diff --git a/preprocessing/sports/SAR_data/SAR_class.py b/preprocessing/sports/SAR_data/SAR_class.py
index 432381a..eb1de28 100644
--- a/preprocessing/sports/SAR_data/SAR_class.py
+++ b/preprocessing/sports/SAR_data/SAR_class.py
@@ -12,14 +12,21 @@ def __new__(cls, data_provider, state_def, *args, **kwargs):
         elif data_provider == "statsbomb":
             # For 'statsbomb', raise a NotImplementedError indicating it is not implemented
             raise NotImplementedError("StatsBomb SAR data is not implemented yet.")
-        elif data_provider == "robocup_2d":
-            # Add a new clause for 'robocup_2d' that raises a NotImplementedError for RL usage
-            raise NotImplementedError("RoboCup 2D SAR data is not implemented for RL. Please use a supported data provider.")
+        elif data_provider == "robocup_2d" and state_def in cls.state_list:
+            preprocess_method = kwargs.get("preprocess_method", "SAR")
+            if preprocess_method != "SAR2RL":
+                raise NotImplementedError(
+                    "RoboCup 2D SAR data is only supported for preprocess_method='SAR2RL'."
+                )
+            from .soccer.soccer_SAR_class import Soccer_SAR_data
+
+            return Soccer_SAR_data(data_provider, state_def, *args, **kwargs)
         else:
             # If the data_provider is unrecognized or state_def is unrecongnized, raise a ValueError
             raise ValueError(
                 f"Unsupported data provider '{data_provider}' or state definition '{state_def}'. "
-                f"Supported providers: {cls.sports}, Supported states: {cls.state_list}."
+                f"Supported providers: {cls.sports + ['robocup_2d (SAR2RL only)']}, "
+                f"Supported states: {cls.state_list}."
             )