diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py
index b89b74d..ef52785 100644
--- a/fancy_gym/envs/__init__.py
+++ b/fancy_gym/envs/__init__.py
@@ -259,7 +259,8 @@ for ctxt_dim in [2, 4]:
         kwargs={
             "ctxt_dim": ctxt_dim,
             'frame_skip': 4,
-            'enable_wind': True
+            'enable_wind': False,
+            'enable_switching_goal': False,
         }
     )
 
@@ -577,7 +578,6 @@ for _v in _versions:
     kwargs_dict_tt_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try
     kwargs_dict_tt_prodmp['basis_generator_kwargs']['pre_compute_length_factor'] = 5
     kwargs_dict_tt_prodmp['phase_generator_kwargs']['alpha_phase'] = 3
-    # kwargs_dict_tt_prodmp['black_box_kwargs']['duration'] = 4.
     kwargs_dict_tt_prodmp['black_box_kwargs']['max_planning_times'] = 3
     kwargs_dict_tt_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 50 == 0
     register(
diff --git a/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py b/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
index 613efe3..64185b9 100644
--- a/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
+++ b/fancy_gym/envs/mujoco/table_tennis/mp_wrapper.py
@@ -71,4 +71,4 @@ class MPWrapper(RawInterfaceWrapper):
         "is_success": [False],
         'trajectory_length': 1,
         "num_steps": [1]
-        }
\ No newline at end of file
+        }
diff --git a/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py b/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
index b235129..3fbba08 100644
--- a/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
+++ b/fancy_gym/envs/mujoco/table_tennis/table_tennis_env.py
@@ -43,6 +43,8 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
         self._racket_traj = []
 
 
+        self._enable_goal_switching = enable_switching_goal
+
         MujocoEnv.__init__(self,
                            model_path=os.path.join(os.path.dirname(__file__), "assets", "xml", "table_tennis_env.xml"),
                            frame_skip=frame_skip,
@@ -56,8 +58,6 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
 
         self.action_space = spaces.Box(low=-1, high=1, shape=(7,), dtype=np.float32)
 
-        self._enable_switching_goal = enable_switching_goal
-
         # complex dynamics settings
         self.model.opt.density = 1.225
         self.model.opt.viscosity = 2.27e-5
@@ -79,6 +79,12 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
 
         unstable_simulation = False
 
+        if self._enable_goal_switching:
+            if self._steps == 45 and self.np_random.uniform(0, 1) < 0.5:
+                self._goal_pos[1] = -self._goal_pos[1]
+                self.model.body_pos[5] = np.concatenate([self._goal_pos, [0.77]])
+                mujoco.mj_forward(self.model, self.data)
+
         for _ in range(self.frame_skip):
             try:
                 self.do_simulation(action, 1)
@@ -180,9 +186,9 @@ class TableTennisEnv(MujocoEnv, utils.EzPickle):
             self.data.joint("tar_x").qpos.copy(),
             self.data.joint("tar_y").qpos.copy(),
             self.data.joint("tar_z").qpos.copy(),
-            self.data.joint("tar_x").qvel.copy(),
-            self.data.joint("tar_y").qvel.copy(),
-            self.data.joint("tar_z").qvel.copy(),
+            # self.data.joint("tar_x").qvel.copy(),
+            # self.data.joint("tar_y").qvel.copy(),
+            # self.data.joint("tar_z").qvel.copy(),
             # self.data.body("target_ball").xvel.copy(),
             self._goal_pos.copy(),
         ])