diff --git a/fancy_gym/black_box/black_box_wrapper.py b/fancy_gym/black_box/black_box_wrapper.py
index ce96b20..8830987 100644
--- a/fancy_gym/black_box/black_box_wrapper.py
+++ b/fancy_gym/black_box/black_box_wrapper.py
@@ -86,7 +86,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
         return observation.astype(self.observation_space.dtype)
 
     def get_trajectory(self, action: np.ndarray) -> Tuple:
-        # duration = self.duration - self.current_traj_steps * self.dt
         duration = self.duration
         if self.learn_sub_trajectories:
             duration = None
diff --git a/fancy_gym/envs/__init__.py b/fancy_gym/envs/__init__.py
index eb44d9f..2b0e7fd 100644
--- a/fancy_gym/envs/__init__.py
+++ b/fancy_gym/envs/__init__.py
@@ -498,15 +498,13 @@ for _v in _versions:
     kwargs_dict_box_pushing_prodmp['name'] = _v
     kwargs_dict_box_pushing_prodmp['controller_kwargs']['p_gains'] = 0.01 * np.array([120., 120., 120., 120., 50., 30., 10.])
     kwargs_dict_box_pushing_prodmp['controller_kwargs']['d_gains'] = 0.01 * np.array([10., 10., 10., 10., 6., 5., 3.])
-    # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = np.array([3.4944e+01, 4.3734e+01, 9.6711e+01, 2.4429e+02, 5.8272e+02])
-    # kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['goal_scale'] = 3.1264e-01
     kwargs_dict_box_pushing_prodmp['trajectory_generator_kwargs']['weights_scale'] = 0.3
     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'] = 0
     kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['alpha'] = 10.
-    kwargs_dict_box_pushing_prodmp['basis_generator_kwargs']['basis_bandwidth_factor'] = 3 # 3.5, 4 to try
+    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'] = 2
     kwargs_dict_box_pushing_prodmp['black_box_kwargs']['replanning_schedule'] = lambda pos, vel, obs, action, t : t % 25 == 0
diff --git a/fancy_gym/examples/examples_movement_primitives.py b/fancy_gym/examples/examples_movement_primitives.py
index 707dccd..67d93ae 100644
--- a/fancy_gym/examples/examples_movement_primitives.py
+++ b/fancy_gym/examples/examples_movement_primitives.py
@@ -157,17 +157,17 @@ def example_fully_custom_mp(seed=1, iterations=1, render=True):
 if __name__ == '__main__':
     render = True
     # DMP
-    # example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
+    example_mp("HoleReacherDMP-v0", seed=10, iterations=5, render=render)
 
     # ProMP
-    # example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
-    # example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
+    example_mp("HoleReacherProMP-v0", seed=10, iterations=5, render=render)
+    example_mp("BoxPushingTemporalSparseProMP-v0", seed=10, iterations=1, render=render)
 
     # ProDMP
-    example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=16, render=render)
+    example_mp("BoxPushingDenseProDMP-v0", seed=10, iterations=4, render=render)
 
     # Altered basis functions
-    # obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
+    obs1 = example_custom_mp("Reacher5dProMP-v0", seed=10, iterations=1, render=render)
 
     # Custom MP
-    # example_fully_custom_mp(seed=10, iterations=1, render=render)
+    example_fully_custom_mp(seed=10, iterations=1, render=render)