diff --git a/environments/factory/__init__.py b/environments/factory/__init__.py
index c73b2d7..edde920 100644
--- a/environments/factory/__init__.py
+++ b/environments/factory/__init__.py
@@ -1,27 +1,20 @@
-def rooms(n_agents=1):
+def make(env_str, n_agents=1, pomdp_r=2, max_steps=400):
+    import yaml
+    from pathlib import Path
     from environments.factory.factory_dirt_item import DirtItemFactory
     from environments.factory.factory_item import ItemFactory, ItemProperties
     from environments.factory.factory_dirt import DirtProperties, DirtFactory
     from environments.utility_classes import MovementProperties, ObservationProperties, AgentRenderOptions
 
-    obs_props = ObservationProperties(render_agents=AgentRenderOptions.NOT,
-                                      omit_agent_self=True,
-                                      additional_agent_placeholder=None,
-                                      frames_to_stack=0,
-                                      pomdp_r=2
-                                      )
-    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)
-    factory_kwargs = dict(n_agents=n_agents, max_steps=400, parse_doors=True,
-                          level_name='rooms', record_episodes=False, doors_have_area=False,
-                          verbose=False,
-                          mv_prop=move_props,
-                          obs_prop=obs_props
+    with (Path(__file__).parent / 'levels' / 'parameters' / f'{env_str}.yaml').open('r') as stream:
+        dictionary = yaml.load(stream, Loader=yaml.FullLoader)
+
+    obs_props = ObservationProperties(render_agents=AgentRenderOptions.COMBINED, frames_to_stack=0, pomdp_r=pomdp_r)
+
+    factory_kwargs = dict(n_agents=n_agents, max_steps=max_steps, obs_prop=obs_props,
+                          mv_prop=MovementProperties(**dictionary['movement_props']),
+                          dirt_prop=DirtProperties(**dictionary['dirt_props']),
+                          record_episodes=False, verbose=False, **dictionary['factory_props']
                           )
-    return DirtFactory(dirt_props=dirt_props, **factory_kwargs)
+
+    return DirtFactory(**factory_kwargs)
diff --git a/environments/factory/levels/parameters/DirtyFactory-v0.yaml b/environments/factory/levels/parameters/DirtyFactory-v0.yaml
new file mode 100644
index 0000000..4bd0f2a
--- /dev/null
+++ b/environments/factory/levels/parameters/DirtyFactory-v0.yaml
@@ -0,0 +1,19 @@
+movement_props:
+    allow_diagonal_movement:    True
+    allow_square_movement:      True
+    allow_no_op:                False
+dirt_props:
+    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
+factory_props:
+    parse_doors:                True
+    level_name:                 "rooms"
+    doors_have_area:            False
diff --git a/studies/sat_mad.py b/studies/sat_mad.py
index 29f9ccd..9eb270d 100644
--- a/studies/sat_mad.py
+++ b/studies/sat_mad.py
@@ -1,11 +1,12 @@
-from environments.factory import rooms
+from environments.factory import make
 import random
 from gym.wrappers import FrameStack
 
-env = rooms(n_agents=2)
+n_agents = 4
+env = make('DirtyFactory-v0', n_agents=n_agents)
 env = FrameStack(env, num_stack=3)
 state, *_ = env.reset()
 
 for i in range(1000):
-    state, *_ = env.step([random.randint(0, 9), random.randint(0, 9)])
+    state, *_ = env.step([env.unwrapped.action_space.sample() for _ in range(n_agents)])
     env.render()
\ No newline at end of file