diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense.py
index 6800213..501933b 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense.py
@@ -132,20 +132,6 @@ def __post_init__(self):
             name=self.name,
         )
 
-    def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
-        # update walk region
-        self.update_offset_regions(
-            ground_array=state.grids["ground"].to_numpy(),
-            scan_array=state.grids["scan"].to_numpy(),
-        )
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
 
diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_a_vortex.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_a_vortex.py
index 8b45c86..e5ec2d1 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_a_vortex.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_a_vortex.py
@@ -165,19 +165,6 @@ def __post_init__(self):
             name=self.name,
         )
 
-    def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
-        # update walk region
-        self.update_offset_regions(
-            state.grids["ground"].to_numpy(), state.grids["scan"].to_numpy()
-        )
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
         self.diffuse_follow_grid(state, state.grids["built"].to_numpy())
diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_b_walls.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_b_walls.py
index 818ee85..84f86b1 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_b_walls.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_b_walls.py
@@ -89,19 +89,6 @@ def __post_init__(self):
             name=self.name,
         )
 
-    def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
-        # update walk region
-        self.update_offset_regions(
-            state.grids["ground"].to_numpy(), state.grids["scan"].to_numpy()
-        )
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
         if follow_newly_built > 0:
diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_c_4view.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_c_4view.py
index f2e8738..678b57e 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_c_4view.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_c_4view.py
@@ -93,20 +93,6 @@ def __post_init__(self):
         )
         self.print_dot_counter = 0
 
-    def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
-        ground = state.grids["ground"]
-        scan = state.grids["scan"]
-
-        # update walk region
-        self.update_offset_regions(ground.to_numpy(), scan.to_numpy())
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
         if follow_newly_built > 0:
diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d2_goal_density_v2.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d2_goal_density_v2.py
index 3d525be..0c8708c 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d2_goal_density_v2.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d2_goal_density_v2.py
@@ -92,24 +92,14 @@ def __post_init__(self):
         )
 
     def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
+        """Setup that needs to be after environment is created"""
+        self.super().initialization(state)
         goal_density = state.grids["goal_density"]
 
         goal_density.set_values_using_index_map(
             self.make_goal_density_box_mockup_D(), goal_density__modifier_D
         )
 
-        # update walk region
-        self.update_offset_regions(
-            state.grids["ground"].to_numpy(), state.grids["scan"].to_numpy()
-        )
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
 
diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d_goal_density.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d_goal_density.py
index fc8f2e5..f68e53e 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d_goal_density.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_d_goal_density.py
@@ -96,13 +96,8 @@ def __post_init__(self):
         )
 
     def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
+        """Setup that needs to be after environment is created"""
+        self.super().initialization(state)
         goal_density = state.grids["goal_density"]
 
         goal_density.set_values_using_index_map(
@@ -117,11 +112,6 @@ def initialization(self, state: Environment):
             self.make_goal_density_box_mockup_C(), goal_density__modifier_C
         )
 
-        # update walk region
-        self.update_offset_regions(
-            state.grids["ground"].to_numpy(), state.grids["scan"].to_numpy()
-        )
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
 
diff --git a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_e_smooth.py b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_e_smooth.py
index c8d3d99..c4c633a 100644
--- a/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_e_smooth.py
+++ b/src/bdm_voxel_builder/agent_algorithms/algo_20_build_by_sense_e_smooth.py
@@ -92,18 +92,6 @@ def __post_init__(self):
             name=self.name,
         )
 
-    def initialization(self, state: Environment):
-        """
-        creates the simulation environment setup
-        with preset values in the definition
-
-        returns: grids
-
-        """
-        ground = state.grids["ground"]
-        scan = state.grids["scan"]
-        self.update_offset_regions(ground.to_numpy(), scan.to_numpy())
-
     def update_environment(self, state: Environment):
         self.decay_environment(state)
 
diff --git a/src/bdm_voxel_builder/agent_algorithms/base.py b/src/bdm_voxel_builder/agent_algorithms/base.py
index d596637..4c830f5 100644
--- a/src/bdm_voxel_builder/agent_algorithms/base.py
+++ b/src/bdm_voxel_builder/agent_algorithms/base.py
@@ -34,9 +34,11 @@ def __init__(
     def setup_agents(self, state: Environment):
         raise NotImplementedError
 
-    @abc.abstractmethod
     def initialization(self, state: Environment, **kwargs):
-        raise NotImplementedError
+        """Setup that needs to be after environment is created"""
+        ground = state.grids["ground"].to_numpy()
+        scan = state.grids["scan"].to_numpy()
+        self.update_offset_regions(ground, scan)
 
     @abc.abstractmethod
     def update_environment(self, state: Environment):