diff --git a/trap/prediction_server.py b/trap/prediction_server.py
index f28e084..f56408c 100644
--- a/trap/prediction_server.py
+++ b/trap/prediction_server.py
@@ -270,10 +270,10 @@ class PredictionServer:
                     x = history[:, 0]
                     y = history[:, 1]
                     # TODO: calculate dt based on input
-                    vx = derivative_of(x, 0.2) #eval_scene.dt
-                    vy = derivative_of(y, 0.2)
-                    ax = derivative_of(vx, 0.2)
-                    ay = derivative_of(vy, 0.2)
+                    vx = derivative_of(x, 0.1) #eval_scene.dt
+                    vy = derivative_of(y, 0.1)
+                    ax = derivative_of(vx, 0.1)
+                    ay = derivative_of(vy, 0.1)
 
                     data_dict = {('position', 'x'): x[:],
                                 ('position', 'y'): y[:],
@@ -325,7 +325,7 @@ class PredictionServer:
                 dists, preds = trajectron.incremental_forward(input_dict,
                                                             maps,
                                                             prediction_horizon=25, # TODO: make variable
-                                                            num_samples=20, # TODO: make variable
+                                                            num_samples=5, # TODO: make variable
                                                             robot_present_and_future=robot_present_and_future,
                                                             full_dist=True)
             end = time.time()
@@ -343,6 +343,7 @@ class PredictionServer:
             # prediction_dict provides the actual predictions
             # histories_dict provides the trajectory used for prediction
             # futures_dict is the Ground Truth, which is unvailable in an online setting
+            
             prediction_dict, histories_dict, futures_dict = prediction_output_to_trajectories({timestep: preds},
                                                                                       eval_scene.dt,
                                                                                       hyperparams['maximum_history_length'],
@@ -371,6 +372,8 @@ class PredictionServer:
 
                 response[node.id] = {
                     'id': node.id,
+                    'det_conf': trajectory_data[node.id]['det_conf'],
+                    'bbox': trajectory_data[node.id]['bbox'],
                     'history': history.tolist(),
                     'predictions': predictions[0].tolist() # use batch 0
                 }