diff --git a/demo/dryvr_demo/dryvr_agent.py b/demo/dryvr_demo/dryvr_agent.py
index fb417de1..9d34b785 100644
--- a/demo/dryvr_demo/dryvr_agent.py
+++ b/demo/dryvr_demo/dryvr_agent.py
@@ -18,7 +18,7 @@ def __init__(self, id, code = None, file_name = None):
         self.static_parameters = None 
         self.uncertain_parameters = None
 
-    def dynamics(self, x, t):
+    def dynamics(self, t, x):
         x1, x2, x3,\
         x4, x5, x6,\
         x7 = x 
@@ -42,7 +42,7 @@ def __init__(self, id, code = None, file_name = None):
         self.static_parameters = None 
         self.uncertain_parameters = None
 
-    def dynamics(self, x, t):
+    def dynamics(self, t, x):
         x1, x2, x3,\
         x4, x5, x6,\
         x7, x8, x9,\
diff --git a/demo/dryvr_demo/vanderpol_demo2.py b/demo/dryvr_demo/vanderpol_demo2.py
index ef80517c..f17c4071 100644
--- a/demo/dryvr_demo/vanderpol_demo2.py
+++ b/demo/dryvr_demo/vanderpol_demo2.py
@@ -25,7 +25,7 @@ class AgentMode(Enum):
             tuple([AgentMode.Default]),
         ],
     )
-    scenario.config.reachability_method = "NeuReach"
+    # scenario.config.reachability_method = "NeuReach"
     traces = scenario.verify(
         7,
         0.05,
diff --git a/verse/agents/base_agent.py b/verse/agents/base_agent.py
index 7699bce3..c8d95923 100644
--- a/verse/agents/base_agent.py
+++ b/verse/agents/base_agent.py
@@ -87,7 +87,7 @@ def TC_simulate(self, mode, initialSet, time_horizon, time_step, map=None):
         """
         y0 = initialSet 
         t = np.round(np.arange(0.0, time_horizon+time_step/2, time_step), 8)
-        trace = odeint(func = self.dynamics, y0 = y0, t = t)
+        trace = odeint(func = self.dynamics, y0 = y0, t = t, tfirst=True)
         t = t.reshape((-1,1))
         trace = np.hstack((t, trace))
         return trace
diff --git a/verse/agents/example_agent/ball_agent.py b/verse/agents/example_agent/ball_agent.py
index 35d98556..40f7ff47 100644
--- a/verse/agents/example_agent/ball_agent.py
+++ b/verse/agents/example_agent/ball_agent.py
@@ -23,8 +23,7 @@ def __init__(self, id, code=None, file_name=None):
         # Calling the constructor of tha base class
         super().__init__(id, code, file_name)
 
-    @staticmethod
-    def dynamic(t, state):
+    def dynamics(self, t, state):
         """Defines the RHS of the ODE used to simulate trajectories"""
         x, y, vx, vy = state
         x_dot = vx