diff --git a/src/bindings.cpp b/src/bindings.cpp
index e8516ca7..a815afa2 100644
--- a/src/bindings.cpp
+++ b/src/bindings.cpp
@@ -56,7 +56,7 @@ namespace gpudrive
             .def_rw("useWayMaxModel", &Parameters::useWayMaxModel)
             .def_rw("enableLidar", &Parameters::enableLidar)
             .def_rw("disableClassicalObs", &Parameters::disableClassicalObs)
-            .def_rw("initAgentsAsStatic", &Parameters::initAgentsAsStatic);
+            .def_rw("isStaticAgentControlled", &Parameters::isStaticAgentControlled);
 
         // Define CollisionBehaviour enum
         nb::enum_<CollisionBehaviour>(m, "CollisionBehaviour")
diff --git a/src/init.hpp b/src/init.hpp
index d476d6d3..c8a65c1e 100755
--- a/src/init.hpp
+++ b/src/init.hpp
@@ -112,7 +112,7 @@ namespace gpudrive
         FindRoadObservationsWith roadObservationAlgorithm{
             FindRoadObservationsWith::KNearestEntitiesWithRadiusFiltering};
         bool initOnlyValidAgentsAtFirstStep = true; // Default: true
-        bool initAgentsAsStatic = false; // Default: false
+        bool isStaticAgentControlled = false; // Default: false
         bool enableLidar = false;
         bool disableClassicalObs = false;
         bool useWayMaxModel = false; // Default: false
diff --git a/src/level_gen.cpp b/src/level_gen.cpp
index 95cb5b2f..c0d93f06 100755
--- a/src/level_gen.cpp
+++ b/src/level_gen.cpp
@@ -94,7 +94,7 @@ static inline Entity createAgent(Engine &ctx, const MapObject &agentInit) {
 
     populateExpertTrajectory(ctx, agent, agentInit);
 
-    if(ctx.data().params.initAgentsAsStatic && (ctx.get<Goal>(agent).position - ctx.get<Trajectory>(agent).positions[0]).length() < consts::staticThreshold)
+    if(!ctx.data().params.isStaticAgentControlled && (ctx.get<Goal>(agent).position - ctx.get<Trajectory>(agent).positions[0]).length() < consts::staticThreshold)
     {
         ctx.get<ResponseType>(agent) = ResponseType::Static;
     }
diff --git a/src/sim.cpp b/src/sim.cpp
index 139fb285..46c254c5 100755
--- a/src/sim.cpp
+++ b/src/sim.cpp
@@ -276,7 +276,7 @@ inline void movementSystem(Engine &e,
     if(responseType == ResponseType::Static)
     {
         // Do nothing. The agent is static.
-        // Agent can only be static if initAgentsAsStatic is set to true.
+        // Agent can only be static if isStaticAgentControlled is set to true.
         return;
     }
 
diff --git a/tests/test_expert.py b/tests/test_expert.py
index 79466583..4409ee8f 100644
--- a/tests/test_expert.py
+++ b/tests/test_expert.py
@@ -18,7 +18,7 @@ def simulation_results():
     params.rewardParams = reward_params  # Set the rewardParams attribute to the instance created above
     params.maxNumControlledVehicles = 0
     params.IgnoreNonVehicles = True
-    params.initAgentsAsStatic = True
+    params.isStaticAgentControlled = False
 
     # Now use the 'params' instance when creating SimManager
     sim = gpudrive.SimManager(