diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
index f6865ab300..74cae23e07 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/SoccerFieldTwos.prefab
@@ -188,6 +188,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -199,6 +200,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -265,6 +267,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -276,6 +279,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -359,6 +363,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -370,6 +375,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -584,6 +590,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -595,6 +602,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -705,6 +713,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -716,6 +725,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -827,6 +837,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -838,6 +849,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -917,6 +929,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -928,6 +941,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -994,6 +1008,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1005,6 +1020,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1116,6 +1132,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1127,6 +1144,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1243,6 +1261,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1255,6 +1274,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1406,6 +1426,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1417,6 +1438,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1487,6 +1509,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1499,6 +1522,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1617,6 +1641,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1628,6 +1653,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1694,6 +1720,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1705,6 +1732,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1760,9 +1788,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -1849,6 +1878,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1860,6 +1890,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1962,7 +1993,7 @@ MonoBehaviour:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: SoccerTwos
@@ -1987,10 +2018,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 0
-  area: {fileID: 114559182131992928}
   position: 2
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &114320493772006642
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2093,9 +2124,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -2213,7 +2245,7 @@ MonoBehaviour:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: SoccerTwos
@@ -2238,10 +2270,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 1
-  area: {fileID: 114559182131992928}
   position: 2
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &114516244030127556
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2310,7 +2342,7 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 4558743310993102}
-  - component: {fileID: 114559182131992928}
+  - component: {fileID: 8122248192225965164}
   m_Layer: 0
   m_Name: SoccerFieldTwos
   m_TagString: Untagged
@@ -2339,7 +2371,7 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &114559182131992928
+--- !u!114 &8122248192225965164
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -2348,17 +2380,29 @@ MonoBehaviour:
   m_GameObject: {fileID: 1141134673700168}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: efd705d0a5b1e405eb1869b7cbe47dda, type: 3}
+  m_Script: {fileID: 11500000, guid: 4e397bc3ae78c466a8d44400f5b68e38, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  MaxEnvironmentSteps: 5000
   ball: {fileID: 1682753582128710}
   ballRb: {fileID: 0}
-  ground: {fileID: 0}
-  centerPitch: {fileID: 0}
-  playerStates: []
-  ballStartingPos: {x: 0, y: 0, z: 0}
-  goalTextUI: {fileID: 0}
-  canResetBall: 0
+  AgentsList:
+  - Agent: {fileID: 114850431417842684}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
+  - Agent: {fileID: 114492261207303438}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
+  - Agent: {fileID: 5379409612883756837}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
+  - Agent: {fileID: 5320024511406682322}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
 --- !u!1 &1366507812774098
 GameObject:
   m_ObjectHideFlags: 0
@@ -2413,6 +2457,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2424,6 +2469,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2520,6 +2566,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2531,6 +2578,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2597,6 +2645,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2608,6 +2657,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2677,6 +2727,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2688,6 +2739,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2725,7 +2777,8 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 93558b952b37a4b0ebaca3ca6711bcc4, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  area: {fileID: 0}
+  area: {fileID: 1141134673700168}
+  envController: {fileID: 0}
   purpleGoalTag: purpleGoal
   blueGoalTag: blueGoal
 --- !u!54 &54100138833592438
@@ -2798,6 +2851,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2809,6 +2863,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2880,6 +2935,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2891,6 +2947,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2957,6 +3014,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2968,6 +3026,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3034,6 +3093,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3045,6 +3105,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3111,6 +3172,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3122,6 +3184,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3188,6 +3251,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3199,6 +3263,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3317,9 +3382,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -3453,9 +3519,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -3537,6 +3604,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3548,6 +3616,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3614,6 +3683,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3625,6 +3695,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3754,6 +3825,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3765,6 +3837,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3836,6 +3909,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3847,6 +3921,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3949,7 +4024,7 @@ MonoBehaviour:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: SoccerTwos
@@ -3974,10 +4049,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 0
-  area: {fileID: 114559182131992928}
   position: 2
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &1023485123796557062
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -4096,6 +4171,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4107,6 +4183,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -4173,6 +4250,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4184,6 +4262,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -4250,6 +4329,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4261,6 +4341,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -4327,6 +4408,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4338,6 +4420,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -4440,7 +4523,7 @@ MonoBehaviour:
     VectorActionDescriptions: []
     VectorActionSpaceType: 0
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 11400000, guid: b0a629580a0ab48a5a774f90ff1fb48b, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: 8cd4584c2f2cb4c5fb51675d364e10ec, type: 3}
   m_InferenceDevice: 2
   m_BehaviorType: 0
   m_BehaviorName: SoccerTwos
@@ -4465,10 +4548,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 1
-  area: {fileID: 114559182131992928}
   position: 2
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &2562571719799803906
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -4582,6 +4665,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4593,6 +4677,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -4659,6 +4744,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -4670,6 +4756,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
index 92fa04e05c..bc32804cdd 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Prefabs/StrikersVsGoalieField.prefab
@@ -30,7 +30,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 11
+  m_RootOrder: 12
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &253232880
 MeshFilter:
@@ -54,6 +54,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -65,6 +66,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -107,7 +109,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 1
+  m_RootOrder: 2
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &444114137
 MeshFilter:
@@ -131,6 +133,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -142,6 +145,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -216,7 +220,7 @@ Transform:
   m_LocalScale: {x: 100, y: 100, z: 100}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 14
+  m_RootOrder: 15
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!65 &474940251
 BoxCollider:
@@ -265,7 +269,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 6
+  m_RootOrder: 7
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &615018297
 MeshFilter:
@@ -289,6 +293,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -301,6 +306,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -395,7 +401,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 3
+  m_RootOrder: 4
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &654598890
 MeshFilter:
@@ -419,6 +425,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -430,6 +437,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -476,7 +484,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 8
+  m_RootOrder: 9
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &738577478
 MeshFilter:
@@ -500,6 +508,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -512,6 +521,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -606,7 +616,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 9
+  m_RootOrder: 10
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &922552527
 MeshFilter:
@@ -630,6 +640,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -641,6 +652,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -893,7 +905,7 @@ Transform:
   m_LocalScale: {x: 300, y: 10, z: 1200}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 12
+  m_RootOrder: 13
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1358559440
 MeshFilter:
@@ -930,6 +942,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -941,6 +954,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -984,7 +998,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 5
+  m_RootOrder: 6
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1411349256
 MeshFilter:
@@ -1008,6 +1022,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1019,6 +1034,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1075,6 +1091,7 @@ Transform:
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 0.01, y: 0.01, z: 0.01}
   m_Children:
+  - {fileID: 5380420931288637108}
   - {fileID: 1838648424}
   - {fileID: 444114135}
   - {fileID: 1905370727}
@@ -1115,6 +1132,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1126,6 +1144,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1214,7 +1233,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 7
+  m_RootOrder: 8
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1641907513
 MeshFilter:
@@ -1238,6 +1257,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1249,6 +1269,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1336,7 +1357,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 4
+  m_RootOrder: 5
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1685058926
 MeshFilter:
@@ -1360,6 +1381,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1371,6 +1393,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1426,7 +1449,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 10
+  m_RootOrder: 11
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1728133460
 MeshFilter:
@@ -1450,6 +1473,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1461,6 +1485,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1504,7 +1529,7 @@ Transform:
   m_LocalScale: {x: 300, y: 10, z: 1200}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 13
+  m_RootOrder: 14
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1790209497
 MeshFilter:
@@ -1541,6 +1566,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1552,6 +1578,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1594,7 +1621,7 @@ Transform:
   - {fileID: 1280034523}
   - {fileID: 473053728}
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 0
+  m_RootOrder: 1
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!1 &1905370726
 GameObject:
@@ -1626,7 +1653,7 @@ Transform:
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children: []
   m_Father: {fileID: 1590368733}
-  m_RootOrder: 2
+  m_RootOrder: 3
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
 --- !u!33 &1905370729
 MeshFilter:
@@ -1650,6 +1677,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1661,6 +1689,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1760,9 +1789,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -1849,6 +1879,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -1860,6 +1891,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -1903,7 +1935,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1095606497496374}
   m_LocalRotation: {x: 0, y: -0.7071068, z: 0, w: 0.7071068}
-  m_LocalPosition: {x: 8, y: 0.5, z: 0}
+  m_LocalPosition: {x: 4, y: 0.5, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_Children:
   - {fileID: 4540034559941056}
@@ -1986,10 +2018,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 0
-  area: {fileID: 114559182131992928}
   position: 1
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &114320493772006642
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2090,9 +2122,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -2235,10 +2268,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 1
-  area: {fileID: 114559182131992928}
   position: 0
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &114516244030127556
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -2306,7 +2339,7 @@ GameObject:
   serializedVersion: 6
   m_Component:
   - component: {fileID: 4558743310993102}
-  - component: {fileID: 114559182131992928}
+  - component: {fileID: 5003424191498964318}
   m_Layer: 0
   m_Name: StrikersVsGoalieField
   m_TagString: Untagged
@@ -2334,7 +2367,7 @@ Transform:
   m_Father: {fileID: 0}
   m_RootOrder: 0
   m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
---- !u!114 &114559182131992928
+--- !u!114 &5003424191498964318
 MonoBehaviour:
   m_ObjectHideFlags: 0
   m_CorrespondingSourceObject: {fileID: 0}
@@ -2343,17 +2376,25 @@ MonoBehaviour:
   m_GameObject: {fileID: 1141134673700168}
   m_Enabled: 1
   m_EditorHideFlags: 0
-  m_Script: {fileID: 11500000, guid: efd705d0a5b1e405eb1869b7cbe47dda, type: 3}
+  m_Script: {fileID: 11500000, guid: 4e397bc3ae78c466a8d44400f5b68e38, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
+  MaxEnvironmentSteps: 5000
   ball: {fileID: 1682753582128710}
   ballRb: {fileID: 0}
-  ground: {fileID: 0}
-  centerPitch: {fileID: 0}
-  playerStates: []
-  ballStartingPos: {x: 0, y: 0, z: 0}
-  goalTextUI: {fileID: 0}
-  canResetBall: 0
+  AgentsList:
+  - Agent: {fileID: 114850431417842684}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
+  - Agent: {fileID: 5379409612883756837}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
+  - Agent: {fileID: 114492261207303438}
+    StartingPos: {x: 0, y: 0, z: 0}
+    StartingRot: {x: 0, y: 0, z: 0, w: 0}
+    Rb: {fileID: 0}
 --- !u!1 &1366507812774098
 GameObject:
   m_ObjectHideFlags: 0
@@ -2408,6 +2449,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2419,6 +2461,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2515,6 +2558,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2526,6 +2570,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2592,6 +2637,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2603,6 +2649,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2672,6 +2719,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2683,6 +2731,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 0
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2720,7 +2769,8 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 93558b952b37a4b0ebaca3ca6711bcc4, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  area: {fileID: 0}
+  area: {fileID: 1141134673700168}
+  envController: {fileID: 0}
   purpleGoalTag: purpleGoal
   blueGoalTag: blueGoal
 --- !u!54 &54100138833592438
@@ -2793,6 +2843,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2804,6 +2855,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2875,6 +2927,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2886,6 +2939,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -2952,6 +3006,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -2963,6 +3018,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3029,6 +3085,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3040,6 +3097,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3106,6 +3164,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3117,6 +3176,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3183,6 +3243,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3194,6 +3255,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3311,9 +3373,10 @@ Camera:
   m_ClearFlags: 2
   m_BackGroundColor: {r: 0.46666667, g: 0.5647059, b: 0.60784316, a: 1}
   m_projectionMatrixMode: 1
+  m_GateFitMode: 2
+  m_FOVAxisMode: 0
   m_SensorSize: {x: 36, y: 24}
   m_LensShift: {x: 0, y: 0}
-  m_GateFitMode: 2
   m_FocalLength: 50
   m_NormalizedViewPortRect:
     serializedVersion: 2
@@ -3395,6 +3458,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3406,6 +3470,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3472,6 +3537,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3483,6 +3549,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3611,6 +3678,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3622,6 +3690,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3693,6 +3762,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3704,6 +3774,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3770,6 +3841,7 @@ MeshRenderer:
   m_MotionVectors: 1
   m_LightProbeUsage: 1
   m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
   m_RenderingLayerMask: 1
   m_RendererPriority: 0
   m_Materials:
@@ -3781,6 +3853,7 @@ MeshRenderer:
   m_ProbeAnchor: {fileID: 0}
   m_LightProbeVolumeOverride: {fileID: 0}
   m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
   m_PreserveUVs: 1
   m_IgnoreNormalsForChartDetection: 0
   m_ImportantGI: 0
@@ -3908,10 +3981,10 @@ MonoBehaviour:
   hasUpgradedFromAgentParameters: 1
   MaxStep: 3000
   team: 1
-  area: {fileID: 114559182131992928}
   position: 0
-  timePenalty: 0
   agentRb: {fileID: 0}
+  initialPos: {x: 0, y: 0, z: 0}
+  rotSign: 0
 --- !u!114 &2562571719799803906
 MonoBehaviour:
   m_ObjectHideFlags: 0
@@ -3970,3 +4043,96 @@ MonoBehaviour:
   m_Name: 
   m_EditorClassIdentifier: 
   debugCommandLineOverride: 
+--- !u!1 &9012161277676694912
+GameObject:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  serializedVersion: 6
+  m_Component:
+  - component: {fileID: 5380420931288637108}
+  - component: {fileID: 9218808494928946219}
+  - component: {fileID: 751017937587398034}
+  - component: {fileID: 5544574640864840267}
+  m_Layer: 0
+  m_Name: BlueGoalBlocker
+  m_TagString: wall
+  m_Icon: {fileID: 0}
+  m_NavMeshLayer: 0
+  m_StaticEditorFlags: 0
+  m_IsActive: 1
+--- !u!4 &5380420931288637108
+Transform:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 9012161277676694912}
+  m_LocalRotation: {x: -0, y: -0, z: -0, w: 1}
+  m_LocalPosition: {x: -1551, y: 155, z: 0}
+  m_LocalScale: {x: 100, y: 395.9755, z: 791.466}
+  m_Children: []
+  m_Father: {fileID: 1590368733}
+  m_RootOrder: 0
+  m_LocalEulerAnglesHint: {x: 0, y: 0, z: 0}
+--- !u!33 &9218808494928946219
+MeshFilter:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 9012161277676694912}
+  m_Mesh: {fileID: 10202, guid: 0000000000000000e000000000000000, type: 0}
+--- !u!23 &751017937587398034
+MeshRenderer:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 9012161277676694912}
+  m_Enabled: 1
+  m_CastShadows: 1
+  m_ReceiveShadows: 1
+  m_DynamicOccludee: 1
+  m_MotionVectors: 1
+  m_LightProbeUsage: 1
+  m_ReflectionProbeUsage: 1
+  m_RayTracingMode: 2
+  m_RenderingLayerMask: 1
+  m_RendererPriority: 0
+  m_Materials:
+  - {fileID: 2100000, guid: 66163cf35956a4be08e801b750c26f33, type: 2}
+  m_StaticBatchInfo:
+    firstSubMesh: 0
+    subMeshCount: 0
+  m_StaticBatchRoot: {fileID: 0}
+  m_ProbeAnchor: {fileID: 0}
+  m_LightProbeVolumeOverride: {fileID: 0}
+  m_ScaleInLightmap: 1
+  m_ReceiveGI: 1
+  m_PreserveUVs: 0
+  m_IgnoreNormalsForChartDetection: 0
+  m_ImportantGI: 0
+  m_StitchLightmapSeams: 1
+  m_SelectedEditorRenderState: 3
+  m_MinimumChartSize: 4
+  m_AutoUVMaxDistance: 0.5
+  m_AutoUVMaxAngle: 89
+  m_LightmapParameters: {fileID: 0}
+  m_SortingLayerID: 0
+  m_SortingLayer: 0
+  m_SortingOrder: 0
+--- !u!65 &5544574640864840267
+BoxCollider:
+  m_ObjectHideFlags: 0
+  m_CorrespondingSourceObject: {fileID: 0}
+  m_PrefabInstance: {fileID: 0}
+  m_PrefabAsset: {fileID: 0}
+  m_GameObject: {fileID: 9012161277676694912}
+  m_Material: {fileID: 0}
+  m_IsTrigger: 0
+  m_Enabled: 1
+  serializedVersion: 2
+  m_Size: {x: 1, y: 1, z: 1}
+  m_Center: {x: 0, y: 0, z: 0}
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
index 684ac0a3e4..abddb5485f 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/AgentSoccer.cs
@@ -3,6 +3,12 @@
 using Unity.MLAgents.Actuators;
 using Unity.MLAgents.Policies;
 
+public enum Team
+{
+    Blue = 0,
+    Purple = 1
+}
+
 public class AgentSoccer : Agent
 {
     // Note that that the detectable tags are different for the blue and purple teams. The order is
@@ -12,11 +18,6 @@ public class AgentSoccer : Agent
     // * wall
     // * own teammate
     // * opposing player
-    public enum Team
-    {
-        Blue = 0,
-        Purple = 1
-    }
 
     public enum Position
     {
@@ -28,8 +29,6 @@ public enum Position
     [HideInInspector]
     public Team team;
     float m_KickPower;
-    int m_PlayerIndex;
-    public SoccerFieldArea area;
     // The coefficient for the reward for colliding with a ball. Set using curriculum.
     float m_BallTouch;
     public Position position;
@@ -39,14 +38,13 @@ public enum Position
     float m_LateralSpeed;
     float m_ForwardSpeed;
 
-    [HideInInspector]
-    public float timePenalty;
 
     [HideInInspector]
     public Rigidbody agentRb;
     SoccerSettings m_SoccerSettings;
     BehaviorParameters m_BehaviorParameters;
-    Vector3 m_Transform;
+    public Vector3 initialPos;
+    public float rotSign;
 
     EnvironmentParameters m_ResetParams;
 
@@ -57,12 +55,14 @@ public override void Initialize()
         if (m_BehaviorParameters.TeamId == (int)Team.Blue)
         {
             team = Team.Blue;
-            m_Transform = new Vector3(transform.position.x - 4f, .5f, transform.position.z);
+            initialPos = new Vector3(transform.position.x - 5f, .5f, transform.position.z);
+            rotSign = 1f;
         }
         else
         {
             team = Team.Purple;
-            m_Transform = new Vector3(transform.position.x + 4f, .5f, transform.position.z);
+            initialPos = new Vector3(transform.position.x + 5f, .5f, transform.position.z);
+            rotSign = -1f;
         }
         if (position == Position.Goalie)
         {
@@ -83,16 +83,6 @@ public override void Initialize()
         agentRb = GetComponent<Rigidbody>();
         agentRb.maxAngularVelocity = 500;
 
-        var playerState = new PlayerState
-        {
-            agentRb = agentRb,
-            startingPos = transform.position,
-            agentScript = this,
-        };
-        area.playerStates.Add(playerState);
-        m_PlayerIndex = area.playerStates.IndexOf(playerState);
-        playerState.playerIndex = m_PlayerIndex;
-
         m_ResetParams = Academy.Instance.EnvironmentParameters;
     }
 
@@ -157,11 +147,6 @@ public override void OnActionReceived(ActionBuffers actionBuffers)
             // Existential penalty for Strikers
             AddReward(-m_Existential);
         }
-        else
-        {
-            // Existential penalty cumulant for Generic
-            timePenalty -= m_Existential;
-        }
         MoveAgent(actionBuffers.DiscreteActions);
     }
 
@@ -218,25 +203,7 @@ void OnCollisionEnter(Collision c)
 
     public override void OnEpisodeBegin()
     {
-
-        timePenalty = 0;
         m_BallTouch = m_ResetParams.GetWithDefault("ball_touch", 0);
-        if (team == Team.Purple)
-        {
-            transform.rotation = Quaternion.Euler(0f, -90f, 0f);
-        }
-        else
-        {
-            transform.rotation = Quaternion.Euler(0f, 90f, 0f);
-        }
-        transform.position = m_Transform;
-        agentRb.velocity = Vector3.zero;
-        agentRb.angularVelocity = Vector3.zero;
-        SetResetParameters();
     }
 
-    public void SetResetParameters()
-    {
-        area.ResetBall();
-    }
 }
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
index 13a5e171a2..a1847ba27f 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerBallController.cs
@@ -2,20 +2,26 @@
 
 public class SoccerBallController : MonoBehaviour
 {
+    public GameObject area;
     [HideInInspector]
-    public SoccerFieldArea area;
+    public SoccerEnvController envController;
     public string purpleGoalTag; //will be used to check if collided with purple goal
     public string blueGoalTag; //will be used to check if collided with blue goal
 
+    void Start()
+    {
+        envController = area.GetComponent<SoccerEnvController>();
+    }
+
     void OnCollisionEnter(Collision col)
     {
         if (col.gameObject.CompareTag(purpleGoalTag)) //ball touched purple goal
         {
-            area.GoalTouched(AgentSoccer.Team.Blue);
+            envController.GoalTouched(Team.Blue);
         }
         if (col.gameObject.CompareTag(blueGoalTag)) //ball touched blue goal
         {
-            area.GoalTouched(AgentSoccer.Team.Purple);
+            envController.GoalTouched(Team.Purple);
         }
     }
 }
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs
new file mode 100644
index 0000000000..7eb60b360e
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs
@@ -0,0 +1,139 @@
+using System.Collections;
+using System.Collections.Generic;
+using Unity.MLAgents;
+using UnityEngine;
+
+public class SoccerEnvController : MonoBehaviour
+{
+    [System.Serializable]
+    public class PlayerInfo
+    {
+        public AgentSoccer Agent;
+        [HideInInspector]
+        public Vector3 StartingPos;
+        [HideInInspector]
+        public Quaternion StartingRot;
+        [HideInInspector]
+        public Rigidbody Rb;
+    }
+
+
+    /// <summary>
+    /// Max Academy steps before this platform resets
+    /// </summary>
+    /// <returns></returns>
+    [Header("Max Environment Steps")] public int MaxEnvironmentSteps = 25000;
+
+    /// <summary>
+    /// The area bounds.
+    /// </summary>
+
+    /// <summary>
+    /// We will be changing the ground material based on success/failue
+    /// </summary>
+
+    public GameObject ball;
+    [HideInInspector]
+    public Rigidbody ballRb;
+    Vector3 m_BallStartingPos;
+
+    //List of Agents On Platform
+    public List<PlayerInfo> AgentsList = new List<PlayerInfo>();
+
+    private SoccerSettings m_SoccerSettings;
+
+
+    private SimpleMultiAgentGroup m_BlueAgentGroup;
+    private SimpleMultiAgentGroup m_PurpleAgentGroup;
+
+    private int m_ResetTimer;
+
+    void Start()
+    {
+
+        m_SoccerSettings = FindObjectOfType<SoccerSettings>();
+        // Initialize TeamManager
+        m_BlueAgentGroup = new SimpleMultiAgentGroup();
+        m_PurpleAgentGroup = new SimpleMultiAgentGroup();
+        ballRb = ball.GetComponent<Rigidbody>();
+        m_BallStartingPos = new Vector3(ball.transform.position.x, ball.transform.position.y, ball.transform.position.z);
+        foreach (var item in AgentsList)
+        {
+            item.StartingPos = item.Agent.transform.position;
+            item.StartingRot = item.Agent.transform.rotation;
+            item.Rb = item.Agent.GetComponent<Rigidbody>();
+            if (item.Agent.team == Team.Blue)
+            {
+                m_BlueAgentGroup.RegisterAgent(item.Agent);
+            }
+            else
+            {
+                m_PurpleAgentGroup.RegisterAgent(item.Agent);
+            }
+        }
+        ResetScene();
+    }
+
+    void FixedUpdate()
+    {
+        m_ResetTimer += 1;
+        if (m_ResetTimer >= MaxEnvironmentSteps && MaxEnvironmentSteps > 0)
+        {
+            m_BlueAgentGroup.GroupEpisodeInterrupted();
+            m_PurpleAgentGroup.GroupEpisodeInterrupted();
+            ResetScene();
+        }
+    }
+
+
+    public void ResetBall()
+    {
+        var randomPosX = Random.Range(-2.5f, 2.5f);
+        var randomPosZ = Random.Range(-2.5f, 2.5f);
+
+        ball.transform.position = m_BallStartingPos + new Vector3(randomPosX, 0f, randomPosZ); ;
+        ballRb.velocity = Vector3.zero;
+        ballRb.angularVelocity = Vector3.zero;
+
+    }
+
+    public void GoalTouched(Team scoredTeam)
+    {
+        if (scoredTeam == Team.Blue)
+        {
+            m_BlueAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps);
+            m_PurpleAgentGroup.AddGroupReward(-1);
+        }
+        else
+        {
+            m_PurpleAgentGroup.AddGroupReward(1 - m_ResetTimer / MaxEnvironmentSteps);
+            m_BlueAgentGroup.AddGroupReward(-1);
+        }
+        m_PurpleAgentGroup.EndGroupEpisode();
+        m_BlueAgentGroup.EndGroupEpisode();
+        ResetScene();
+
+    }
+
+
+    public void ResetScene()
+    {
+        m_ResetTimer = 0;
+
+        //Reset Agents
+        foreach (var item in AgentsList)
+        {
+            var randomPosX = Random.Range(-5f, 5f);
+            var newStartPos = item.Agent.initialPos + new Vector3(randomPosX, 0f, 0f);
+            var rot = item.Agent.rotSign * Random.Range(80.0f, 100.0f);
+            var newRot = Quaternion.Euler(0, rot, 0);
+            item.Agent.transform.SetPositionAndRotation(newStartPos, newRot);
+
+            item.Rb.velocity = Vector3.zero;
+            item.Rb.angularVelocity = Vector3.zero;
+        }
+
+        //Reset Ball
+        ResetBall();
+    }
+}
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta
similarity index 71%
rename from Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta
rename to Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta
index 42d3aa496d..4325c04051 100644
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs.meta
+++ b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerEnvController.cs.meta
@@ -1,7 +1,5 @@
 fileFormatVersion: 2
-guid: efd705d0a5b1e405eb1869b7cbe47dda
-timeCreated: 1511497566
-licenseType: Free
+guid: 4e397bc3ae78c466a8d44400f5b68e38
 MonoImporter:
   externalObjects: {}
   serializedVersion: 2
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs b/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
deleted file mode 100644
index a119b7a572..0000000000
--- a/Project/Assets/ML-Agents/Examples/Soccer/Scripts/SoccerFieldArea.cs
+++ /dev/null
@@ -1,85 +0,0 @@
-using System.Collections;
-using System.Collections.Generic;
-using Unity.MLAgents;
-using UnityEngine;
-using UnityEngine.Serialization;
-
-[System.Serializable]
-public class PlayerState
-{
-    public int playerIndex;
-    [FormerlySerializedAs("agentRB")]
-    public Rigidbody agentRb;
-    public Vector3 startingPos;
-    public AgentSoccer agentScript;
-    public float ballPosReward;
-}
-
-public class SoccerFieldArea : MonoBehaviour
-{
-    public GameObject ball;
-    [FormerlySerializedAs("ballRB")]
-    [HideInInspector]
-    public Rigidbody ballRb;
-    public GameObject ground;
-    public GameObject centerPitch;
-    SoccerBallController m_BallController;
-    public List<PlayerState> playerStates = new List<PlayerState>();
-    [HideInInspector]
-    public Vector3 ballStartingPos;
-    public GameObject goalTextUI;
-    [HideInInspector]
-    public bool canResetBall;
-
-    EnvironmentParameters m_ResetParams;
-
-    void Awake()
-    {
-        canResetBall = true;
-        if (goalTextUI) { goalTextUI.SetActive(false); }
-        ballRb = ball.GetComponent<Rigidbody>();
-        m_BallController = ball.GetComponent<SoccerBallController>();
-        m_BallController.area = this;
-        ballStartingPos = ball.transform.position;
-
-        m_ResetParams = Academy.Instance.EnvironmentParameters;
-    }
-
-    IEnumerator ShowGoalUI()
-    {
-        if (goalTextUI) goalTextUI.SetActive(true);
-        yield return new WaitForSeconds(.25f);
-        if (goalTextUI) goalTextUI.SetActive(false);
-    }
-
-    public void GoalTouched(AgentSoccer.Team scoredTeam)
-    {
-        foreach (var ps in playerStates)
-        {
-            if (ps.agentScript.team == scoredTeam)
-            {
-                ps.agentScript.AddReward(1 + ps.agentScript.timePenalty);
-            }
-            else
-            {
-                ps.agentScript.AddReward(-1);
-            }
-            ps.agentScript.EndEpisode();  //all agents need to be reset
-
-            if (goalTextUI)
-            {
-                StartCoroutine(ShowGoalUI());
-            }
-        }
-    }
-
-    public void ResetBall()
-    {
-        ball.transform.position = ballStartingPos;
-        ballRb.velocity = Vector3.zero;
-        ballRb.angularVelocity = Vector3.zero;
-
-        var ballScale = m_ResetParams.GetWithDefault("ball_scale", 0.015f);
-        ballRb.transform.localScale = new Vector3(ballScale, ballScale, ballScale);
-    }
-}
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn
deleted file mode 100644
index 0e848cee83..0000000000
Binary files a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn and /dev/null differ
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn.meta b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn.meta
deleted file mode 100644
index d07e848995..0000000000
--- a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.nn.meta
+++ /dev/null
@@ -1,11 +0,0 @@
-fileFormatVersion: 2
-guid: b0a629580a0ab48a5a774f90ff1fb48b
-ScriptedImporter:
-  fileIDToRecycleName:
-    11400000: main obj
-    11400002: model data
-  externalObjects: {}
-  userData: 
-  assetBundleName: 
-  assetBundleVariant: 
-  script: {fileID: 11500000, guid: 19ed1486aa27d4903b34839f37b8f69f, type: 3}
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx
new file mode 100644
index 0000000000..97c69f64a9
Binary files /dev/null and b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx differ
diff --git a/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx.meta b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx.meta
new file mode 100644
index 0000000000..d1b3e357b6
--- /dev/null
+++ b/Project/Assets/ML-Agents/Examples/Soccer/TFModels/SoccerTwos.onnx.meta
@@ -0,0 +1,14 @@
+fileFormatVersion: 2
+guid: 8cd4584c2f2cb4c5fb51675d364e10ec
+ScriptedImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 2
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3}
+  optimizeModel: 1
+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1
diff --git a/config/ppo/SoccerTwos.yaml b/config/poca/SoccerTwos.yaml
similarity index 96%
rename from config/ppo/SoccerTwos.yaml
rename to config/poca/SoccerTwos.yaml
index e9b390c981..b17fadcb28 100644
--- a/config/ppo/SoccerTwos.yaml
+++ b/config/poca/SoccerTwos.yaml
@@ -1,6 +1,6 @@
 behaviors:
   SoccerTwos:
-    trainer_type: ppo
+    trainer_type: poca
     hyperparameters:
       batch_size: 2048
       buffer_size: 20480
diff --git a/config/ppo/StrikersVsGoalie.yaml b/config/poca/StrikersVsGoalie.yaml
similarity index 96%
rename from config/ppo/StrikersVsGoalie.yaml
rename to config/poca/StrikersVsGoalie.yaml
index aafc1e918b..8bd67c03ee 100644
--- a/config/ppo/StrikersVsGoalie.yaml
+++ b/config/poca/StrikersVsGoalie.yaml
@@ -1,6 +1,6 @@
 behaviors:
   Goalie:
-    trainer_type: ppo
+    trainer_type: poca
     hyperparameters:
       batch_size: 2048
       buffer_size: 20480
@@ -32,7 +32,7 @@ behaviors:
       play_against_latest_model_ratio: 0.5
       initial_elo: 1200.0
   Striker:
-    trainer_type: ppo
+    trainer_type: poca
     hyperparameters:
       batch_size: 2048
       buffer_size: 20480
diff --git a/docs/Learning-Environment-Design-Agents.md b/docs/Learning-Environment-Design-Agents.md
index 2d0c4051ae..91e31b2e51 100644
--- a/docs/Learning-Environment-Design-Agents.md
+++ b/docs/Learning-Environment-Design-Agents.md
@@ -987,6 +987,8 @@ and two playing fields where teams are pitted against each other. All the blue a
        width="650" border="10" />
 </p>
 
+Please see the [SoccerTwos](Learning-Environment-Examples.md#soccer-twos) environment for an example.
+
 #### Cooperative Behaviors Notes and Best Practices
 * An agent can only be registered to one MultiAgentGroup at a time. If you want to re-assign an
 agent from one group to another, you have to unregister it from the current group first.
diff --git a/docs/Learning-Environment-Examples.md b/docs/Learning-Environment-Examples.md
index 77fcefa5f4..7056b3c6ff 100644
--- a/docs/Learning-Environment-Examples.md
+++ b/docs/Learning-Environment-Examples.md
@@ -280,7 +280,7 @@ you would like to contribute environments, please see our
 - Goal:
   - Get the ball into the opponent's goal while preventing the ball from
     entering own goal.
-- Agents: The environment contains four agents, with the same Behavior
+- Agents: The environment contains two different Multi Agent Groups with two agents in each.
   Parameters : SoccerTwos.
 - Agent Reward Function (dependent):
   - (1 - `accumulated time penalty`) When ball enters opponent's goal
@@ -315,7 +315,7 @@ you would like to contribute environments, please see our
 - Goal:
   - Striker: Get the ball into the opponent's goal.
   - Goalie: Keep the ball out of the goal.
-- Agents: The environment contains three agents. Two Strikers and one Goalie.
+- Agents: The environment contains two different Multi Agent Groups. One with two Strikers and the other one Goalie.
   Behavior Parameters : Striker, Goalie.
 - Striker Agent Reward Function (dependent):
   - +1 When ball enters opponent's goal.
@@ -475,4 +475,4 @@ blocks require all 3 agents to push and are worth +3.
   - Actions: 1 discrete action branch with 7 actions, corresponding to turn clockwise
     and counterclockwise, move along four different face directions, or do nothing.
 - Float Properties: None
-- Benchmark Mean Reward: 11 (Group Reward)
\ No newline at end of file
+- Benchmark Mean Reward: 11 (Group Reward)