diff --git a/Assets/2_Chair/Brains/Sitting.onnx b/Assets/2_Chair/Brains/Sitting.onnx
new file mode 100644
index 0000000..2e83dea
Binary files /dev/null and b/Assets/2_Chair/Brains/Sitting.onnx differ
diff --git a/Assets/2_Chair/Brains/Sitting.onnx.meta b/Assets/2_Chair/Brains/Sitting.onnx.meta
new file mode 100644
index 0000000..149acc7
--- /dev/null
+++ b/Assets/2_Chair/Brains/Sitting.onnx.meta
@@ -0,0 +1,16 @@
+fileFormatVersion: 2
+guid: 873bd5685b6fba74da8024c42ff3f0e6
+ScriptedImporter:
+  internalIDToNameTable: []
+  externalObjects: {}
+  serializedVersion: 2
+  userData: 
+  assetBundleName: 
+  assetBundleVariant: 
+  script: {fileID: 11500000, guid: 683b6cb6d0a474744822c888b46772c9, type: 3}
+  optimizeModel: 1
+  forceArbitraryBatchSize: 1
+  treatErrorsAsWarnings: 0
+  importMode: 1
+  weightsTypeMode: 0
+  activationTypeMode: 0
diff --git a/Assets/2_Chair/Chair.prefab b/Assets/2_Chair/Chair.prefab
index d7db9cd..f645cdd 100644
--- a/Assets/2_Chair/Chair.prefab
+++ b/Assets/2_Chair/Chair.prefab
@@ -2037,7 +2037,7 @@ MonoBehaviour:
     VectorActionDescriptions: []
     VectorActionSpaceType: 1
     hasUpgradedBrainParametersWithActionSpec: 1
-  m_Model: {fileID: 5022602860645237092, guid: 00d0acaeb52a3894a9b8ca8c664b12db, type: 3}
+  m_Model: {fileID: 5022602860645237092, guid: 873bd5685b6fba74da8024c42ff3f0e6, type: 3}
   m_InferenceDevice: 1
   m_BehaviorType: 2
   m_BehaviorName: c_Walker
@@ -2062,14 +2062,14 @@ MonoBehaviour:
     maxStep: 0
   hasUpgradedFromAgentParameters: 1
   MaxStep: 0
-  m_SelectedBrain: 4
+  m_SelectedBrain: 5
   m_TargetWalkingSpeed: 8
   rWalkSpeedEachEpisode: 0
   m_RandomiseYRotation: 0
   m_RandomiseXYZRotation: 0
-  m_ModelSwap: 1
+  m_ModelSwap: 0
   m_ProximitySwapper: 0
-  m_SwitchModelAfterFalling: 1
+  m_SwitchModelAfterFalling: 0
   m_StepCountAtLastMeter: 0
   m_LastXPosition: 0
   m_FinishedSwap: 0
@@ -2131,13 +2131,14 @@ MonoBehaviour:
   m_Script: {fileID: 11500000, guid: 4d4f1f9b90b1b3949a25ccabbf8429d4, type: 3}
   m_Name: 
   m_EditorClassIdentifier: 
-  m_InitialModel: {fileID: 5022602860645237092, guid: 00d0acaeb52a3894a9b8ca8c664b12db,
+  m_InitialModel: {fileID: 5022602860645237092, guid: 873bd5685b6fba74da8024c42ff3f0e6,
     type: 3}
   nnModelList:
   - {fileID: 5022602860645237092, guid: 1dc2dd8bd62c1ce47b13f1740b15e522, type: 3}
   - {fileID: 5022602860645237092, guid: 00d0acaeb52a3894a9b8ca8c664b12db, type: 3}
   - {fileID: 5022602860645237092, guid: 4e2e22c8058641f4f943af2d50b147f6, type: 3}
   - {fileID: 5022602860645237092, guid: 4564a8c073c3e134b96ce1698dbae60b, type: 3}
+  - {fileID: 5022602860645237092, guid: 873bd5685b6fba74da8024c42ff3f0e6, type: 3}
   agent: {fileID: 0}
   currentModel: 0
   m_currentModelName: 
diff --git a/Assets/6_Scenes/Beep.unity b/Assets/6_Scenes/Beep.unity
index 14c5a9d..26cb180 100644
--- a/Assets/6_Scenes/Beep.unity
+++ b/Assets/6_Scenes/Beep.unity
@@ -305,7 +305,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 83569712}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.08817883, y: 0.62572265, z: -0.07149482, w: 0.771741}
+  m_LocalRotation: {x: 0.08817881, y: 0.62572265, z: -0.07149482, w: 0.77174103}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -870,7 +870,7 @@ MonoBehaviour:
     LensShift: {x: 0, y: 0}
     GateFit: 1
     FocusDistance: 8.93528
-    m_SensorSize: {x: 36, y: 24}
+    m_SensorSize: {x: 1, y: 1}
     Iso: 50
     ShutterSpeed: 0.0005
     Aperture: 2.2
@@ -913,7 +913,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 377437129}
   serializedVersion: 2
-  m_LocalRotation: {x: -0.03783878, y: 0.8817097, z: -0.071784794, w: -0.46476156}
+  m_LocalRotation: {x: -0.037838772, y: 0.8817097, z: -0.071784794, w: -0.46476156}
   m_LocalPosition: {x: -128.4, y: 13, z: -248.6}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -951,7 +951,7 @@ MonoBehaviour:
     LensShift: {x: 0, y: 0}
     GateFit: 1
     FocusDistance: 10
-    m_SensorSize: {x: 36, y: 24}
+    m_SensorSize: {x: 1, y: 1}
     Iso: 50
     ShutterSpeed: 0.0005
     Aperture: 1.9
@@ -1345,7 +1345,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 470663197}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.11851885, y: 0.6224197, z: -0.09609434, w: 0.7676672}
+  m_LocalRotation: {x: 0.118518844, y: 0.6224197, z: -0.096094325, w: 0.7676672}
   m_LocalPosition: {x: -1.3505859, y: -4.517355, z: -13.63147}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
@@ -2875,7 +2875,7 @@ Transform:
   m_PrefabAsset: {fileID: 0}
   m_GameObject: {fileID: 1178814724}
   serializedVersion: 2
-  m_LocalRotation: {x: 0.11851883, y: 0.6224197, z: -0.0960943, w: 0.76766723}
+  m_LocalRotation: {x: 0.11851882, y: 0.6224197, z: -0.09609432, w: 0.7676672}
   m_LocalPosition: {x: 0, y: 0, z: 0}
   m_LocalScale: {x: 1, y: 1, z: 1}
   m_ConstrainProportionsScale: 0
diff --git a/Assets/7_Scripts/Agent/Walker.cs b/Assets/7_Scripts/Agent/Walker.cs
index de5dfd6..995f183 100644
--- a/Assets/7_Scripts/Agent/Walker.cs
+++ b/Assets/7_Scripts/Agent/Walker.cs
@@ -23,7 +23,9 @@ public class Walker : Agent
         Getup,
         Climber,
         Balance,
-        DMScrambler
+        DMScrambler,
+        Sitting,
+        Treadmill
     }
 
     public Brain m_SelectedBrain;
@@ -359,6 +361,18 @@ public class Walker : Agent
             //AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(20f));
             AddReward(-0.002f);
         }
+        else if (m_SelectedBrain == Brain.Sitting)
+        {
+            var height = CheckHeightRaycast();
+            var clampedHeight = Mathf.Pow((1 - height), 2);
+            //Debug.Log($"Clamped Height: {Mathf.Pow(clampedHeight,2)}");
+            AddReward(clampedHeight);
+        }
+        else if (m_SelectedBrain == Brain.Treadmill)
+        {
+            Debug.Log(DistanceFromTarget(5f));
+            AddReward(matchSpeedReward * lookAtTargetReward * DistanceFromTarget(5f));
+        }
     }
 
     // Use regular update to listen for keypresses
@@ -466,11 +480,20 @@ public class Walker : Agent
         return new Vector2(DeltaAngle(seat.eulerAngles.x), DeltaAngle(seat.eulerAngles.z));
     }
 
-    float DistanceFromGround()
+    float CheckHeightRaycast()
     {
-        float normalizedValue = Mathf.Clamp01((seat.position.y) / 3.0f);
-        Debug.Log(seat.position.y / 3.0f);
-        return Mathf.Pow(normalizedValue, 2);
+        RaycastHit hit;
+
+        if (Physics.Raycast(seat.transform.position, transform.TransformDirection(Vector3.down), out hit, Mathf.Infinity))
+        {
+            Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward) * hit.distance, Color.red);
+            return hit.distance / 2;
+        }
+        else
+        {
+            Debug.DrawRay(transform.position, transform.TransformDirection(Vector3.forward), Color.blue);
+            return 1;
+        }
     }
 
     float GetAverageXPositionFeet()
diff --git a/Assets/7_Scripts/Model Swapping/ModelSwap.cs b/Assets/7_Scripts/Model Swapping/ModelSwap.cs
index fd0015b..e54754b 100644
--- a/Assets/7_Scripts/Model Swapping/ModelSwap.cs	
+++ b/Assets/7_Scripts/Model Swapping/ModelSwap.cs	
@@ -69,6 +69,11 @@ public class ModelSwap : MonoBehaviour
             agent.m_SelectedBrain = Walker.Brain.Getup;
             m_currentModelName = modelName;
         }
+        else if (modelName.Equals("Sitting"))
+        {
+            agent.m_SelectedBrain = Walker.Brain.Sitting;
+            m_currentModelName = modelName;
+        }
 
         Debug.Log("Current Model: " + nnModelList[currentModel].name);
     }
diff --git a/Assets/ML-Agents/Timers/Beep_timers.json b/Assets/ML-Agents/Timers/Beep_timers.json
index 9c44bf7..8f78093 100644
--- a/Assets/ML-Agents/Timers/Beep_timers.json
+++ b/Assets/ML-Agents/Timers/Beep_timers.json
@@ -1 +1 @@
-{"count":1,"self":1517.6329216,"total":1518.486978,"children":{"InitializeActuators":{"count":1,"self":0.0039019999999999997,"total":0.0039019999999999997,"children":null},"InitializeSensors":{"count":1,"self":0.008347,"total":0.008347,"children":null},"AgentSendState":{"count":1372,"self":0.025497,"total":0.359039,"children":{"CollectObservations":{"count":275,"self":0.009477,"total":0.009477,"children":null},"WriteActionMask":{"count":275,"self":0.0012109999999999998,"total":0.0012109999999999998,"children":null},"RequestDecision":{"count":275,"self":0.322854,"total":0.322854,"children":null}}},"DecideAction":{"count":1372,"self":0.443955,"total":0.452791,"children":{"RayPerceptionSensor.Perceive":{"count":275,"self":0.008836,"total":0.008836,"children":null}}},"AgentAct":{"count":1372,"self":0.029858,"total":0.029858,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1710170111","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":"1710171630"}}
\ No newline at end of file
+{"count":1,"self":13.661582399999999,"total":25.3009114,"children":{"InitializeActuators":{"count":1,"self":0,"total":0,"children":null},"InitializeSensors":{"count":1,"self":0.0025104,"total":0.0025104,"children":null},"AgentSendState":{"count":935,"self":0.0075565999999999993,"total":0.0362207,"children":{"CollectObservations":{"count":187,"self":0.0089777,"total":0.0089777,"children":null},"WriteActionMask":{"count":187,"self":0,"total":0,"children":null},"RequestDecision":{"count":187,"self":0.0196864,"total":0.0196864,"children":null}}},"DecideAction":{"count":935,"self":0.9864811,"total":11.5925809,"children":{"RayPerceptionSensor.Perceive":{"count":187,"self":10.6061,"total":10.606099799999999,"children":null}}},"AgentAct":{"count":935,"self":0.0070177,"total":0.0070177,"children":null}},"gauges":{},"metadata":{"timer_format_version":"0.1.0","start_time_seconds":"1710174516","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":"1710174542"}}
\ No newline at end of file