c in zip(params, contexts):
+            reward, info = self.rollout(p, c)
+            rewards.append(reward)
+            infos.append(info)
+
+        return np.array(rewards), infos
+
+    def goal_and_weights(self, params):
+        if len(params.shape) > 1:
+            assert params.shape[1] == self.dim
+        else:
+            assert len(params) == self.dim
+            params = np.reshape(params, [1, self.dim])
+
+        if self.learn_goal:
+            goal_pos = params[0, -self.num_dof:]
+            weight_matrix = np.reshape(params[:, :-self.num_dof], [self.num_basis, self.num_dof])
+        else:
+            goal_pos = self.dmp.dmp_goal_pos.flatten()
+            assert goal_pos is not None
+            weight_matrix = np.reshape(params, [self.num_basis, self.num_dof])
+
+        return goal_pos * self.goal_scale, weight_matrix * self.weights_scale
+
+    def rollout(self, params, context=None, render=False):
+        """ This function generates a trajectory based on a DMP and then does the usual loop over reset and step"""
+        goal_pos, weight_matrix = self.goal_and_weights(params)
+        self.dmp.set_weights(weight_matrix, goal_pos)
+        trajectory, velocity = self.dmp.reference_trajectory(self.t)
+
+        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.num_dof))])
+
+        self._trajectory = trajectory
+        self._velocity = velocity
+
+        rews = []
+        infos = []
+
+        self.env.configure(context)
+        self.env.reset()
+
+        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)
+            rews.append(rew)
+            infos.append(info)
+            if render:
+                self.env.render(mode="human")
+            if done:
+                break
+
+        reward = np.sum(rews)
+
+        return reward, info
diff --git a/dmp_env_wrapper_example.py b/alr_envs/utils/legacy/dmp_env_wrapper_example.py
similarity index 82%
rename from dmp_env_wrapper_example.py
rename to alr_envs/utils/legacy/dmp_env_wrapper_example.py
index 38d367f..d2edae5 100644
--- a/dmp_env_wrapper_example.py
+++ b/alr_envs/utils/legacy/dmp_env_wrapper_example.py
@@ -1,6 +1,4 @@
-from alr_envs.classic_control.utils import make_viapointreacher_env
-from alr_envs.classic_control.utils import make_holereacher_env, make_holereacher_fix_goal_env
-from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
+from alr_envs.utils.legacy.utils import make_holereacher_env
 import numpy as np
 
 if __name__ == "__main__":
diff --git a/dmp_pd_control_example.py b/alr_envs/utils/legacy/dmp_pd_control_example.py
similarity index 80%
rename from dmp_pd_control_example.py
rename to alr_envs/utils/legacy/dmp_pd_control_example.py
index 480ce72..3b713f3 100644
--- a/dmp_pd_control_example.py
+++ b/alr_envs/utils/legacy/dmp_pd_control_example.py
@@ -1,8 +1,5 @@
-from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env, make_simple_dmp_env
-from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
+from alr_envs.mujoco.ball_in_a_cup.utils import make_simple_dmp_env
 import numpy as np
-from gym import wrappers
-
 
 if __name__ == "__main__":
 
diff --git a/alr_envs/utils/legacy/utils.py b/alr_envs/utils/legacy/utils.py
new file mode 100644
index 0000000..c158cae
--- /dev/null
+++ b/alr_envs/utils/legacy/utils.py
@@ -0,0 +1,156 @@
+import alr_envs.classic_control.hole_reacher as hr
+import alr_envs.classic_control.viapoint_reacher as vpr
+from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
+from alr_envs.utils.wrapper.detpmp_wrapper import DetPMPWrapper
+import numpy as np
+
+
+def make_viapointreacher_env(rank, seed=0):
+    """
+    Utility function for multiprocessed env.
+
+    :param env_id: (str) the environment ID
+    :param num_env: (int) the number of environments you wish to have in subprocesses
+    :param seed: (int) the initial seed for RNG
+    :param rank: (int) index of the subprocess
+    :returns a function that generates an environment
+    """
+
+    def _init():
+        _env = vpr.ViaPointReacher(n_links=5,
+                               allow_self_collision=False,
+                               collision_penalty=1000)
+
+        _env = DmpWrapper(_env,
+                          num_dof=5,
+                          num_basis=5,
+                          duration=2,
+                          alpha_phase=2.5,
+                          dt=_env.dt,
+                          start_pos=_env.start_pos,
+                          learn_goal=False,
+                          policy_type="velocity",
+                          weights_scale=50)
+        _env.seed(seed + rank)
+        return _env
+
+    return _init
+
+
+def make_holereacher_env(rank, seed=0):
+    """
+    Utility function for multiprocessed env.
+
+    :param env_id: (str) the environment ID
+    :param num_env: (int) the number of environments you wish to have in subprocesses
+    :param seed: (int) the initial seed for RNG
+    :param rank: (int) index of the subprocess
+    :returns a function that generates an environment
+    """
+
+    def _init():
+        _env = hr.HoleReacher(n_links=5,
+                           allow_self_collision=False,
+                           allow_wall_collision=False,
+                           hole_width=0.25,
+                           hole_depth=1,
+                           hole_x=2,
+                           collision_penalty=100)
+
+        _env = DmpWrapper(_env,
+                          num_dof=5,
+                          num_basis=5,
+                          duration=2,
+                          bandwidth_factor=2,
+                          dt=_env.dt,
+                          learn_goal=True,
+                          alpha_phase=2,
+                          start_pos=_env.start_pos,
+                          policy_type="velocity",
+                          weights_scale=50,
+                          goal_scale=0.1
+                          )
+
+        _env.seed(seed + rank)
+        return _env
+
+    return _init
+
+
+def make_holereacher_fix_goal_env(rank, seed=0):
+    """
+    Utility function for multiprocessed env.
+
+    :param env_id: (str) the environment ID
+    :param num_env: (int) the number of environments you wish to have in subprocesses
+    :param seed: (int) the initial seed for RNG
+    :param rank: (int) index of the subprocess
+    :returns a function that generates an environment
+    """
+
+    def _init():
+        _env = hr.HoleReacher(n_links=5,
+                           allow_self_collision=False,
+                           allow_wall_collision=False,
+                           hole_width=0.15,
+                           hole_depth=1,
+                           hole_x=1,
+                           collision_penalty=100)
+
+        _env = DmpWrapper(_env,
+                          num_dof=5,
+                          num_basis=5,
+                          duration=2,
+                          dt=_env.dt,
+                          learn_goal=False,
+                          final_pos=np.array([2.02669572, -1.25966385, -1.51618198, -0.80946476,  0.02012344]),
+                          alpha_phase=2,
+                          start_pos=_env.start_pos,
+                          policy_type="velocity",
+                          weights_scale=50,
+                          goal_scale=1
+                          )
+
+        _env.seed(seed + rank)
+        return _env
+
+    return _init
+
+
+def make_holereacher_env_pmp(rank, seed=0):
+    """
+    Utility function for multiprocessed env.
+
+    :param env_id: (str) the environment ID
+    :param num_env: (int) the number of environments you wish to have in subprocesses
+    :param seed: (int) the initial seed for RNG
+    :param rank: (int) index of the subprocess
+    :returns a function that generates an environment
+    """
+
+    def _init():
+        _env = hr.HoleReacher(n_links=5,
+                           allow_self_collision=False,
+                           allow_wall_collision=False,
+                           hole_width=0.15,
+                           hole_depth=1,
+                           hole_x=1,
+                           collision_penalty=1000)
+
+        _env = DetPMPWrapper(_env,
+                             num_dof=5,
+                             num_basis=5,
+                             width=0.02,
+                             policy_type="velocity",
+                             start_pos=_env.start_pos,
+                             duration=2,
+                             post_traj_time=0,
+                             dt=_env.dt,
+                             weights_scale=0.2,
+                             zero_start=True,
+                             zero_goal=False
+                             )
+        _env.seed(seed + rank)
+        return _env
+
+    return _init
diff --git a/alr_envs/utils/make_env_helpers.py b/alr_envs/utils/make_env_helpers.py
new file mode 100644
index 0000000..d7cd959
--- /dev/null
+++ b/alr_envs/utils/make_env_helpers.py
@@ -0,0 +1,137 @@
+from alr_envs.utils.wrapper.dmp_wrapper import DmpWrapper
+from alr_envs.utils.wrapper.detpmp_wrapper import DetPMPWrapper
+import gym
+from gym.vector.utils import write_to_shared_memory
+import sys
+
+
+def make_env(env_id, seed, rank):
+    env = gym.make(env_id)
+    env.seed(seed + rank)
+    return lambda: env
+
+
+def make_contextual_env(env_id, context, seed, rank):
+    env = gym.make(env_id, context=context)
+    env.seed(seed + rank)
+    return lambda: env
+
+
+def make_dmp_env(**kwargs):
+    name = kwargs.pop("name")
+    _env = gym.make(name)
+    return DmpWrapper(_env, **kwargs)
+
+
+def make_detpmp_env(**kwargs):
+    name = kwargs.pop("name")
+    _env = gym.make(name)
+    return DetPMPWrapper(_env, **kwargs)
+
+
+# def _worker(index, env_fn, pipe, parent_pipe, shared_memory, error_queue):
+#     assert shared_memory is None
+#     env = env_fn()
+#     parent_pipe.close()
+#     try:
+#         while True:
+#             command, data = pipe.recv()
+#             if command == 'reset':
+#                 observation = env.reset()
+#                 pipe.send((observation, True))
+#             elif command == 'configure':
+#                 env.configure(data)
+#                 pipe.send((None, True))
+#             elif command == 'step':
+#                 observation, reward, done, info = env.step(data)
+#                 if done:
+#                     observation = env.reset()
+#                 pipe.send(((observation, reward, done, info), True))
+#             elif command == 'seed':
+#                 env.seed(data)
+#                 pipe.send((None, True))
+#             elif command == 'close':
+#                 pipe.send((None, True))
+#                 break
+#             elif command == '_check_observation_space':
+#                 pipe.send((data == env.observation_space, True))
+#             else:
+#                 raise RuntimeError('Received unknown command `{0}`. Must '
+#                     'be one of {`reset`, `step`, `seed`, `close`, '
+#                     '`_check_observation_space`}.'.format(command))
+#     except (KeyboardInterrupt, Exception):
+#         error_queue.put((index,) + sys.exc_info()[:2])
+#         pipe.send((None, False))
+#     finally:
+#         env.close()
+#
+#
+# def _worker_shared_memory(index, env_fn, pipe, parent_pipe, shared_memory, error_queue):
+#     assert shared_memory is not None
+#     env = env_fn()
+#     observation_space = env.observation_space
+#     parent_pipe.close()
+#     try:
+#         while True:
+#             command, data = pipe.recv()
+#             if command == 'reset':
+#                 observation = env.reset()
+#                 write_to_shared_memory(index, observation, shared_memory,
+#                                        observation_space)
+#                 pipe.send((None, True))
+#             elif command == 'configure':
+#                 env.configure(data)
+#                 pipe.send((None, True))
+#             elif command == 'step':
+#                 observation, reward, done, info = env.step(data)
+#                 if done:
+#                     observation = env.reset()
+#                 write_to_shared_memory(index, observation, shared_memory,
+#                                        observation_space)
+#                 pipe.send(((None, reward, done, info), True))
+#             elif command == 'seed':
+#                 env.seed(data)
+#                 pipe.send((None, True))
+#             elif command == 'close':
+#                 pipe.send((None, True))
+#                 break
+#             elif command == '_check_observation_space':
+#                 pipe.send((data == observation_space, True))
+#             else:
+#                 raise RuntimeError('Received unknown command `{0}`. Must '
+#                     'be one of {`reset`, `step`, `seed`, `close`, '
+#                     '`_check_observation_space`}.'.format(command))
+#     except (KeyboardInterrupt, Exception):
+#         error_queue.put((index,) + sys.exc_info()[:2])
+#         pipe.send((None, False))
+#     finally:
+#         env.close()
+
+
+# def viapoint_dmp(**kwargs):
+#     _env = gym.make("alr_envs:ViaPointReacher-v0")
+#     # _env = ViaPointReacher(**kwargs)
+#     return DmpWrapper(_env, num_dof=5, num_basis=5, duration=2, alpha_phase=2.5, dt=_env.dt,
+#                       start_pos=_env.start_pos, learn_goal=False, policy_type="velocity", weights_scale=50)
+#
+#
+# def holereacher_dmp(**kwargs):
+#     _env = gym.make("alr_envs:HoleReacher-v0")
+#     # _env = HoleReacher(**kwargs)
+#     return DmpWrapper(_env, num_dof=5, num_basis=5, duration=2, dt=_env.dt, learn_goal=True, alpha_phase=2,
+#                       start_pos=_env.start_pos, policy_type="velocity", weights_scale=50, goal_scale=0.1)
+#
+#
+# def holereacher_fix_goal_dmp(**kwargs):
+#     _env = gym.make("alr_envs:HoleReacher-v0")
+#     # _env = HoleReacher(**kwargs)
+#     return DmpWrapper(_env, num_dof=5, num_basis=5, duration=2, dt=_env.dt, learn_goal=False, alpha_phase=2,
+#                       start_pos=_env.start_pos, policy_type="velocity", weights_scale=50, goal_scale=1,
+#                       final_pos=np.array([2.02669572, -1.25966385, -1.51618198, -0.80946476, 0.02012344]))
+#
+#
+# def holereacher_detpmp(**kwargs):
+#     _env = gym.make("alr_envs:HoleReacher-v0")
+#     # _env = HoleReacher(**kwargs)
+#     return DetPMPWrapper(_env, num_dof=5, num_basis=5, width=0.005, policy_type="velocity", start_pos=_env.start_pos,
+#                          duration=2, post_traj_time=0, dt=_env.dt, weights_scale=0.25, zero_start=True, zero_goal=False)
diff --git a/alr_envs/utils/utils.py b/alr_envs/utils/utils.py
index 457c31e..89205bd 100644
--- a/alr_envs/utils/utils.py
+++ b/alr_envs/utils/utils.py
@@ -20,30 +20,3 @@ def angle_normalize(x, type="deg"):
     two_pi = 2 * np.pi
     return x - two_pi * np.floor((x + np.pi) / two_pi)
 
-
-def ccw(A, B, C):
-    return (C[1] - A[1]) * (B[0] - A[0]) - (B[1] - A[1]) * (C[0] - A[0]) > 1e-12
-
-
-def intersect(A, B, C, D):
-    """
-    Return true if line segments AB and CD intersects
-    Args:
-        A: start point line one
-        B: end point line one
-        C: start point line two
-        D: end point line two
-
-    Returns:
-
-    """
-    return ccw(A, C, D) != ccw(B, C, D) and ccw(A, B, C) != ccw(A, B, D)
-
-
-def check_self_collision(line_points):
-    for i, line1 in enumerate(line_points):
-        for line2 in line_points[i + 2:, :, :]:
-            # if line1 != line2:
-            if intersect(line1[0], line1[-1], line2[0], line2[-1]):
-                return True
-    return False
diff --git a/alr_envs/utils/wrapper/dmp_wrapper.py b/alr_envs/utils/wrapper/dmp_wrapper.py
index c5c8c8e..7333278 100644
--- a/alr_envs/utils/wrapper/dmp_wrapper.py
+++ b/alr_envs/utils/wrapper/dmp_wrapper.py
@@ -1,4 +1,3 @@
-from alr_envs.utils.policies import get_policy_class
 from mp_lib.phase import ExpDecayPhaseGenerator
 from mp_lib.basis import DMPBasisGenerator
 from mp_lib import dmps
@@ -11,9 +10,9 @@ from alr_envs.utils.wrapper.mp_wrapper import MPWrapper
 class DmpWrapper(MPWrapper):
 
     def __init__(self, env: gym.Env, num_dof: int, num_basis: int, start_pos: np.ndarray = None,
-                 final_pos: np.ndarray = None, duration: int = 1, alpha_phase: float = 2., dt: float = 0.01,
+                 final_pos: np.ndarray = None, duration: int = 1, alpha_phase: float = 2., dt: float = None,
                  learn_goal: bool = False, post_traj_time: float = 0., policy_type: str = None,
-                 weights_scale: float = 1., goal_scale: float = 1.):
+                 weights_scale: float = 1., goal_scale: float = 1., bandwidth_factor: float = 3.):
 
         """
         This Wrapper generates a trajectory based on a DMP and will only return episodic performances.
@@ -33,20 +32,26 @@ class DmpWrapper(MPWrapper):
             goal_scale:
         """
         self.learn_goal = learn_goal
+        dt = env.dt if hasattr(env, "dt") else dt
+        assert dt is not None
+        start_pos = env.start_pos if hasattr(env, "start_pos") else start_pos
+        assert start_pos is not None
         self.t = np.linspace(0, duration, int(duration / dt))
         self.goal_scale = goal_scale
 
         super().__init__(env, num_dof, duration, dt, post_traj_time, policy_type, weights_scale,
-                         num_basis=num_basis, start_pos=start_pos, final_pos=final_pos, alpha_phase=alpha_phase)
+                         num_basis=num_basis, start_pos=start_pos, final_pos=final_pos, alpha_phase=alpha_phase,
+                         bandwidth_factor=bandwidth_factor)
 
         action_bounds = np.inf * np.ones((np.prod(self.mp.dmp_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, start_pos: np.ndarray = None,
-                      final_pos: np.ndarray = None, alpha_phase: float = 2.):
+                      final_pos: np.ndarray = None, alpha_phase: float = 2., bandwidth_factor: float = 3.):
 
         phase_generator = ExpDecayPhaseGenerator(alpha_phase=alpha_phase, duration=duration)
-        basis_generator = DMPBasisGenerator(phase_generator, duration=duration, num_basis=num_basis)
+        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,
                        num_time_steps=int(duration / dt), dt=dt)
diff --git a/alr_envs/utils/wrapper/mp_wrapper.py b/alr_envs/utils/wrapper/mp_wrapper.py
index f705643..c75134c 100644
--- a/alr_envs/utils/wrapper/mp_wrapper.py
+++ b/alr_envs/utils/wrapper/mp_wrapper.py
@@ -13,19 +13,20 @@ class MPWrapper(gym.Wrapper, ABC):
                  env: gym.Env,
                  num_dof: int,
                  duration: int = 1,
-                 dt: float = 0.01,
-                 # learn_goal: bool = False,
+                 dt: float = None,
                  post_traj_time: float = 0.,
                  policy_type: str = None,
                  weights_scale: float = 1.,
                  **mp_kwargs
-
                  ):
         super().__init__(env)
 
         # self.num_dof = num_dof
         # self.num_basis = num_basis
         # self.duration = duration  # seconds
+
+        # dt = env.dt if hasattr(env, "dt") else dt
+        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)
@@ -38,6 +39,26 @@ class MPWrapper(gym.Wrapper, ABC):
         self.render_mode = None
         self.render_kwargs = None
 
+    # TODO: not yet final
+    def __call__(self, params, contexts=None):
+        params = np.atleast_2d(params)
+        obs = []
+        rewards = []
+        dones = []
+        infos = []
+        for p, c in zip(params, contexts):
+            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 configure(self, context):
+        self.env.configure(context)
+
     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)
@@ -53,6 +74,7 @@ class MPWrapper(gym.Wrapper, ABC):
         # infos = defaultdict(list)
 
         # TODO: @Max Why do we need this configure, states should be part of the model
+        # TODO: Ask Onur if the context distribution needs to be outside the environment
         # self.env.configure(context)
         obs = self.env.reset()
         info = {}
@@ -77,8 +99,8 @@ class MPWrapper(gym.Wrapper, ABC):
         self.render_mode = mode
         self.render_kwargs = kwargs
 
-    def __call__(self, actions):
-        return self.step(actions)
+    # def __call__(self, actions):
+    #     return self.step(actions)
         # params = np.atleast_2d(params)
         # rewards = []
         # infos = []
diff --git a/example.py b/example.py
index 0ce713f..94da23c 100644
--- a/example.py
+++ b/example.py
@@ -1,5 +1,4 @@
 from collections import defaultdict
-
 import gym
 import numpy as np
 
@@ -83,4 +82,6 @@ def example_async(n_cpu=4, seed=int('533D', 16)):
 if __name__ == '__main__':
     # example_mujoco()
     # example_dmp()
-    example_async()
+    # example_async()
+    env = gym.make("alr_envs:HoleReacherDMP-v0", context=0.1)
+    print()
\ No newline at end of file