diff --git a/src/active_bo_msgs/CMakeLists.txt b/src/active_bo_msgs/CMakeLists.txt
index 3b65401..a41871c 100644
--- a/src/active_bo_msgs/CMakeLists.txt
+++ b/src/active_bo_msgs/CMakeLists.txt
@@ -18,6 +18,7 @@ endif()
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
     "srv/WeightToPolicy.srv"
@@ -33,7 +34,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
     "msg/ActiveRLEvalResponse.msg"
     "msg/ImageFeedback.msg"
     "msg/ActiveBOState.msg"
-
+    "msg/DMP.msg"
+    DEPENDENCIES geometry_msgs
 )
 
 if(BUILD_TESTING)
diff --git a/src/active_bo_msgs/msg/DMP.msg b/src/active_bo_msgs/msg/DMP.msg
new file mode 100644
index 0000000..f8f780f
--- /dev/null
+++ b/src/active_bo_msgs/msg/DMP.msg
@@ -0,0 +1,13 @@
+# Start- and endpoint, time to perform the trajectory
+geometry_msgs/Pose start_point
+geometry_msgs/Pose end_point
+float64 time
+
+# weights for the dimensions of the Pose (3 Position, 4 Orientation)
+float64[] p_x
+float64[] p_y
+float64[] p_z
+float64[] o_x
+float64[] o_y
+float64[] o_z
+float64[] o_w
\ No newline at end of file
diff --git a/src/active_bo_msgs/package.xml b/src/active_bo_msgs/package.xml
index fd8e609..a1a7e4b 100644
--- a/src/active_bo_msgs/package.xml
+++ b/src/active_bo_msgs/package.xml
@@ -7,6 +7,8 @@
   <maintainer email="nikolaus.feith@unileoben.ac.at">cpsfeith</maintainer>
   <license>TODO: License declaration</license>
 
+  <depend>geometry_msgs</depend>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
 
   <build_depend>rosidl_default_generators</build_depend>
diff --git a/src/active_bo_ros/active_bo_ros/AcquisitionFunctions/ConfidenceBound.py b/src/active_bo_ros/active_bo_ros/AcquisitionFunctions/ConfidenceBound.py
index dad3927..46f05d2 100644
--- a/src/active_bo_ros/active_bo_ros/AcquisitionFunctions/ConfidenceBound.py
+++ b/src/active_bo_ros/active_bo_ros/AcquisitionFunctions/ConfidenceBound.py
@@ -1,3 +1,4 @@
+
 import numpy as np
 
 
diff --git a/src/active_bo_ros/active_bo_ros/PolicyModel/GaussianModelMultiDim.py b/src/active_bo_ros/active_bo_ros/PolicyModel/GaussianModelMultiDim.py
index befbb22..4b97d1e 100644
--- a/src/active_bo_ros/active_bo_ros/PolicyModel/GaussianModelMultiDim.py
+++ b/src/active_bo_ros/active_bo_ros/PolicyModel/GaussianModelMultiDim.py
@@ -1,3 +1,4 @@
+
 import numpy as np