diff --git a/README.md b/README.md
index e1a721b..4330b52 100644
--- a/README.md
+++ b/README.md
@@ -19,6 +19,12 @@ For more information about the ways you can contribute to Animal-AI, visit our w
 If you are new to contributing to open source, [this](https://github.com/Kinds-of-Intelligence-CFI/animal-ai/blob/main/CONTRIBUTING.md) guide helps explain why, what, and how to successfully get involved.
 
 ## Version History
+* v4.1.0
+  + Updated `RaycastParser` to accept new object:
+    - `HollowBox`.
+  + Added a new low-level random agent implemented on Braitenberg model.
+  + Bug fixes and performance improvements, specifically on improving the reliability of the Braitenberg model.
+  + Added built-in functionality to run yaml configuration files directly via Python.
 * v4.0.1
   + Updated RaycastParser to accept two new objects:
     - `DecoyGoal` and `DecoyGoalBounce`.
diff --git a/animalai/play.py b/animalai/play.py
new file mode 100644
index 0000000..4febeb6
--- /dev/null
+++ b/animalai/play.py
@@ -0,0 +1,33 @@
+import random
+
+from pathlib import Path
+
+from animalai import AnimalAIEnvironment, arenas
+from animalai.executable import find_executable
+
+def play(configuration_file: str = None, env_path: str = None) -> None:
+    """
+    Load a config file and play
+    :param configuration_file: str path to a yaml configuration. Plays animalai.arenas.GoodGoal_Random.yml by default
+    :param env_path: str path to AAI environment executable. Looks for it in root by default.
+    :return: None
+    """
+
+    print("Initializing AAI environment")
+    environment = AnimalAIEnvironment(
+        file_name=env_path if env_path is not None else str(find_executable(Path(""))),
+        base_port=5005 + random.randint(0, 1000),
+        arenas_configurations=configuration_file if configuration_file is not None else arenas.GOOD_GOAL_RANDOM_POS,
+        play=True,
+    )
+
+    print("Press Q in the Unity window then Ctrl+C in the command line to close the environment effectively.")
+
+    # Run the environment until signal is lost
+    try:
+        while environment._process:  # type: ignore
+            continue
+    except KeyboardInterrupt:
+        pass
+    finally:
+        environment.close()
\ No newline at end of file
diff --git a/animalai/raycastparser.py b/animalai/raycastparser.py
index 5dd27a6..020d02b 100644
--- a/animalai/raycastparser.py
+++ b/animalai/raycastparser.py
@@ -26,8 +26,8 @@ class RayCastObjects(enum.Enum):
     RAMP = 9
     PILLARBUTTON = 10
     SIGNPOSTER = 11
-    DECAYGOAL = 12
-    DECAYGOALBOUNCE = 13
+    DECOYGOAL = 12
+    DECOYGOALBOUNCE = 13
     HOLLOWBOX = 14
 
 
diff --git a/pyproject.toml b/pyproject.toml
index 38a919d..ca8a27d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "animalai"
-version = "4.0.1"
+version = "4.1.0"
 description = "Animal AI Python API"
 license = "MIT"
 readme = "README.md"
diff --git a/test/play.py b/test/play.py
new file mode 100644
index 0000000..a942e74
--- /dev/null
+++ b/test/play.py
@@ -0,0 +1,4 @@
+from animalai.play import play
+
+if __name__ == "__main__":
+    play()
\ No newline at end of file