private void OnCollisionEnter(Collision collision)
    {
        if (collision.gameObject.CompareTag("RedGoal"))
        {
            Respawn();
            blueAgent?.AddReward(1.0f);
            redAgent.AddReward(-1.0f);
            scorekeeper.AddBlueScore();

            blueAgent?.EndEpisode();
            redAgent.EndEpisode();
        }
        else if (collision.gameObject.CompareTag("BlueGoal"))
        {
            Respawn();
            redAgent.AddReward(1.0f);
            blueAgent?.AddReward(-1.0f);
            scorekeeper.AddRedScore();

            blueAgent?.EndEpisode();
            redAgent.EndEpisode();
        }
    }