diff --git a/Assets/15_Prefabs/Environment.prefab b/Assets/15_Prefabs/Environment.prefab
index 5a48155..87ccb53 100644
--- a/Assets/15_Prefabs/Environment.prefab
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index fea0868..bcf0590 100644
--- a/Assets/1_House/Sections/Treadmill/House Content_treadmill_L_BB_SpotMini-House_2023.blend_Dupli_68.prefab	
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diff --git a/Assets/2_Chair/Brains/Treadmill.onnx b/Assets/2_Chair/Brains/Treadmill.onnx
index da8f64e..ac459c3 100644
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index 26aa9b2..3e4ec04 100644
--- a/Assets/2_Chair/Brains/Treadmill.onnx.meta
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@@ -1,5 +1,5 @@
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diff --git a/Assets/2_Chair/Chair.prefab b/Assets/2_Chair/Chair.prefab
index 8b9a946..a83a964 100644
--- a/Assets/2_Chair/Chair.prefab
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diff --git a/Assets/6_Scenes/Beep.unity b/Assets/6_Scenes/Beep.unity
index 556dd34..a25cb8f 100644
--- a/Assets/6_Scenes/Beep.unity
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         type: 3}
       propertyPath: m_LocalPosition.z
-      value: 518.81
+      value: 560.06
       objectReference: {fileID: 0}
     - target: {fileID: 2722580235232797026, guid: f03606b436da1d94e977c8ffa2825bd9,
         type: 3}
@@ -2625,12 +2625,6 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
-    - target: {fileID: 3382247266651750635, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_Model
-      value: 
-      objectReference: {fileID: 5022602860645237092, guid: 1dc2dd8bd62c1ce47b13f1740b15e522,
-        type: 3}
     - target: {fileID: 5777259271730693716, guid: f03606b436da1d94e977c8ffa2825bd9,
         type: 3}
       propertyPath: m_Name
@@ -2641,11 +2635,6 @@ PrefabInstance:
       propertyPath: target
       value: 
       objectReference: {fileID: 387060610}
-    - target: {fileID: 6191786620621186661, guid: f03606b436da1d94e977c8ffa2825bd9,
-        type: 3}
-      propertyPath: m_SelectedBrain
-      value: 0
-      objectReference: {fileID: 0}
     m_RemovedComponents: []
     m_RemovedGameObjects: []
     m_AddedGameObjects: []
@@ -3694,7 +3683,17 @@ PrefabInstance:
     - target: {fileID: 1082572882027964806, guid: 796c0c7bfd2e89547bd866eedcc6d386,
         type: 3}
       propertyPath: m_IsActive
-      value: 1
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 1170441306195283109, guid: 796c0c7bfd2e89547bd866eedcc6d386,
+        type: 3}
+      propertyPath: m_LocalPosition.x
+      value: -37.46
+      objectReference: {fileID: 0}
+    - target: {fileID: 1170441306195283109, guid: 796c0c7bfd2e89547bd866eedcc6d386,
+        type: 3}
+      propertyPath: m_LocalPosition.z
+      value: 132.85
       objectReference: {fileID: 0}
     - target: {fileID: 3428618077651019461, guid: 796c0c7bfd2e89547bd866eedcc6d386,
         type: 3}
@@ -3704,7 +3703,7 @@ PrefabInstance:
     - target: {fileID: 3582199055929070180, guid: 796c0c7bfd2e89547bd866eedcc6d386,
         type: 3}
       propertyPath: m_IsActive
-      value: 0
+      value: 1
       objectReference: {fileID: 0}
     - target: {fileID: 4218554392451596953, guid: 796c0c7bfd2e89547bd866eedcc6d386,
         type: 3}
@@ -3854,6 +3853,21 @@ PrefabInstance:
       propertyPath: m_Body
       value: 
       objectReference: {fileID: 1412792149}
+    - target: {fileID: 3567326802448521334, guid: 14d8283abcefffd4a916b8611ccd49fa,
+        type: 3}
+      propertyPath: m_MaxForce
+      value: 300
+      objectReference: {fileID: 0}
+    - target: {fileID: 4057927836602249742, guid: 14d8283abcefffd4a916b8611ccd49fa,
+        type: 3}
+      propertyPath: m_TriggerExitEvent.m_PersistentCalls.m_Calls.Array.size
+      value: 0
+      objectReference: {fileID: 0}
+    - target: {fileID: 4057927836602249742, guid: 14d8283abcefffd4a916b8611ccd49fa,
+        type: 3}
+      propertyPath: m_TriggerStayEvent.m_PersistentCalls.m_Calls.Array.size
+      value: 0
+      objectReference: {fileID: 0}
     - target: {fileID: 5958365873195825879, guid: 14d8283abcefffd4a916b8611ccd49fa,
         type: 3}
       propertyPath: m_CollisionEvent.m_PersistentCalls.m_Calls.Array.data[0].m_Target
diff --git a/Assets/7_Scripts/Agent/Walker.cs b/Assets/7_Scripts/Agent/Walker.cs
index 430c856..11a949e 100644
--- a/Assets/7_Scripts/Agent/Walker.cs
+++ b/Assets/7_Scripts/Agent/Walker.cs
@@ -31,9 +31,9 @@ public class Walker : Agent
     public Brain m_SelectedBrain;
 
     [Header("Walk Speed")]
-    [Range(0.1f, 10)]
+    [Range(0.1f, 30)]
     [SerializeField]
-    private float m_TargetWalkingSpeed = 10;
+    private float m_TargetWalkingSpeed = 30;
 
     public float MTargetWalkingSpeed
     {
@@ -42,7 +42,7 @@ public class Walker : Agent
     }
 
     // The Max Walking Speed
-    const float m_MaxWalkingSpeed = 10;
+    const float m_MaxWalkingSpeed = 30;
 
     [Header("Randomise")]
     // Randomise Walking Speed every Episode
diff --git a/Assets/7_Scripts/Interactable Items/OnChairContact.cs b/Assets/7_Scripts/Interactable Items/OnChairContact.cs
index cb626dc..fbde545 100644
--- a/Assets/7_Scripts/Interactable Items/OnChairContact.cs	
+++ b/Assets/7_Scripts/Interactable Items/OnChairContact.cs	
@@ -16,12 +16,21 @@ public class OnChairContact : MonoBehaviour
 
     public bool m_IsTouching;
     public bool m_IsAttached;
+    public bool m_IsTreadmill;
     public float m_TrayTimeout;
     private string m_Tag = "agent";
 
     [SerializeField]
     public FixedJoint m_FixedJoint;
 
+    public delegate void TreadmillEventApply(Rigidbody rb);
+
+    public static event TreadmillEventApply ApplyTreadmillForce;
+
+    public delegate void TreadmillEventRemove(Rigidbody rb);
+
+    public static event TreadmillEventRemove RemoveTreadmillForce;
+
 
     void OnEnable()
     {
@@ -57,6 +66,8 @@ public class OnChairContact : MonoBehaviour
 
             m_IsTouching = true;
             m_CollisionEvent?.Invoke();
+
+
         }
     }
 
@@ -75,6 +86,8 @@ public class OnChairContact : MonoBehaviour
         {
             m_IsTouching = false;
             m_CollisionExitEvent?.Invoke();
+
+
         }
     }
 
@@ -84,7 +97,14 @@ public class OnChairContact : MonoBehaviour
         {
             m_IsTouching = true;
             m_TriggerStayEvent?.Invoke();
+
+            if (m_IsTreadmill)
+            {
+                ApplyTreadmillForce(other.GetComponent<Rigidbody>());
+            }
         }
+
+
     }
 
     private void OnTriggerExit(Collider other)
@@ -93,6 +113,10 @@ public class OnChairContact : MonoBehaviour
         {
             m_IsTouching = false;
             m_TriggerExitEvent?.Invoke();
+            if (m_IsTreadmill)
+            {
+                RemoveTreadmillForce(other.GetComponent<Rigidbody>());
+            }
         }
     }
 
diff --git a/Assets/7_Scripts/Interactable Items/Treadmill.cs b/Assets/7_Scripts/Interactable Items/Treadmill.cs
index ee96488..d1804c3 100644
--- a/Assets/7_Scripts/Interactable Items/Treadmill.cs	
+++ b/Assets/7_Scripts/Interactable Items/Treadmill.cs	
@@ -6,33 +6,42 @@ using UnityEngine;
 
 public class Treadmill : MonoBehaviour
 {
-    public Rigidbody m_Body;
-    private float m_Force;
+    //public Rigidbody m_Body;
     public float m_MaxForce;
     private float m_angleOffset;
 
     private void OnEnable()
     {
-        m_Force = 0f;
+        OnChairContact.ApplyTreadmillForce += ApplyForce;
+        OnChairContact.RemoveTreadmillForce += RemoveForce;
         m_angleOffset = 20f;
     }
 
-    public void ApplyForce()
+    private void OnDisable()
     {
-        m_Force += 0.1f;
+        OnChairContact.ApplyTreadmillForce -= ApplyForce;
+        OnChairContact.RemoveTreadmillForce -= RemoveForce;
+    }
+
+    public void ApplyForce(Rigidbody rb)
+    {
+        //m_Force += 0.1f;
+
         Vector3 forceDirection = Quaternion.Euler(0, -m_angleOffset, 0) * Vector3.forward;
-        m_Body.AddForce(forceDirection * m_Force);
+        //Debug.Log($"Force added to {rb.name} {forceDirection * m_MaxForce}");
+        rb.AddForce(forceDirection * m_MaxForce);
+        //m_Body.AddForce(forceDirection * m_Force);
     }
 
-    public void RemoveForce()
+    public void RemoveForce(Rigidbody rb)
     {
-        m_Force = 0;
+        rb.AddForce(new Vector3(0, 0, 0));
     }
 
     private void FixedUpdate()
     {
         //Debug.Log($"Applying Force {m_Force}");
-        m_Force = (m_Force < 0f) ? 0 : (m_Force > m_MaxForce) ? m_MaxForce : m_Force;
+        //m_Force = (m_Force < 0f) ? 0 : (m_Force > m_MaxForce) ? m_MaxForce : m_Force;
     }
 
     private void OnDrawGizmosSelected()
diff --git a/Assets/7_Scripts/Model Swapping/ModelSwap.cs b/Assets/7_Scripts/Model Swapping/ModelSwap.cs
index 13aa646..ffe2482 100644
--- a/Assets/7_Scripts/Model Swapping/ModelSwap.cs	
+++ b/Assets/7_Scripts/Model Swapping/ModelSwap.cs	
@@ -51,31 +51,37 @@ public class ModelSwap : MonoBehaviour
 
         if (modelName.Equals("Walker"))
         {
+            agent.MTargetWalkingSpeed = 8f;
             agent.m_SelectedBrain = Walker.Brain.Walker;
             m_currentModelName = modelName;
         }
         else if (modelName.Equals("Stairs"))
         {
+            agent.MTargetWalkingSpeed = 8f;
             agent.m_SelectedBrain = Walker.Brain.DMScrambler;
             m_currentModelName = modelName;
         }
         else if (modelName.Equals("Climber"))
         {
+            agent.MTargetWalkingSpeed = 8f;
             agent.m_SelectedBrain = Walker.Brain.Climber;
             m_currentModelName = modelName;
         }
         else if (modelName.Equals("Getup"))
         {
+            agent.MTargetWalkingSpeed = 8f;
             agent.m_SelectedBrain = Walker.Brain.Getup;
             m_currentModelName = modelName;
         }
         else if (modelName.Equals("Sitting"))
         {
+            agent.MTargetWalkingSpeed = 8f;
             agent.m_SelectedBrain = Walker.Brain.Sitting;
             m_currentModelName = modelName;
         }
         else if (modelName.Equals("Treadmill"))
         {
+            agent.MTargetWalkingSpeed = 30f;
             agent.m_SelectedBrain = Walker.Brain.Treadmill;
             m_currentModelName = modelName;
         }
diff --git a/Assets/ML-Agents/Timers/Beep_timers.json b/Assets/ML-Agents/Timers/Beep_timers.json
index 9c761cd..5c1a30a 100644
--- a/Assets/ML-Agents/Timers/Beep_timers.json
+++ b/Assets/ML-Agents/Timers/Beep_timers.json
@@ -1 +1 @@
-{"count":1,"self":44.774220799999995,"total":57.184964,"children":{"InitializeActuators":{"count":1,"self":0.004378,"total":0.004378,"children":null},"InitializeSensors":{"count":1,"self":0.008312,"total":0.008312,"children":null},"AgentSendState":{"count":2545,"self":0.043668,"total":0.12082999999999999,"children":{"CollectObservations":{"count":509,"self":0.024697,"total":0.024697,"children":null},"WriteActionMask":{"count":509,"self":0.0019779999999999997,"total":0.0019779999999999997,"children":null},"RequestDecision":{"count":509,"self":0.050487,"total":0.050487,"children":null}}},"DecideAction":{"count":2545,"self":1.1792179999999999,"total":12.229040999999999,"children":{"RayPerceptionSensor.Perceive":{"count":509,"self":11.049823199999999,"total":11.049823,"children":null}}},"AgentAct":{"count":2545,"self":0.045175,"total":0.045175,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1710340601","unity_version":"2023.2.8f1","command_line_arguments":"\/Applications\/Unity\/Hub\/Editor\/2023.2.8f1\/Unity.app\/Contents\/MacOS\/Unity -projectpath \/Users\/scn\/Documents\/BB_Beauty & The Beep\/12 Unity\/git\/beep-final -useHub -hubIPC -cloudEnvironment production","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.3.0-exp.3","scene_name":"Beep","end_time_seconds":"1710340658"}}
\ No newline at end of file
+{"count":1,"self":37.216780799999995,"total":37.7969684,"children":{"InitializeActuators":{"count":1,"self":0.0010042999999999999,"total":0.0010042999999999999,"children":null},"InitializeSensors":{"count":1,"self":0.0020039,"total":0.0020039,"children":null},"AgentSendState":{"count":1586,"self":0.026898699999999998,"total":0.055844899999999996,"children":{"CollectObservations":{"count":318,"self":0.010289399999999999,"total":0.010289399999999999,"children":null},"WriteActionMask":{"count":318,"self":0.0025111,"total":0.0025111,"children":null},"RequestDecision":{"count":318,"self":0.0161457,"total":0.0161457,"children":null}}},"DecideAction":{"count":1586,"self":0.3989319,"total":0.5114659,"children":{"RayPerceptionSensor.Perceive":{"count":318,"self":0.112534,"total":0.112534,"children":null}}},"AgentAct":{"count":1586,"self":0.0098687999999999988,"total":0.0098687999999999988,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1710350886","unity_version":"2023.2.8f1","command_line_arguments":"C:\\Program Files\\Unity\\Hub\\Editor\\2023.2.8f1\\Editor\\Unity.exe -projectpath C:\\Users\\caile\\Desktop\\Projects\\24_02-Beep\\4_Unity\\Beep Final Git\\beep-final -useHub -hubIPC -cloudEnvironment production","communication_protocol_version":"1.5.0","com.unity.ml-agents_version":"2.3.0-exp.3","scene_name":"Beep","end_time_seconds":"1710350924"}}
\ No newline at end of file