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@@ -28464,12 +936,3 @@ SceneRoots:
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diff --git a/Assets/Scripts/AgentControllerV7.cs b/Assets/Scripts/AgentControllerV7.cs
index 833015f..7c0bcc2 100644
--- a/Assets/Scripts/AgentControllerV7.cs
+++ b/Assets/Scripts/AgentControllerV7.cs
@@ -66,27 +66,11 @@ public class AgentControllerV7 : Agent
         transform.localRotation = startRotation;
         rigidBody.velocity = Vector3.zero;
         rigidBody.angularVelocity = Vector3.zero;
-
-        // reset checkpoints
-        foreach (GameObject checkpoint in checkpoints)
-        {
-            checkpoint.GetComponent<Checkpoint>().isCollected = false;
-        }
     }
 
     public override void CollectObservations(VectorSensor sensor)
     {
-        Transform currentCheckpoint = checkpoints[0].transform;
-        foreach (GameObject checkpoint in checkpoints)
-        {
-            bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
-
-            if (!isCollected)
-            {
-                currentCheckpoint = checkpoint.transform;
-                break;
-            }
-        }
+        Transform currentCheckpoint = checkpoints[checkpointsReached].transform;
         
         // distance to next checkpoint
         sensor.AddObservation(distanceToCheckpoint(currentCheckpoint));
@@ -215,17 +199,7 @@ public class AgentControllerV7 : Agent
         }
 
         // rewards
-        Transform currentCheckpoint = checkpoints[0].transform;
-        foreach (GameObject checkpoint in checkpoints)
-        {
-            bool isCollected = checkpoint.GetComponent<Checkpoint>().isCollected;
-
-            if (!isCollected)
-            {
-                currentCheckpoint = checkpoint.transform;
-                break;
-            }
-        }
+        Transform currentCheckpoint = checkpoints[checkpointsReached].transform;
 
         float checkpintDistance = distanceToCheckpoint(currentCheckpoint);
         float reward = (1 - Mathf.InverseLerp(0, distanceBetweenCheckpoints, checkpintDistance)) / 500;
@@ -242,10 +216,6 @@ public class AgentControllerV7 : Agent
 
         AddReward(reward);
 
-
-
-        
-
         if (checkpintDistance < 0.1f)
         {
             currentCheckpoint.GetComponent<Checkpoint>().isCollected = true;