diff --git a/org.janelia.easy-ml-agents/Editor/EasyMLSetup.cs b/org.janelia.easy-ml-agents/Editor/EasyMLSetup.cs
index 99e37da..e7d02c1 100644
--- a/org.janelia.easy-ml-agents/Editor/EasyMLSetup.cs
+++ b/org.janelia.easy-ml-agents/Editor/EasyMLSetup.cs
@@ -123,8 +123,8 @@ private static void Create(Type arenaType, Type agentType)
                 }
 
                 EasyMLSetupHelper helper = new EasyMLSetupHelper();
-                arena.Setup(helper);
                 agent.Setup(helper);
+                arena.Setup(helper);
 
                 arena.PlaceRandomly();
 
diff --git a/org.janelia.easy-ml-agents/Editor/EasyMLSetupHelper.cs b/org.janelia.easy-ml-agents/Editor/EasyMLSetupHelper.cs
index 4d4e291..b97e884 100644
--- a/org.janelia.easy-ml-agents/Editor/EasyMLSetupHelper.cs
+++ b/org.janelia.easy-ml-agents/Editor/EasyMLSetupHelper.cs
@@ -181,7 +181,12 @@ public void CreatePhysicsMaterial(Collider collider, float staticFriction, float
 
         public bool UsingURP()
         {
-            return (UnityEngine.Rendering.GraphicsSettings.renderPipelineAsset.GetType().Name == "UniversalRenderPipelineAsset");
+            UnityEngine.Rendering.RenderPipelineAsset pipeline = UnityEngine.Rendering.GraphicsSettings.renderPipelineAsset;
+            if (pipeline != null)
+            {
+                return (UnityEngine.Rendering.GraphicsSettings.renderPipelineAsset.GetType().Name == "UniversalRenderPipelineAsset");
+            }
+            return false;
         }
     }
 }
diff --git a/org.janelia.easy-ml-agents/Runtime/EasyMLAgent.cs b/org.janelia.easy-ml-agents/Runtime/EasyMLAgent.cs
index 886bafc..6a63196 100644
--- a/org.janelia.easy-ml-agents/Runtime/EasyMLAgent.cs
+++ b/org.janelia.easy-ml-agents/Runtime/EasyMLAgent.cs
@@ -35,11 +35,15 @@ public abstract class EasyMLAgent : Agent
         public abstract int VectorObservationSize { get; protected set; }
 
         /// <summary>
-        /// The number of observations added in <see cref="CollectObservations(VectorSensor)"/>
-        /// (and remember that one <see cref="Vector3"/> counts as 3 observations).
+        /// The number of continous actions.
         /// </summary>
         public abstract int VectorActionSize { get; protected set; }
 
+        /// <summary>
+        /// The number of discrete actions.
+        /// </summary>
+        public abstract int[] DiscreteBranchSize { get; protected set; }
+
         /// <summary>
         /// The size of the BoxCollider given to the agent by default.  Note that a value S in 
         /// any of the dimensions means the box covers [-S/2, S/2] in that dimension.
@@ -167,7 +171,7 @@ public virtual void Setup(IEasyMLSetupHelper helper)
             {
                 behavior.BehaviorName = BehaviorName;
                 behavior.BrainParameters.VectorObservationSize = VectorObservationSize;
-                behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize);
+                behavior.BrainParameters.ActionSpec = new ActionSpec(VectorActionSize, DiscreteBranchSize);
 
                 const string SENSOR_OBJECT_NAME = "RaysForward";
 
diff --git a/org.janelia.easy-ml-agents/Runtime/EasyMLAgentGrounded.cs b/org.janelia.easy-ml-agents/Runtime/EasyMLAgentGrounded.cs
index db37442..88800f0 100644
--- a/org.janelia.easy-ml-agents/Runtime/EasyMLAgentGrounded.cs
+++ b/org.janelia.easy-ml-agents/Runtime/EasyMLAgentGrounded.cs
@@ -107,6 +107,12 @@ public override Vector3 ChildSensorSourceOffset
         }
         private Vector3 _groundedChildSensorSourceOffset = new Vector3(0, 0.05f, 0);
 
+        public virtual string BodyName
+        {
+            get { return _groundedBodyName; }
+            protected set { _groundedBodyName = value; }
+        }
+        private string _groundedBodyName = "Body";
 
         /// <summary>
         /// Called after the Setup function for the arena (the class derived from <see cref="EasyMLArena"/>).
@@ -122,13 +128,13 @@ public override void Setup(Janelia.IEasyMLSetupHelper helper)
             base.Setup(helper);
             gameObject.name = "AgentGrounded";
 
-            const string BODY_NAME = "Body";
-            Transform bodyTransform = transform.Find(BODY_NAME);
+            
+            Transform bodyTransform = transform.Find(BodyName);
             GameObject body;
             if (bodyTransform == null)
             {
                 body = new GameObject();
-                body.name = BODY_NAME;
+                body.name = BodyName;
                 body.transform.parent = transform;
             }
             else
@@ -221,9 +227,9 @@ public override void Heuristic(in ActionBuffers actionsOut)
 
             Debug.Assert(VectorActionSize == 2, "Incorrect vector action size");
 
-            ActionSegment<float> continuouActions = actionsOut.ContinuousActions;
-            continuouActions[0] = moveChange;
-            continuouActions[1] = yawChange;
+            ActionSegment<float> continuousActions = actionsOut.ContinuousActions;
+            continuousActions[0] = moveChange;
+            continuousActions[1] = yawChange;
         }
     }
 }
\ No newline at end of file