diff --git a/environments/factory/base/base_factory.py b/environments/factory/base/base_factory.py
index ce051ec..3e9c719 100644
--- a/environments/factory/base/base_factory.py
+++ b/environments/factory/base/base_factory.py
@@ -15,8 +15,8 @@ from environments import helpers as h
 from environments.helpers import Constants as c
 from environments.helpers import EnvActions as a
 from environments.helpers import Rewards as r
-from environments.factory.base.objects import Agent, Tile, Action
-from environments.factory.base.registers import Actions, Entities, Agents, Doors, FloorTiles, WallTiles, PlaceHolders, \
+from environments.factory.base.objects import Agent, Floor, Action
+from environments.factory.base.registers import Actions, Entities, Agents, Doors, Floors, Walls, PlaceHolders, \
     GlobalPositions
 from environments.utility_classes import MovementProperties, ObservationProperties, MarlFrameStack
 from environments.utility_classes import AgentRenderOptions as a_obs
@@ -121,7 +121,7 @@ class BaseFactory(gym.Env):
         self.doors_have_area = doors_have_area
         self.individual_rewards = individual_rewards
 
-        # Reset
+        # TODO: Reset ---> document this
         self.reset()
 
     def __getitem__(self, item):
@@ -141,21 +141,21 @@ class BaseFactory(gym.Env):
         self._obs_shape = self._level_shape if not self.obs_prop.pomdp_r else (self.pomdp_diameter, ) * 2
 
         # Walls
-        walls = WallTiles.from_argwhere_coordinates(
+        walls = Walls.from_argwhere_coordinates(
             np.argwhere(level_array == c.OCCUPIED_CELL),
             self._level_shape
         )
         self._entities.register_additional_items({c.WALLS: walls})
 
         # Floor
-        floor = FloorTiles.from_argwhere_coordinates(
+        floor = Floors.from_argwhere_coordinates(
             np.argwhere(level_array == c.FREE_CELL),
             self._level_shape
         )
         self._entities.register_additional_items({c.FLOOR: floor})
 
         # NOPOS
-        self._NO_POS_TILE = Tile(c.NO_POS, None)
+        self._NO_POS_TILE = Floor(c.NO_POS, None)
 
         # Doors
         if self.parse_doors:
@@ -170,7 +170,7 @@ class BaseFactory(gym.Env):
 
         # Actions
         self._actions = Actions(self.mv_prop, can_use_doors=self.parse_doors)
-        if additional_actions := self.additional_actions:
+        if additional_actions := self.actions_hook:
             self._actions.register_additional_items(additional_actions)
 
         # Agents
@@ -202,7 +202,7 @@ class BaseFactory(gym.Env):
             self._entities.register_additional_items({c.AGENT_PLACEHOLDER: placeholder})
 
         # Additional Entitites from SubEnvs
-        if additional_entities := self.additional_entities:
+        if additional_entities := self.entities_hook:
             self._entities.register_additional_items(additional_entities)
 
         if self.obs_prop.show_global_position_info:
@@ -217,7 +217,7 @@ class BaseFactory(gym.Env):
 
     def reset(self) -> (np.typing.ArrayLike, int, bool, dict):
         _ = self._base_init_env()
-        self.do_additional_reset()
+        self.reset_hook()
 
         self._steps = 0
 
@@ -233,7 +233,7 @@ class BaseFactory(gym.Env):
         self._steps += 1
 
         # Pre step Hook for later use
-        self.hook_pre_step()
+        self.pre_step_hook()
 
         for action, agent in zip(actions, self[c.AGENT]):
             agent.clear_temp_state()
@@ -244,7 +244,7 @@ class BaseFactory(gym.Env):
                 action_valid, reward = self._do_move_action(agent, action_obj)
             elif a.NOOP == action_obj:
                 action_valid = c.VALID
-                reward = dict(value=r.NOOP, reason=a.NOOP, info={f'{agent.pos}_NOOP': 1})
+                reward = dict(value=r.NOOP, reason=a.NOOP, info={f'{agent.name}_NOOP': 1, 'NOOP': 1})
             elif a.USE_DOOR == action_obj:
                 action_valid, reward = self._handle_door_interaction(agent)
             else:
@@ -258,7 +258,7 @@ class BaseFactory(gym.Env):
             agent.step_result = step_result
 
         # Additional step and Reward, Info Init
-        rewards, info = self.do_additional_step()
+        rewards, info = self.step_hook()
         # Todo: Make this faster, so that only tiles of entities that can collide are searched.
         tiles_with_collisions = self.get_all_tiles_with_collisions()
         for tile in tiles_with_collisions:
@@ -297,7 +297,7 @@ class BaseFactory(gym.Env):
             info.update(self._summarize_state())
 
         # Post step Hook for later use
-        info.update(self.hook_post_step())
+        info.update(self.post_step_hook())
 
         obs, _ = self._build_observations()
 
@@ -314,11 +314,11 @@ class BaseFactory(gym.Env):
                 door.use()
                 valid = c.VALID
                 self.print(f'{agent.name} just used a {door.name} at {door.pos}')
-                info_dict = {f'{agent.name}_door_use': 1}
+                info_dict = {f'{agent.name}_door_use': 1, f'door_use': 1}
             # When he doesn't...
             else:
                 valid = c.NOT_VALID
-                info_dict = {f'{agent.name}_failed_door_use': 1}
+                info_dict = {f'{agent.name}_failed_door_use': 1, 'failed_door_use': 1}
                 self.print(f'{agent.name} just tried to use a door at {agent.pos}, but there is none.')
 
         else:
@@ -334,7 +334,7 @@ class BaseFactory(gym.Env):
         per_agent_obsn = dict()
         # Generel Observations
         lvl_obs = self[c.WALLS].as_array()
-        door_obs = self[c.DOORS].as_array()
+        door_obs = self[c.DOORS].as_array() if self.parse_doors else None
         if self.obs_prop.render_agents == a_obs.NOT:
             global_agent_obs = None
         elif self.obs_prop.omit_agent_self and self.n_agents == 1:
@@ -342,7 +342,7 @@ class BaseFactory(gym.Env):
         else:
             global_agent_obs = self[c.AGENT].as_array().copy()
         placeholder_obs = self[c.AGENT_PLACEHOLDER].as_array() if self[c.AGENT_PLACEHOLDER] else None
-        add_obs_dict = self._additional_observations()
+        add_obs_dict = self.observations_hook()
 
         for agent_idx, agent in enumerate(self[c.AGENT]):
             obs_dict = dict()
@@ -367,17 +367,17 @@ class BaseFactory(gym.Env):
 
             obs_dict[c.WALLS] = lvl_obs
             if self.obs_prop.render_agents in [a_obs.SEPERATE, a_obs.COMBINED] and agent_obs is not None:
-                obs_dict[c.AGENT] = agent_obs
+                obs_dict[c.AGENT] = agent_obs[:]
             if self[c.AGENT_PLACEHOLDER] and placeholder_obs is not None:
                 obs_dict[c.AGENT_PLACEHOLDER] = placeholder_obs
             if self.parse_doors and door_obs is not None:
-                obs_dict[c.DOORS] = door_obs
+                obs_dict[c.DOORS] = door_obs[:]
             obs_dict.update(add_obs_dict)
             obsn = np.vstack(list(obs_dict.values()))
             if self.obs_prop.pomdp_r:
                 obsn = self._do_pomdp_cutout(agent, obsn)
 
-            raw_obs = self._additional_per_agent_raw_observations(agent)
+            raw_obs = self.per_agent_raw_observations_hook(agent)
             raw_obs = {key: np.expand_dims(val, 0) if val.ndim != 3 else val for key, val in raw_obs.items()}
             obsn = np.vstack((obsn, *raw_obs.values()))
 
@@ -387,6 +387,12 @@ class BaseFactory(gym.Env):
                                               zip(keys, idxs, list(idxs[1:]) + [idxs[-1]+1, ])}
 
             # Shadow Casting
+            if agent.step_result is not None:
+                pass
+            else:
+                assert self._steps == 0
+                agent.step_result = {'action_name': a.NOOP, 'action_valid': True,
+                                     'collisions': [], 'lightmap': None}
             if self.obs_prop.cast_shadows:
                 try:
                     light_block_obs = [obs_idx for key, obs_idx in per_agent_expl_idx[agent.name].items()
@@ -430,17 +436,15 @@ class BaseFactory(gym.Env):
                 if door_shadowing:
                     # noinspection PyUnboundLocalVariable
                     light_block_map[xs, ys] = 0
-                if agent.step_result:
-                    agent.step_result['lightmap'] = light_block_map
-                    pass
-                else:
-                    assert self._steps == 0
-                    agent.step_result = {'action_name': a.NOOP, 'action_valid': True,
-                                         'collisions': [], 'lightmap': light_block_map}
+
+                agent.step_result['lightmap'] = light_block_map
 
                 obsn[shadowed_obs] = ((obsn[shadowed_obs] * light_block_map) + 0.) - (1 - light_block_map)
             else:
-                pass
+                if self._pomdp_r:
+                    agent.step_result['lightmap'] = np.ones(self._obs_shape)
+                else:
+                    agent.step_result['lightmap'] = None
 
             per_agent_obsn[agent.name] = obsn
 
@@ -484,7 +488,7 @@ class BaseFactory(gym.Env):
             oobs = np.pad(oobs, ((0, 0), (x0_pad, x1_pad), (y0_pad, y1_pad)), 'constant')
         return oobs
 
-    def get_all_tiles_with_collisions(self) -> List[Tile]:
+    def get_all_tiles_with_collisions(self) -> List[Floor]:
         tiles = [x for x in self[c.FLOOR] if len(x.guests_that_can_collide) > 1]
         if False:
             tiles_with_collisions = list()
@@ -503,22 +507,22 @@ class BaseFactory(gym.Env):
             valid = agent.move(new_tile)
             if valid:
                 # This will spam your logs, beware!
-                # self.print(f'{agent.name} just moved from {agent.last_pos} to {agent.pos}.')
-                # info_dict.update({f'{agent.pos}_move': 1})
+                self.print(f'{agent.name} just moved {action.identifier} from {agent.last_pos} to {agent.pos}.')
+                info_dict.update({f'{agent.name}_move': 1, 'move': 1})
                 pass
             else:
                 valid = c.NOT_VALID
-                self.print(f'{agent.name} just hit the wall at {agent.pos}.')
-                info_dict.update({f'{agent.name}_wall_collide': 1})
+                self.print(f'{agent.name} just hit the wall at {agent.pos}. ({action.identifier})')
+                info_dict.update({f'{agent.name}_wall_collide': 1, 'wall_collide': 1})
         else:
             # Agent seems to be trying to Leave the level
-            self.print(f'{agent.name} tried to leave the level {agent.pos}.')
-            info_dict.update({f'{agent.name}_wall_collide': 1})
+            self.print(f'{agent.name} tried to leave the level {agent.pos}. ({action.identifier})')
+            info_dict.update({f'{agent.name}_wall_collide': 1, 'wall_collide': 1})
         reward_value = r.MOVEMENTS_VALID if valid else r.MOVEMENTS_FAIL
         reward = {'value': reward_value, 'reason': action.identifier, 'info': info_dict}
         return valid, reward
 
-    def _check_agent_move(self, agent, action: Action) -> (Tile, bool):
+    def _check_agent_move(self, agent, action: Action) -> (Floor, bool):
         # Actions
         x_diff, y_diff = h.ACTIONMAP[action.identifier]
         x_new = agent.x + x_diff
@@ -556,10 +560,6 @@ class BaseFactory(gym.Env):
 
         return new_tile, valid
 
-    @abc.abstractmethod
-    def additional_per_agent_rewards(self, agent) -> List[dict]:
-        return []
-
     def build_reward_result(self, global_env_rewards: list) -> (int, dict):
         # Returns: Reward, Info
         info = defaultdict(lambda: 0.0)
@@ -567,7 +567,7 @@ class BaseFactory(gym.Env):
         # Gather additional sub-env rewards and calculate collisions
         for agent in self[c.AGENT]:
 
-            rewards = self.additional_per_agent_rewards(agent)
+            rewards = self.per_agent_reward_hook(agent)
             for reward in rewards:
                 agent.step_result['rewards'].append(reward)
             if collisions := agent.step_result['collisions']:
@@ -601,6 +601,12 @@ class BaseFactory(gym.Env):
             self.print(f"reward is {reward}")
         return reward, combined_info_dict
 
+    def start_recording(self):
+        self._record_episodes = True
+
+    def stop_recording(self):
+        self._record_episodes = False
+
     # noinspection PyGlobalUndefined
     def render(self, mode='human'):
         if not self._renderer:  # lazy init
@@ -621,7 +627,7 @@ class BaseFactory(gym.Env):
             for i, door in enumerate(self[c.DOORS]):
                 name, state = 'door_open' if door.is_open else 'door_closed', 'blank'
                 doors.append(RenderEntity(name, door.pos, 1, 'none', state, i + 1))
-        additional_assets = self.render_additional_assets()
+        additional_assets = self.render_assets_hook()
 
         return self._renderer.render(walls + doors + additional_assets + agents)
 
@@ -652,7 +658,8 @@ class BaseFactory(gym.Env):
 
     # Properties which are called by the base class to extend beyond attributes of the base class
     @property
-    def additional_actions(self) -> Union[Action, List[Action]]:
+    @abc.abstractmethod
+    def actions_hook(self) -> Union[Action, List[Action]]:
         """
         When heriting from this Base Class, you musst implement this methode!!!
 
@@ -662,7 +669,8 @@ class BaseFactory(gym.Env):
         return []
 
     @property
-    def additional_entities(self) -> Dict[(str, Entities)]:
+    @abc.abstractmethod
+    def entities_hook(self) -> Dict[(str, Entities)]:
         """
         When heriting from this Base Class, you musst implement this methode!!!
 
@@ -674,27 +682,39 @@ class BaseFactory(gym.Env):
     # Functions which provide additions to functions of the base class
     #  Always call super!!!!!!
     @abc.abstractmethod
-    def do_additional_reset(self) -> None:
+    def reset_hook(self) -> None:
         pass
 
     @abc.abstractmethod
-    def do_additional_step(self) -> (List[dict], dict):
-        return [], {}
+    def pre_step_hook(self) -> None:
+        pass
 
     @abc.abstractmethod
     def do_additional_actions(self, agent: Agent, action: Action) -> (bool, dict):
         return None
 
+    @abc.abstractmethod
+    def step_hook(self) -> (List[dict], dict):
+        return [], {}
+
     @abc.abstractmethod
     def check_additional_done(self) -> (bool, dict):
         return False, {}
 
     @abc.abstractmethod
-    def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
         return {}
 
     @abc.abstractmethod
-    def _additional_per_agent_raw_observations(self, agent) -> Dict[str, np.typing.ArrayLike]:
+    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
+        return {}
+
+    @abc.abstractmethod
+    def post_step_hook(self) -> dict:
+        return {}
+
+    @abc.abstractmethod
+    def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
         additional_raw_observations = {}
         if self.obs_prop.show_global_position_info:
             global_pos_obs = np.zeros(self._obs_shape)
@@ -703,19 +723,5 @@ class BaseFactory(gym.Env):
         return additional_raw_observations
 
     @abc.abstractmethod
-    def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
-        return {}
-
-    @abc.abstractmethod
-    def render_additional_assets(self):
+    def render_assets_hook(self):
         return []
-
-    # Hooks for in between operations.
-    #  Always call super!!!!!!
-    @abc.abstractmethod
-    def hook_pre_step(self) -> None:
-        pass
-
-    @abc.abstractmethod
-    def hook_post_step(self) -> dict:
-        return {}
diff --git a/environments/factory/base/objects.py b/environments/factory/base/objects.py
index ec72c14..994136f 100644
--- a/environments/factory/base/objects.py
+++ b/environments/factory/base/objects.py
@@ -9,10 +9,11 @@ from environments.helpers import Constants as c
 import itertools
 
 ##########################################################################
-# ##################### Base Object Definition ######################### #
+# ##################### Base Object Building Blocks ######################### #
 ##########################################################################
 
 
+# TODO: Missing Documentation
 class Object:
 
     """Generell Objects for Organisation and Maintanance such as Actions etc..."""
@@ -53,8 +54,10 @@ class Object:
 
     def __eq__(self, other) -> bool:
         return other == self.identifier
+# Base
 
 
+# TODO: Missing Documentation
 class EnvObject(Object):
 
     """Objects that hold Information that are observable, but have no position on the env grid. Inventories etc..."""
@@ -78,27 +81,10 @@ class EnvObject(Object):
         self._register.delete_env_object(self)
         self._register = register
         return self._register == register
+# With Rendering
 
 
-class BoundingMixin(Object):
-
-    @property
-    def bound_entity(self):
-        return self._bound_entity
-
-    def __init__(self,entity_to_be_bound, *args, **kwargs):
-        super(BoundingMixin, self).__init__(*args, **kwargs)
-        assert entity_to_be_bound is not None
-        self._bound_entity = entity_to_be_bound
-
-    @property
-    def name(self):
-        return f'{super(BoundingMixin, self).name}({self._bound_entity.name})'
-
-    def belongs_to_entity(self, entity):
-        return entity == self.bound_entity
-
-
+# TODO: Missing Documentation
 class Entity(EnvObject):
     """Full Env Entity that lives on the env Grid. Doors, Items, Dirt etc..."""
 
@@ -133,8 +119,10 @@ class Entity(EnvObject):
 
     def __repr__(self):
         return super(Entity, self).__repr__() + f'(@{self.pos})'
+# With Position in Env
 
 
+# TODO: Missing Documentation
 class MoveableEntity(Entity):
 
     @property
@@ -169,6 +157,27 @@ class MoveableEntity(Entity):
             return c.VALID
         else:
             return c.NOT_VALID
+# Can Move
+
+
+# TODO: Missing Documentation
+class BoundingMixin(Object):
+
+    @property
+    def bound_entity(self):
+        return self._bound_entity
+
+    def __init__(self,entity_to_be_bound, *args, **kwargs):
+        super(BoundingMixin, self).__init__(*args, **kwargs)
+        assert entity_to_be_bound is not None
+        self._bound_entity = entity_to_be_bound
+
+    @property
+    def name(self):
+        return f'{super(BoundingMixin, self).name}({self._bound_entity.name})'
+
+    def belongs_to_entity(self, entity):
+        return entity == self.bound_entity
 
 
 ##########################################################################
@@ -216,7 +225,7 @@ class GlobalPosition(BoundingMixin, EnvObject):
         self._normalized = normalized
 
 
-class Tile(EnvObject):
+class Floor(EnvObject):
 
     @property
     def encoding(self):
@@ -243,7 +252,7 @@ class Tile(EnvObject):
         return self._pos
 
     def __init__(self, pos, *args, **kwargs):
-        super(Tile, self).__init__(*args, **kwargs)
+        super(Floor, self).__init__(*args, **kwargs)
         self._guests = dict()
         self._pos = tuple(pos)
 
@@ -277,7 +286,7 @@ class Tile(EnvObject):
         return dict(name=self.name, x=int(self.x), y=int(self.y))
 
 
-class Wall(Tile):
+class Wall(Floor):
 
     @property
     def can_collide(self):
@@ -302,7 +311,7 @@ class Door(Entity):
     @property
     def encoding(self):
         # This is important as it shadow is checked by occupation value
-        return c.OCCUPIED_CELL if self.is_closed else 2
+        return c.OCCUPIED_CELL if self.is_closed else 0.5
 
     @property
     def str_state(self):
@@ -396,5 +405,5 @@ class Agent(MoveableEntity):
 
     def summarize_state(self, **kwargs):
         state_dict = super().summarize_state(**kwargs)
-        state_dict.update(valid=bool(self.temp_action_result['valid']), action=str(self.temp_action_result['action']))
+        state_dict.update(valid=bool(self.step_result['action_valid']), action=str(self.step_result['action_name']))
         return state_dict
diff --git a/environments/factory/base/registers.py b/environments/factory/base/registers.py
index 0985162..e8392e6 100644
--- a/environments/factory/base/registers.py
+++ b/environments/factory/base/registers.py
@@ -6,7 +6,7 @@ from typing import List, Union, Dict, Tuple
 import numpy as np
 import six
 
-from environments.factory.base.objects import Entity, Tile, Agent, Door, Action, Wall, PlaceHolder, GlobalPosition, \
+from environments.factory.base.objects import Entity, Floor, Agent, Door, Action, Wall, PlaceHolder, GlobalPosition, \
     Object, EnvObject
 from environments.utility_classes import MovementProperties
 from environments import helpers as h
@@ -271,12 +271,9 @@ class GlobalPositions(EnvObjectRegister):
 
     _accepted_objects = GlobalPosition
 
-    is_blocking_light = False
-    can_be_shadowed = False
-    can_collide = False
-
     def __init__(self, *args, **kwargs):
-        super(GlobalPositions, self).__init__(*args, is_per_agent=True, individual_slices=True, **kwargs)
+        super(GlobalPositions, self).__init__(*args, is_per_agent=True, individual_slices=True, is_blocking_light = False,
+                                              can_be_shadowed = False, can_collide = False, **kwargs)
 
     def as_array(self):
         # FIXME DEBUG!!! make this lazy?
@@ -377,7 +374,7 @@ class Entities(ObjectRegister):
         return found_entities
 
 
-class WallTiles(EntityRegister):
+class Walls(EntityRegister):
     _accepted_objects = Wall
 
     def as_array(self):
@@ -390,9 +387,9 @@ class WallTiles(EntityRegister):
         return self._array
 
     def __init__(self, *args, is_blocking_light=True, **kwargs):
-        super(WallTiles, self).__init__(*args, individual_slices=False,
-                                        can_collide=True,
-                                        is_blocking_light=is_blocking_light, **kwargs)
+        super(Walls, self).__init__(*args, individual_slices=False,
+                                    can_collide=True,
+                                    is_blocking_light=is_blocking_light, **kwargs)
         self._value = c.OCCUPIED_CELL
 
     @classmethod
@@ -411,16 +408,16 @@ class WallTiles(EntityRegister):
 
     def summarize_states(self, n_steps=None):
         if n_steps == h.STEPS_START:
-            return super(WallTiles, self).summarize_states(n_steps=n_steps)
+            return super(Walls, self).summarize_states(n_steps=n_steps)
         else:
             return {}
 
 
-class FloorTiles(WallTiles):
-    _accepted_objects = Tile
+class Floors(Walls):
+    _accepted_objects = Floor
 
     def __init__(self, *args, is_blocking_light=False, **kwargs):
-        super(FloorTiles, self).__init__(*args, is_blocking_light=is_blocking_light, **kwargs)
+        super(Floors, self).__init__(*args, is_blocking_light=is_blocking_light, **kwargs)
         self._value = c.FREE_CELL
 
     @property
@@ -430,7 +427,7 @@ class FloorTiles(WallTiles):
         return tiles
 
     @property
-    def empty_tiles(self) -> List[Tile]:
+    def empty_tiles(self) -> List[Floor]:
         tiles = [tile for tile in self if tile.is_empty()]
         random.shuffle(tiles)
         return tiles
diff --git a/environments/factory/factory_battery.py b/environments/factory/factory_battery.py
index b1f81c8..9e66930 100644
--- a/environments/factory/factory_battery.py
+++ b/environments/factory/factory_battery.py
@@ -158,19 +158,19 @@ class BatteryFactory(BaseFactory):
         self.btry_prop = btry_prop
         super().__init__(*args, **kwargs)
 
-    def _additional_per_agent_raw_observations(self, agent) -> Dict[str, np.typing.ArrayLike]:
-        additional_raw_observations = super()._additional_per_agent_raw_observations(agent)
+    def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
+        additional_raw_observations = super().per_agent_raw_observations_hook(agent)
         additional_raw_observations.update({c.BATTERIES: self[c.BATTERIES].as_array_by_entity(agent)})
         return additional_raw_observations
 
-    def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
-        additional_observations = super()._additional_observations()
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
+        additional_observations = super().observations_hook()
         additional_observations.update({c.CHARGE_PODS: self[c.CHARGE_PODS].as_array()})
         return additional_observations
 
     @property
-    def additional_entities(self):
-        super_entities = super().additional_entities
+    def entities_hook(self):
+        super_entities = super().entities_hook
 
         empty_tiles = self[c.FLOOR].empty_tiles[:self.btry_prop.charge_locations]
         charge_pods = ChargePods.from_tiles(
@@ -185,8 +185,8 @@ class BatteryFactory(BaseFactory):
         super_entities.update({c.BATTERIES: batteries, c.CHARGE_PODS: charge_pods})
         return super_entities
 
-    def do_additional_step(self) -> (List[dict], dict):
-        super_reward_info = super(BatteryFactory, self).do_additional_step()
+    def step_hook(self) -> (List[dict], dict):
+        super_reward_info = super(BatteryFactory, self).step_hook()
 
         # Decharge
         batteries = self[c.BATTERIES]
@@ -230,7 +230,7 @@ class BatteryFactory(BaseFactory):
             return action_result
         pass
 
-    def do_additional_reset(self) -> None:
+    def reset_hook(self) -> None:
         # There is Nothing to reset.
         pass
 
@@ -249,8 +249,8 @@ class BatteryFactory(BaseFactory):
                 pass
         pass
 
-    def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
-        reward_event_dict = super(BatteryFactory, self).additional_per_agent_reward(agent)
+    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
+        reward_event_dict = super(BatteryFactory, self).per_agent_reward_hook(agent)
         if self[c.BATTERIES].by_entity(agent).is_discharged:
             self.print(f'{agent.name} Battery is discharged!')
             info_dict = {f'{agent.name}_{c.BATTERY_DISCHARGED}': 1}
@@ -260,9 +260,9 @@ class BatteryFactory(BaseFactory):
             pass
         return reward_event_dict
 
-    def render_additional_assets(self):
+    def render_assets_hook(self):
         # noinspection PyUnresolvedReferences
-        additional_assets = super().render_additional_assets()
+        additional_assets = super().render_assets_hook()
         charge_pods = [RenderEntity(c.CHARGE_PODS, charge_pod.tile.pos) for charge_pod in self[c.CHARGE_PODS]]
         additional_assets.extend(charge_pods)
         return additional_assets
diff --git a/environments/factory/factory_dest.py b/environments/factory/factory_dest.py
index e3f8d31..5b47951 100644
--- a/environments/factory/factory_dest.py
+++ b/environments/factory/factory_dest.py
@@ -147,17 +147,17 @@ class DestFactory(BaseFactory):
         super().__init__(*args, **kwargs)
 
     @property
-    def additional_actions(self) -> Union[Action, List[Action]]:
+    def actions_hook(self) -> Union[Action, List[Action]]:
         # noinspection PyUnresolvedReferences
-        super_actions = super().additional_actions
+        super_actions = super().actions_hook
         if self.dest_prop.dwell_time:
             super_actions.append(Action(enum_ident=a.WAIT_ON_DEST))
         return super_actions
 
     @property
-    def additional_entities(self) -> Dict[(Enum, Entities)]:
+    def entities_hook(self) -> Dict[(Enum, Entities)]:
         # noinspection PyUnresolvedReferences
-        super_entities = super().additional_entities
+        super_entities = super().entities_hook
 
         empty_tiles = self[c.FLOOR].empty_tiles[:self.dest_prop.n_dests]
         destinations = Destinations.from_tiles(
@@ -194,9 +194,9 @@ class DestFactory(BaseFactory):
         else:
             return super_action_result
 
-    def do_additional_reset(self) -> None:
+    def reset_hook(self) -> None:
         # noinspection PyUnresolvedReferences
-        super().do_additional_reset()
+        super().reset_hook()
         self._dest_spawn_timer = dict()
 
     def trigger_destination_spawn(self):
@@ -222,9 +222,9 @@ class DestFactory(BaseFactory):
         else:
             self.print('No Items are spawning, limit is reached.')
 
-    def do_additional_step(self) -> (List[dict], dict):
+    def step_hook(self) -> (List[dict], dict):
         # noinspection PyUnresolvedReferences
-        super_reward_info = super().do_additional_step()
+        super_reward_info = super().step_hook()
         for key, val in self._dest_spawn_timer.items():
             self._dest_spawn_timer[key] = min(self.dest_prop.spawn_frequency, self._dest_spawn_timer[key] + 1)
         for dest in list(self[c.DEST].values()):
@@ -244,14 +244,14 @@ class DestFactory(BaseFactory):
         self.trigger_destination_spawn()
         return super_reward_info
 
-    def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
-        additional_observations = super()._additional_observations()
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
+        additional_observations = super().observations_hook()
         additional_observations.update({c.DEST: self[c.DEST].as_array()})
         return additional_observations
 
-    def additional_per_agent_reward(self, agent: Agent) -> Dict[str, dict]:
+    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
         # noinspection PyUnresolvedReferences
-        reward_event_dict = super().additional_per_agent_reward(agent)
+        reward_event_dict = super().per_agent_reward_hook(agent)
         if len(self[c.DEST_REACHED]):
             for reached_dest in list(self[c.DEST_REACHED]):
                 if agent.pos == reached_dest.pos:
@@ -261,9 +261,9 @@ class DestFactory(BaseFactory):
                     reward_event_dict.update({c.DEST_REACHED: {'reward': r.DEST_REACHED, 'info': info_dict}})
         return reward_event_dict
 
-    def render_additional_assets(self, mode='human'):
+    def render_assets_hook(self, mode='human'):
         # noinspection PyUnresolvedReferences
-        additional_assets = super().render_additional_assets()
+        additional_assets = super().render_assets_hook()
         destinations = [RenderEntity(c.DEST, dest.pos) for dest in self[c.DEST]]
         additional_assets.extend(destinations)
         return additional_assets
diff --git a/environments/factory/factory_dirt.py b/environments/factory/factory_dirt.py
index 8ab6c69..ba54798 100644
--- a/environments/factory/factory_dirt.py
+++ b/environments/factory/factory_dirt.py
@@ -1,5 +1,4 @@
 import time
-from enum import Enum
 from typing import List, Union, NamedTuple, Dict
 import random
 
@@ -12,7 +11,7 @@ from environments.helpers import EnvActions as BaseActions
 from environments.helpers import Rewards as BaseRewards
 
 from environments.factory.base.base_factory import BaseFactory
-from environments.factory.base.objects import Agent, Action, Entity, Tile
+from environments.factory.base.objects import Agent, Action, Entity, Floor
 from environments.factory.base.registers import Entities, EntityRegister
 
 from environments.factory.base.renderer import RenderEntity
@@ -43,7 +42,6 @@ class DirtProperties(NamedTuple):
     max_local_amount: int = 2               # Max dirt amount per tile.
     max_global_amount: int = 20             # Max dirt amount in the whole environment.
     dirt_smear_amount: float = 0.2          # Agents smear dirt, when not cleaning up in place.
-    agent_can_interact: bool = True         # Whether the agents can interact with the dirt in this environment.
     done_when_clean: bool = True
 
 
@@ -89,7 +87,7 @@ class DirtRegister(EntityRegister):
         self._dirt_properties: DirtProperties = dirt_properties
 
     def spawn_dirt(self, then_dirty_tiles) -> bool:
-        if isinstance(then_dirty_tiles, Tile):
+        if isinstance(then_dirty_tiles, Floor):
             then_dirty_tiles = [then_dirty_tiles]
         for tile in then_dirty_tiles:
             if not self.amount > self.dirt_properties.max_global_amount:
@@ -128,15 +126,14 @@ r = Rewards
 class DirtFactory(BaseFactory):
 
     @property
-    def additional_actions(self) -> Union[Action, List[Action]]:
-        super_actions = super().additional_actions
-        if self.dirt_prop.agent_can_interact:
-            super_actions.append(Action(str_ident=a.CLEAN_UP))
+    def actions_hook(self) -> Union[Action, List[Action]]:
+        super_actions = super().actions_hook
+        super_actions.append(Action(str_ident=a.CLEAN_UP))
         return super_actions
 
     @property
-    def additional_entities(self) -> Dict[(Enum, Entities)]:
-        super_entities = super().additional_entities
+    def entities_hook(self) -> Dict[(str, Entities)]:
+        super_entities = super().entities_hook
         dirt_register = DirtRegister(self.dirt_prop, self._level_shape)
         super_entities.update(({c.DIRT: dirt_register}))
         return super_entities
@@ -148,10 +145,11 @@ class DirtFactory(BaseFactory):
         self._dirt_rng = np.random.default_rng(env_seed)
         self._dirt: DirtRegister
         kwargs.update(env_seed=env_seed)
+        # TODO: Reset ---> document this
         super().__init__(*args, **kwargs)
 
-    def render_additional_assets(self, mode='human'):
-        additional_assets = super().render_additional_assets()
+    def render_assets_hook(self, mode='human'):
+        additional_assets = super().render_assets_hook()
         dirt = [RenderEntity('dirt', dirt.tile.pos, min(0.15 + dirt.amount, 1.5), 'scale')
                 for dirt in self[c.DIRT]]
         additional_assets.extend(dirt)
@@ -167,12 +165,12 @@ class DirtFactory(BaseFactory):
                 dirt.set_new_amount(max(new_dirt_amount, c.FREE_CELL.value))
             valid = c.VALID
             self.print(f'{agent.name} did just clean up some dirt at {agent.pos}.')
-            info_dict = {f'{agent.name}_{a.CLEAN_UP}_VALID': 1}
+            info_dict = {f'{agent.name}_{a.CLEAN_UP}_VALID': 1, 'cleanup_valid': 1}
             reward = r.CLEAN_UP_VALID
         else:
             valid = c.NOT_VALID
             self.print(f'{agent.name} just tried to clean up some dirt at {agent.pos}, but failed.')
-            info_dict = {f'{agent.name}_{a.CLEAN_UP}_FAIL': 1}
+            info_dict = {f'{agent.name}_{a.CLEAN_UP}_FAIL': 1, 'cleanup_fail': 1}
             reward = r.CLEAN_UP_FAIL
 
         if valid and self.dirt_prop.done_when_clean and (len(self[c.DIRT]) == 0):
@@ -195,8 +193,8 @@ class DirtFactory(BaseFactory):
         n_dirt_tiles = max(0, int(new_spawn * len(free_for_dirt)))
         self[c.DIRT].spawn_dirt(free_for_dirt[:n_dirt_tiles])
 
-    def do_additional_step(self) -> (List[dict], dict):
-        super_reward_info = super().do_additional_step()
+    def step_hook(self) -> (List[dict], dict):
+        super_reward_info = super().step_hook()
         if smear_amount := self.dirt_prop.dirt_smear_amount:
             for agent in self[c.AGENT]:
                 if agent.temp_valid and agent.last_pos != c.NO_POS:
@@ -229,8 +227,8 @@ class DirtFactory(BaseFactory):
         else:
             return action_result
 
-    def do_additional_reset(self) -> None:
-        super().do_additional_reset()
+    def reset_hook(self) -> None:
+        super().reset_hook()
         self.trigger_dirt_spawn(initial_spawn=True)
         self._next_dirt_spawn = self.dirt_prop.spawn_frequency if self.dirt_prop.spawn_frequency else -1
 
@@ -242,13 +240,13 @@ class DirtFactory(BaseFactory):
                 return all_cleaned, super_dict
         return super_done, super_dict
 
-    def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
-        additional_observations = super()._additional_observations()
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
+        additional_observations = super().observations_hook()
         additional_observations.update({c.DIRT: self[c.DIRT].as_array()})
         return additional_observations
 
     def gather_additional_info(self, agent: Agent) -> dict:
-        event_reward_dict = super().additional_per_agent_reward(agent)
+        event_reward_dict = super().per_agent_reward_hook(agent)
         info_dict = dict()
 
         dirt = [dirt.amount for dirt in self[c.DIRT]]
@@ -280,8 +278,7 @@ if __name__ == '__main__':
         max_local_amount=1,
         spawn_frequency=0,
         max_spawn_ratio=0.05,
-        dirt_smear_amount=0.0,
-        agent_can_interact=True
+        dirt_smear_amount=0.0
     )
 
     obs_props = ObservationProperties(render_agents=aro.COMBINED, omit_agent_self=True,
@@ -294,13 +291,13 @@ if __name__ == '__main__':
     global_timings = []
     for i in range(10):
 
-        factory = DirtFactory(n_agents=1, done_at_collision=False,
+        factory = DirtFactory(n_agents=10, done_at_collision=False,
                               level_name='rooms', max_steps=1000,
                               doors_have_area=False,
                               obs_prop=obs_props, parse_doors=True,
                               verbose=True,
                               mv_prop=move_props, dirt_prop=dirt_props,
-                              inject_agents=[TSPDirtAgent],
+                              # inject_agents=[TSPDirtAgent],
                               )
 
         # noinspection DuplicatedCode
@@ -318,11 +315,11 @@ if __name__ == '__main__':
             env_state = factory.reset()
             if render:
                 factory.render()
-            tsp_agent = factory.get_injected_agents()[0]
+            # tsp_agent = factory.get_injected_agents()[0]
 
             rwrd = 0
             for agent_i_action in random_actions:
-                agent_i_action = tsp_agent.predict()
+                # agent_i_action = tsp_agent.predict()
                 env_state, step_rwrd, done_bool, info_obj = factory.step(agent_i_action)
                 rwrd += step_rwrd
                 if render:
diff --git a/environments/factory/factory_dirt_stationary_machines.py b/environments/factory/factory_dirt_stationary_machines.py
new file mode 100644
index 0000000..e0bf477
--- /dev/null
+++ b/environments/factory/factory_dirt_stationary_machines.py
@@ -0,0 +1,58 @@
+from typing import Dict, List, Union
+
+import numpy as np
+
+from environments.factory.base.objects import Agent, Entity, Action
+from environments.factory.factory_dirt import Dirt, DirtRegister, DirtFactory
+from environments.factory.base.objects import Floor
+from environments.factory.base.registers import Floors, Entities, EntityRegister
+
+
+class Machines(EntityRegister):
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+
+class Machine(Entity):
+
+    def __init__(self, *args, **kwargs):
+        super().__init__(*args, **kwargs)
+
+
+class StationaryMachinesDirtFactory(DirtFactory):
+
+    def __init__(self, *args, **kwargs):
+        self._machine_coords = [(6, 6), (12, 13)]
+        super().__init__(*args, **kwargs)
+
+    def entities_hook(self) -> Dict[(str, Entities)]:
+        super_entities = super().entities_hook()
+
+        return super_entities
+
+    def reset_hook(self) -> None:
+                pass
+
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
+        pass
+
+    def actions_hook(self) -> Union[Action, List[Action]]:
+        pass
+
+    def step_hook(self) -> (List[dict], dict):
+
+        pass
+
+    def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
+        super_per_agent_raw_observations = super().per_agent_raw_observations_hook(agent)
+        return super_per_agent_raw_observations
+
+    def per_agent_reward_hook(self, agent: Agent) -> Dict[str, dict]:
+        pass
+
+    def pre_step_hook(self) -> None:
+        pass
+
+    def post_step_hook(self) -> dict:
+        pass
diff --git a/environments/factory/factory_item.py b/environments/factory/factory_item.py
index ca29a5f..8919a3e 100644
--- a/environments/factory/factory_item.py
+++ b/environments/factory/factory_item.py
@@ -9,7 +9,7 @@ from environments.helpers import Constants as BaseConstants
 from environments.helpers import EnvActions as BaseActions
 from environments.helpers import Rewards as BaseRewards
 from environments import helpers as h
-from environments.factory.base.objects import Agent, Entity, Action, Tile
+from environments.factory.base.objects import Agent, Entity, Action, Floor
 from environments.factory.base.registers import Entities, EntityRegister, BoundEnvObjRegister, ObjectRegister
 
 from environments.factory.base.renderer import RenderEntity
@@ -25,7 +25,7 @@ class Constants(BaseConstants):
 
 
 class Actions(BaseActions):
-    ITEM_ACTION     = 'item_action'
+    ITEM_ACTION     = 'ITEMACTION'
 
 
 class Rewards(BaseRewards):
@@ -62,7 +62,7 @@ class ItemRegister(EntityRegister):
 
     _accepted_objects = Item
 
-    def spawn_items(self, tiles: List[Tile]):
+    def spawn_items(self, tiles: List[Floor]):
         items = [Item(tile, self) for tile in tiles]
         self.register_additional_items(items)
 
@@ -193,16 +193,16 @@ class ItemFactory(BaseFactory):
         super().__init__(*args, **kwargs)
 
     @property
-    def additional_actions(self) -> Union[Action, List[Action]]:
+    def actions_hook(self) -> Union[Action, List[Action]]:
         # noinspection PyUnresolvedReferences
-        super_actions = super().additional_actions
+        super_actions = super().actions_hook
         super_actions.append(Action(str_ident=a.ITEM_ACTION))
         return super_actions
 
     @property
-    def additional_entities(self) -> Dict[(str, Entities)]:
+    def entities_hook(self) -> Dict[(str, Entities)]:
         # noinspection PyUnresolvedReferences
-        super_entities = super().additional_entities
+        super_entities = super().entities_hook
 
         empty_tiles = self[c.FLOOR].empty_tiles[:self.item_prop.n_drop_off_locations]
         drop_offs = DropOffLocations.from_tiles(
@@ -220,13 +220,13 @@ class ItemFactory(BaseFactory):
         super_entities.update({c.DROP_OFF: drop_offs, c.ITEM: item_register, c.INVENTORY: inventories})
         return super_entities
 
-    def _additional_per_agent_raw_observations(self, agent) -> Dict[str, np.typing.ArrayLike]:
-        additional_raw_observations = super()._additional_per_agent_raw_observations(agent)
+    def per_agent_raw_observations_hook(self, agent) -> Dict[str, np.typing.ArrayLike]:
+        additional_raw_observations = super().per_agent_raw_observations_hook(agent)
         additional_raw_observations.update({c.INVENTORY: self[c.INVENTORY].by_entity(agent).as_array()})
         return additional_raw_observations
 
-    def _additional_observations(self) -> Dict[str, np.typing.ArrayLike]:
-        additional_observations = super()._additional_observations()
+    def observations_hook(self) -> Dict[str, np.typing.ArrayLike]:
+        additional_observations = super().observations_hook()
         additional_observations.update({c.ITEM: self[c.ITEM].as_array()})
         additional_observations.update({c.DROP_OFF: self[c.DROP_OFF].as_array()})
         return additional_observations
@@ -240,21 +240,21 @@ class ItemFactory(BaseFactory):
                 valid = c.NOT_VALID
             if valid:
                 self.print(f'{agent.name} just dropped of an item at {drop_off.pos}.')
-                info_dict = {f'{agent.name}_DROPOFF_VALID': 1}
+                info_dict = {f'{agent.name}_DROPOFF_VALID': 1, 'DROPOFF_VALID': 1}
             else:
                 self.print(f'{agent.name} just tried to drop off at {agent.pos}, but failed.')
-                info_dict = {f'{agent.name}_DROPOFF_FAIL': 1}
+                info_dict = {f'{agent.name}_DROPOFF_FAIL': 1, 'DROPOFF_FAIL': 1}
             reward = dict(value=r.DROP_OFF_VALID if valid else r.DROP_OFF_FAIL, reason=a.ITEM_ACTION, info=info_dict)
             return valid, reward
         elif item := self[c.ITEM].by_pos(agent.pos):
             item.change_register(inventory)
             item.set_tile_to(self._NO_POS_TILE)
             self.print(f'{agent.name} just picked up an item at {agent.pos}')
-            info_dict = {f'{agent.name}_{a.ITEM_ACTION}_VALID': 1}
+            info_dict = {f'{agent.name}_{a.ITEM_ACTION}_VALID': 1, f'{a.ITEM_ACTION}_VALID': 1}
             return c.VALID, dict(value=r.PICK_UP_VALID, reason=a.ITEM_ACTION, info=info_dict)
         else:
             self.print(f'{agent.name} just tried to pick up an item at {agent.pos}, but failed.')
-            info_dict = {f'{agent.name}_{a.ITEM_ACTION}_FAIL': 1}
+            info_dict = {f'{agent.name}_{a.ITEM_ACTION}_FAIL': 1, f'{a.ITEM_ACTION}_FAIL': 1}
             return c.NOT_VALID, dict(value=r.PICK_UP_FAIL, reason=a.ITEM_ACTION, info=info_dict)
 
     def do_additional_actions(self, agent: Agent, action: Action) -> (dict, dict):
@@ -269,9 +269,9 @@ class ItemFactory(BaseFactory):
         else:
             return action_result
 
-    def do_additional_reset(self) -> None:
+    def reset_hook(self) -> None:
         # noinspection PyUnresolvedReferences
-        super().do_additional_reset()
+        super().reset_hook()
         self._next_item_spawn = self.item_prop.spawn_frequency
         self.trigger_item_spawn()
 
@@ -284,9 +284,9 @@ class ItemFactory(BaseFactory):
         else:
             self.print('No Items are spawning, limit is reached.')
 
-    def do_additional_step(self) -> (List[dict], dict):
+    def step_hook(self) -> (List[dict], dict):
         # noinspection PyUnresolvedReferences
-        super_reward_info = super().do_additional_step()
+        super_reward_info = super().step_hook()
         for item in list(self[c.ITEM].values()):
             if item.auto_despawn >= 1:
                 item.set_auto_despawn(item.auto_despawn-1)
@@ -301,9 +301,9 @@ class ItemFactory(BaseFactory):
             self._next_item_spawn = max(0, self._next_item_spawn-1)
         return super_reward_info
 
-    def render_additional_assets(self, mode='human'):
+    def render_assets_hook(self, mode='human'):
         # noinspection PyUnresolvedReferences
-        additional_assets = super().render_additional_assets()
+        additional_assets = super().render_assets_hook()
         items = [RenderEntity(c.ITEM, item.tile.pos) for item in self[c.ITEM] if item.tile != self._NO_POS_TILE]
         additional_assets.extend(items)
         drop_offs = [RenderEntity(c.DROP_OFF, drop_off.tile.pos) for drop_off in self[c.DROP_OFF]]
@@ -314,7 +314,7 @@ class ItemFactory(BaseFactory):
 if __name__ == '__main__':
     from environments.utility_classes import AgentRenderOptions as aro, ObservationProperties
 
-    render = False
+    render = True
 
     item_probs = ItemProperties(n_items=30, n_drop_off_locations=6)
 
@@ -336,18 +336,18 @@ if __name__ == '__main__':
     obs_space = factory.observation_space
     obs_space_named = factory.named_observation_space
 
-    for epoch in range(4):
+    for epoch in range(400):
         random_actions = [[random.randint(0, n_actions) for _
                            in range(factory.n_agents)] for _
                           in range(factory.max_steps + 1)]
         env_state = factory.reset()
-        r = 0
+        rwrd = 0
         for agent_i_action in random_actions:
             env_state, step_r, done_bool, info_obj = factory.step(agent_i_action)
-            r += step_r
+            rwrd += step_r
             if render:
                 factory.render()
             if done_bool:
                 break
-        print(f'Factory run {epoch} done, reward is:\n    {r}')
+        print(f'Factory run {epoch} done, reward is:\n    {rwrd}')
 pass
diff --git a/environments/logging/envmonitor.py b/environments/logging/envmonitor.py
index 42e11e0..2e18922 100644
--- a/environments/logging/envmonitor.py
+++ b/environments/logging/envmonitor.py
@@ -1,5 +1,6 @@
 import pickle
 from collections import defaultdict
+from os import PathLike
 from pathlib import Path
 from typing import List, Dict, Union
 
@@ -9,14 +10,17 @@ from environments.helpers import IGNORED_DF_COLUMNS
 
 import pandas as pd
 
+from plotting.compare_runs import plot_single_run
+
 
 class EnvMonitor(BaseCallback):
 
     ext = 'png'
 
-    def __init__(self, env):
+    def __init__(self, env, filepath: Union[str, PathLike] = None):
         super(EnvMonitor, self).__init__()
         self.unwrapped = env
+        self._filepath = filepath
         self._monitor_df = pd.DataFrame()
         self._monitor_dicts = defaultdict(dict)
 
@@ -67,8 +71,10 @@ class EnvMonitor(BaseCallback):
             pass
         return
 
-    def save_run(self, filepath: Union[Path, str]):
+    def save_run(self, filepath: Union[Path, str], auto_plotting_keys=None):
         filepath = Path(filepath)
         filepath.parent.mkdir(exist_ok=True, parents=True)
         with filepath.open('wb') as f:
             pickle.dump(self._monitor_df.reset_index(), f, protocol=pickle.HIGHEST_PROTOCOL)
+        if auto_plotting_keys:
+            plot_single_run(filepath, column_keys=auto_plotting_keys)
diff --git a/environments/logging/recorder.py b/environments/logging/recorder.py
index 7f53da8..795d4b9 100644
--- a/environments/logging/recorder.py
+++ b/environments/logging/recorder.py
@@ -24,14 +24,12 @@ class EnvRecorder(BaseCallback):
                 self._entities = [entities]
         else:
             self._entities = entities
-        self.started = False
-        self.closed = False
 
     def __getattr__(self, item):
         return getattr(self.unwrapped, item)
 
     def reset(self):
-        self.unwrapped._record_episodes = True
+        self.unwrapped.start_recording()
         return self.unwrapped.reset()
 
     def _on_training_start(self) -> None:
@@ -57,6 +55,14 @@ class EnvRecorder(BaseCallback):
         else:
             pass
 
+    def step(self, actions):
+        step_result = self.unwrapped.step(actions)
+        # 0, 1,     2    ,     3    =    idx
+        # _, _, done_bool, info_obj = step_result
+        self._read_info(0, step_result[3])
+        self._read_done(0, step_result[2])
+        return step_result
+
     def save_records(self, filepath: Union[Path, str], save_occupation_map=False, save_trajectory_map=False):
         filepath = Path(filepath)
         filepath.parent.mkdir(exist_ok=True, parents=True)
diff --git a/plotting/compare_runs.py b/plotting/compare_runs.py
index 5eb408b..7496479 100644
--- a/plotting/compare_runs.py
+++ b/plotting/compare_runs.py
@@ -10,6 +10,45 @@ from environments.helpers import IGNORED_DF_COLUMNS, MODEL_MAP
 from plotting.plotting import prepare_plot
 
 
+def plot_single_run(run_path: Union[str, PathLike], use_tex: bool = False, column_keys=None):
+    run_path = Path(run_path)
+    df_list = list()
+    if run_path.is_dir():
+        monitor_file = next(run_path.glob('*monitor*.pick'))
+    elif run_path.exists() and run_path.is_file():
+        monitor_file = run_path
+    else:
+        raise ValueError
+
+    with monitor_file.open('rb') as f:
+        monitor_df = pickle.load(f)
+
+        monitor_df = monitor_df.fillna(0)
+        df_list.append(monitor_df)
+
+    df = pd.concat(df_list,  ignore_index=True)
+    df = df.fillna(0).rename(columns={'episode': 'Episode'}).sort_values(['Episode'])
+    if column_keys is not None:
+        columns = [col for col in column_keys if col in df.columns]
+    else:
+        columns = [col for col in df.columns if col not in IGNORED_DF_COLUMNS]
+
+    roll_n = 50
+
+    non_overlapp_window = df.groupby(['Episode']).rolling(roll_n, min_periods=1).mean()
+
+    df_melted = df[columns + ['Episode']].reset_index().melt(id_vars=['Episode'],
+                                                                value_vars=columns, var_name="Measurement",
+                                                                value_name="Score")
+
+    if df_melted['Episode'].max() > 800:
+        skip_n = round(df_melted['Episode'].max() * 0.02)
+        df_melted = df_melted[df_melted['Episode'] % skip_n == 0]
+
+    prepare_plot(run_path.parent / f'{run_path.parent.name}_monitor_lineplot.png', df_melted, use_tex=use_tex)
+    print('Plotting done.')
+
+
 def compare_seed_runs(run_path: Union[str, PathLike], use_tex: bool = False):
     run_path = Path(run_path)
     df_list = list()
@@ -37,7 +76,10 @@ def compare_seed_runs(run_path: Union[str, PathLike], use_tex: bool = False):
         skip_n = round(df_melted['Episode'].max() * 0.02)
         df_melted = df_melted[df_melted['Episode'] % skip_n == 0]
 
-    prepare_plot(run_path / f'{run_path.name}_monitor_lineplot.png', df_melted, use_tex=use_tex)
+    if run_path.is_dir():
+        prepare_plot(run_path / f'{run_path}_monitor_lineplot.png', df_melted, use_tex=use_tex)
+    elif run_path.exists() and run_path.is_file():
+        prepare_plot(run_path.parent / f'{run_path.parent}_monitor_lineplot.png', df_melted, use_tex=use_tex)
     print('Plotting done.')
 
 
diff --git a/plotting/plotting.py b/plotting/plotting.py
index 36a6303..455f81a 100644
--- a/plotting/plotting.py
+++ b/plotting/plotting.py
@@ -1,4 +1,5 @@
 import seaborn as sns
+import matplotlib as mpl
 from matplotlib import pyplot as plt
 
 PALETTE = 10 * (
@@ -21,7 +22,14 @@ PALETTE = 10 * (
 def plot(filepath, ext='png'):
     plt.tight_layout()
     figure = plt.gcf()
-    figure.savefig(str(filepath), format=ext)
+    ax = plt.gca()
+    legends = [c for c in ax.get_children() if isinstance(c, mpl.legend.Legend)]
+
+    if legends:
+        figure.savefig(str(filepath), format=ext,  bbox_extra_artists=(*legends,), bbox_inches='tight')
+    else:
+        figure.savefig(str(filepath), format=ext)
+
     plt.show()
     plt.clf()
 
@@ -30,7 +38,7 @@ def prepare_tex(df, hue, style, hue_order):
     sns.set(rc={'text.usetex': True}, style='whitegrid')
     lineplot = sns.lineplot(data=df, x='Episode', y='Score', ci=95, palette=PALETTE,
                             hue_order=hue_order, hue=hue, style=style)
-    # lineplot.set_title(f'{sorted(list(df["Measurement"].unique()))}')
+    lineplot.set_title(f'{sorted(list(df["Measurement"].unique()))}')
     plt.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
     plt.tight_layout()
     return lineplot
@@ -48,6 +56,19 @@ def prepare_plt(df, hue, style, hue_order):
     return lineplot
 
 
+def prepare_center_double_column_legend(df, hue, style, hue_order):
+    print('Struggling to plot Figure using LaTeX - going back to normal.')
+    plt.close('all')
+    sns.set(rc={'text.usetex': False}, style='whitegrid')
+    fig = plt.figure(figsize=(10, 11))
+    lineplot = sns.lineplot(data=df, x='Episode', y='Score', hue=hue, style=style,
+                            ci=95, palette=PALETTE, hue_order=hue_order, legend=False)
+    # plt.legend(bbox_to_anchor=(1.02, 1), loc='upper left', borderaxespad=0)
+    lineplot.legend(hue_order, ncol=3, loc='lower center', title='Parameter Combinations', bbox_to_anchor=(0.5, -0.43))
+    plt.tight_layout()
+    return lineplot
+
+
 def prepare_plot(filepath, results_df, ext='png', hue='Measurement', style=None, use_tex=False):
     df = results_df.copy()
     df[hue] = df[hue].str.replace('_', '-')
diff --git a/reload_agent.py b/reload_agent.py
index eedd864..4735529 100644
--- a/reload_agent.py
+++ b/reload_agent.py
@@ -4,7 +4,10 @@ from pathlib import Path
 import yaml
 from stable_baselines3 import A2C, PPO, DQN
 
+from environments.factory.factory_dirt import Constants as c
+
 from environments.factory.factory_dirt import DirtFactory
+from environments.logging.envmonitor import EnvMonitor
 from environments.logging.recorder import EnvRecorder
 
 warnings.filterwarnings('ignore', category=FutureWarning)
@@ -16,32 +19,35 @@ if __name__ == '__main__':
     determin = False
     render = True
     record = False
-    seed = 67
+    verbose = True
+    seed = 13
     n_agents = 1
     # out_path = Path('study_out/e_1_new_reward/no_obs/dirt/A2C_new_reward/0_A2C_new_reward')
-    out_path = Path('study_out/test/dirt')
+    out_path = Path('study_out/reload')
     model_path = out_path
 
     with (out_path / f'env_params.json').open('r') as f:
         env_kwargs = yaml.load(f, Loader=yaml.FullLoader)
-        env_kwargs.update(additional_agent_placeholder=None, n_agents=n_agents, max_steps=150)
-        if gain_amount := env_kwargs.get('dirt_prop', {}).get('gain_amount', None):
-            env_kwargs['dirt_prop']['max_spawn_amount'] = gain_amount
-            del env_kwargs['dirt_prop']['gain_amount']
-
-        env_kwargs.update(record_episodes=record, done_at_collision=True)
+        env_kwargs.update(n_agents=n_agents, done_at_collision=False, verbose=verbose)
 
     this_model = out_path / 'model.zip'
 
     model_cls = PPO  # next(val for key, val in h.MODEL_MAP.items() if key in out_path.parent.name)
     models = [model_cls.load(this_model)]
+    try:
+        # Legacy Cleanups
+        del env_kwargs['dirt_prop']['agent_can_interact']
+        env_kwargs['verbose'] = True
+    except KeyError:
+        pass
 
     # Init Env
     with DirtFactory(**env_kwargs) as env:
-        env = EnvRecorder(env)
+        env = EnvMonitor(env)
+        env = EnvRecorder(env) if record else env
         obs_shape = env.observation_space.shape
         # Evaluation Loop for i in range(n Episodes)
-        for episode in range(50):
+        for episode in range(500):
             env_state = env.reset()
             rew, done_bool = 0, False
             while not done_bool:
@@ -55,7 +61,17 @@ if __name__ == '__main__':
                 rew += step_r
                 if render:
                     env.render()
+                try:
+                    door = next(x for x in env.unwrapped.unwrapped[c.DOORS] if x.is_open)
+                    print('openDoor found')
+                except StopIteration:
+                    pass
+
                 if done_bool:
                     break
-            print(f'Factory run {episode} done, reward is:\n    {rew}')
+            print(f'Factory run {episode} done, steps taken {env.unwrapped.unwrapped._steps}, reward is:\n    {rew}')
+        env.save_run(out_path / 'reload_monitor.pick',
+                     auto_plotting_keys=['step_reward', 'cleanup_valid', 'cleanup_fail'])
+        if record:
+            env.save_records(out_path / 'reload_recorder.pick', save_occupation_map=True)
     print('all done')
diff --git a/studies/single_run_with_export.py b/studies/single_run_with_export.py
index be61fd9..885fdbb 100644
--- a/studies/single_run_with_export.py
+++ b/studies/single_run_with_export.py
@@ -1,3 +1,4 @@
+import itertools
 import sys
 from pathlib import Path
 
@@ -65,8 +66,8 @@ def load_model_run_baseline(policy_path, env_to_run):
                 if done_bool:
                     break
             print(f'Factory run {episode} done, reward is:\n    {rew}')
-        recorded_env_factory.save_run(filepath=policy_path / f'monitor.pick')
-        recorded_env_factory.save_records(filepath=policy_path / f'recorder.json')
+        recorded_env_factory.save_run(filepath=policy_path / f'baseline_monitor.pick')
+        recorded_env_factory.save_records(filepath=policy_path / f'baseline_recorder.json')
 
 
 def load_model_run_combined(root_path, env_to_run, env_kwargs):
@@ -89,134 +90,156 @@ def load_model_run_combined(root_path, env_to_run, env_kwargs):
                                                        env_factory.named_observation_space,
                                                        *[x.named_observation_space for x in models])
 
-        monitored_env_factory = EnvMonitor(env_factory)
-        recorded_env_factory = EnvRecorder(monitored_env_factory)
+        env = EnvMonitor(env_factory)
         # Evaluation Loop for i in range(n Episodes)
         for episode in range(5):
-            env_state = recorded_env_factory.reset()
+            env_state = env.reset()
             rew, done_bool = 0, False
             while not done_bool:
                 translated_observations = observation_translator(env_state)
                 actions = [model.predict(translated_observations[model_idx], deterministic=True)[0]
                            for model_idx, model in enumerate(models)]
                 translated_actions = action_translator(actions)
-                env_state, step_r, done_bool, info_obj = recorded_env_factory.step(translated_actions)
+                env_state, step_r, done_bool, info_obj = env.step(translated_actions)
                 rew += step_r
                 if done_bool:
                     break
             print(f'Factory run {episode} done, reward is:\n    {rew}')
-        recorded_env_factory.save_run(filepath=root_path / f'monitor.pick')
-        recorded_env_factory.save_records(filepath=root_path / f'recorder.json')
+        env.save_run(filepath=root_path / f'monitor_combined.pick')
+        # env.save_records(filepath=root_path / f'recorder_combined.json')
 
 
 if __name__ == '__main__':
     # What to do:
     train = True
-    individual_run = True
+    individual_run = False
     combined_run = False
     multi_env = False
 
-    train_steps = 2e6
+    train_steps = 1e6
     frames_to_stack = 3
 
     # Define a global studi save path
-    study_root_path = Path(__file__).parent.parent / 'study_out' / f'{Path(__file__).stem}'
+    paremters_of_interest = dict(
+        show_global_position_info=[True, False],
+        pomdp_r=[3],
+        cast_shadows=[True, False],
+        allow_diagonal_movement=[True],
+        parse_doors=[True, False],
+        doors_have_area=[True, False],
+        done_at_collision=[True, False]
+    )
+    keys, vals = zip(*paremters_of_interest.items())
 
-    def policy_model_kwargs():
-        return dict()
+    # Then we find all permutations for those values
+    p = list(itertools.product(*vals))
 
-    # Define Global Env Parameters
-    # Define properties object parameters
-    obs_props = ObservationProperties(render_agents=AgentRenderOptions.NOT,
-                                      additional_agent_placeholder=None,
-                                      omit_agent_self=True,
-                                      frames_to_stack=frames_to_stack,
-                                      pomdp_r=2, cast_shadows=True)
-    move_props = MovementProperties(allow_diagonal_movement=True,
-                                    allow_square_movement=True,
-                                    allow_no_op=False)
-    dirt_props = DirtProperties(initial_dirt_ratio=0.35, initial_dirt_spawn_r_var=0.1,
-                                clean_amount=0.34,
-                                max_spawn_amount=0.1, max_global_amount=20,
-                                max_local_amount=1, spawn_frequency=0, max_spawn_ratio=0.05,
-                                dirt_smear_amount=0.0, agent_can_interact=True)
-    item_props = ItemProperties(n_items=10, spawn_frequency=30, n_drop_off_locations=2,
-                                max_agent_inventory_capacity=15)
-    dest_props = DestProperties(n_dests=4, spawn_mode=DestModeOptions.GROUPED, spawn_frequency=1)
-    factory_kwargs = dict(n_agents=1, max_steps=500, parse_doors=True,
-                          level_name='rooms', doors_have_area=True,
-                          verbose=False,
-                          mv_prop=move_props,
-                          obs_prop=obs_props,
-                          done_at_collision=False
-                          )
+    # Finally we can create out list of dicts
+    result = [{keys[index]: entry[index] for index in range(len(entry))} for entry in p]
 
-    # Bundle both environments with global kwargs and parameters
-    env_map = {}
-    env_map.update({'dirt': (DirtFactory, dict(dirt_prop=dirt_props,
-                                               **factory_kwargs.copy()))})
-    env_map.update({'item': (ItemFactory, dict(item_prop=item_props,
-                                               **factory_kwargs.copy()))})
-    # env_map.update({'dest': (DestFactory, dict(dest_prop=dest_props,
-    #                                           **factory_kwargs.copy()))})
-    env_map.update({'combined': (DirtDestItemFactory, dict(dest_prop=dest_props,
-                                                           item_prop=item_props,
-                                                           dirt_prop=dirt_props,
-                                                           **factory_kwargs.copy()))})
-    env_names = list(env_map.keys())
+    for u in result:
+        file_name = '_'.join('_'.join([str(y)[0] for y in x]) for x in u.items())
+        study_root_path = Path(__file__).parent.parent / 'study_out' / file_name
 
-    # Train starts here ############################################################
-    # Build Major Loop  parameters, parameter versions, Env Classes and models
-    if train:
-        for env_key in (env_key for env_key in env_map if 'combined' != env_key):
-            model_cls = h.MODEL_MAP['PPO']
-            combination_path = study_root_path / env_key
-            env_class, env_kwargs = env_map[env_key]
+        # Model Kwargs
+        policy_model_kwargs = dict(ent_coef=0.01)
 
-            # Output folder
-            if (combination_path / 'monitor.pick').exists():
-                continue
-            combination_path.mkdir(parents=True, exist_ok=True)
+        # Define Global Env Parameters
+        # Define properties object parameters
+        obs_props = ObservationProperties(render_agents=AgentRenderOptions.NOT,
+                                          additional_agent_placeholder=None,
+                                          omit_agent_self=True,
+                                          frames_to_stack=frames_to_stack,
+                                          pomdp_r=u['pomdp_r'], cast_shadows=u['cast_shadows'],
+                                          show_global_position_info=u['show_global_position_info'])
+        move_props = MovementProperties(allow_diagonal_movement=u['allow_diagonal_movement'],
+                                        allow_square_movement=True,
+                                        allow_no_op=False)
+        dirt_props = DirtProperties(initial_dirt_ratio=0.35, initial_dirt_spawn_r_var=0.1,
+                                    clean_amount=0.34,
+                                    max_spawn_amount=0.1, max_global_amount=20,
+                                    max_local_amount=1, spawn_frequency=0, max_spawn_ratio=0.05,
+                                    dirt_smear_amount=0.0)
+        item_props = ItemProperties(n_items=10, spawn_frequency=30, n_drop_off_locations=2,
+                                    max_agent_inventory_capacity=15)
+        dest_props = DestProperties(n_dests=4, spawn_mode=DestModeOptions.GROUPED, spawn_frequency=1)
+        factory_kwargs = dict(n_agents=1, max_steps=500, parse_doors=u['parse_doors'],
+                              level_name='rooms', doors_have_area=u['doors_have_area'],
+                              verbose=False,
+                              mv_prop=move_props,
+                              obs_prop=obs_props,
+                              done_at_collision=u['done_at_collision']
+                              )
 
-            if not multi_env:
-                env_factory = encapsule_env_factory(env_class, env_kwargs)()
-            else:
-                env_factory = SubprocVecEnv([encapsule_env_factory(env_class, env_kwargs)
-                                             for _ in range(6)], start_method="spawn")
+        # Bundle both environments with global kwargs and parameters
+        env_map = {}
+        env_map.update({'dirt': (DirtFactory, dict(dirt_prop=dirt_props,
+                                                   **factory_kwargs.copy()),
+                                 ['cleanup_valid', 'cleanup_fail'])})
+        # env_map.update({'item': (ItemFactory, dict(item_prop=item_props,
+        #                                            **factory_kwargs.copy()),
+        #                          ['DROPOFF_FAIL', 'ITEMACTION_FAIL', 'DROPOFF_VALID', 'ITEMACTION_VALID'])})
+        # env_map.update({'dest': (DestFactory, dict(dest_prop=dest_props,
+        #                                           **factory_kwargs.copy()))})
+        env_map.update({'combined': (DirtDestItemFactory, dict(dest_prop=dest_props,
+                                                               item_prop=item_props,
+                                                               dirt_prop=dirt_props,
+                                                               **factory_kwargs.copy()))})
+        env_names = list(env_map.keys())
 
-            param_path = combination_path / f'env_params.json'
-            try:
-                env_factory.env_method('save_params', param_path)
-            except AttributeError:
-                env_factory.save_params(param_path)
+        # Train starts here ############################################################
+        # Build Major Loop  parameters, parameter versions, Env Classes and models
+        if train:
+            for env_key in (env_key for env_key in env_map if 'combined' != env_key):
+                model_cls = h.MODEL_MAP['PPO']
+                combination_path = study_root_path / env_key
+                env_class, env_kwargs, env_plot_keys = env_map[env_key]
 
-            # EnvMonitor Init
-            callbacks = [EnvMonitor(env_factory)]
+                # Output folder
+                if (combination_path / 'monitor.pick').exists():
+                    continue
+                combination_path.mkdir(parents=True, exist_ok=True)
 
-            # Model Init
-            model = model_cls("MlpPolicy", env_factory, **policy_model_kwargs(),
-                              verbose=1, seed=69, device='cpu')
+                if not multi_env:
+                    env_factory = encapsule_env_factory(env_class, env_kwargs)()
+                else:
+                    env_factory = SubprocVecEnv([encapsule_env_factory(env_class, env_kwargs)
+                                                 for _ in range(6)], start_method="spawn")
 
-            # Model train
-            model.learn(total_timesteps=int(train_steps), callback=callbacks)
+                param_path = combination_path / f'env_params.json'
+                try:
+                    env_factory.env_method('save_params', param_path)
+                except AttributeError:
+                    env_factory.save_params(param_path)
 
-            # Model save
-            try:
-                model.named_action_space = env_factory.unwrapped.named_action_space
-                model.named_observation_space = env_factory.unwrapped.named_observation_space
-            except AttributeError:
-                model.named_action_space = env_factory.get_attr("named_action_space")[0]
-                model.named_observation_space = env_factory.get_attr("named_observation_space")[0]
-            save_path = combination_path / f'model.zip'
-            model.save(save_path)
+                # EnvMonitor Init
+                callbacks = [EnvMonitor(env_factory)]
 
-            # Monitor Save
-            callbacks[0].save_run(combination_path / 'monitor.pick')
+                # Model Init
+                model = model_cls("MlpPolicy", env_factory, **policy_model_kwargs,
+                                  verbose=1, seed=69, device='cpu')
 
-            # Better be save then sorry: Clean up!
-            del env_factory, model
-            import gc
-            gc.collect()
+                # Model train
+                model.learn(total_timesteps=int(train_steps), callback=callbacks)
+
+                # Model save
+                try:
+                    model.named_action_space = env_factory.unwrapped.named_action_space
+                    model.named_observation_space = env_factory.unwrapped.named_observation_space
+                except AttributeError:
+                    model.named_action_space = env_factory.get_attr("named_action_space")[0]
+                    model.named_observation_space = env_factory.get_attr("named_observation_space")[0]
+                save_path = combination_path / f'model.zip'
+                model.save(save_path)
+
+                # Monitor Save
+                callbacks[0].save_run(combination_path / 'monitor.pick',
+                                      auto_plotting_keys=['step_reward', 'collision'] + env_plot_keys)
+
+                # Better be save then sorry: Clean up!
+                del env_factory, model
+                import gc
+                gc.collect()
 
     # Train ends here ############################################################