From f81c8457a1a33df4af99c1a47f5beb326286c968 Mon Sep 17 00:00:00 2001
From: sergiopaniego <sergiopaniegoblanco@gmail.com>
Date: Wed, 20 Sep 2023 11:27:23 +0200
Subject: [PATCH] Brains separated between CARLA and gazebo

---
 ...rain_carla_bird_eye_deep_learning_torch.py |   2 +-
 ..._bird_eye_deep_learning_torch_optimized.py |   2 +-
 ..._eye_deep_learning_torch_tensorrt_float.py |   2 +-
 ..._eye_deep_learning_torch_tensorrt_int_8.py |   2 +-
 .../pytorch/utils}/__init__.py                |   0
 .../pytorch/utils}/convlstm.py                |   0
 .../utils}/deepest_lstm_tinypilotnet.py       |   0
 .../pytorch/utils}/pilotnet.py                |   0
 .../pytorch/utils}/pilotnetStacked.py         |   0
 .../brain_carla_bird_eye_deep_learning.py     |   1 +
 .../{agents/f1 => gazebo/agents}/__init__.py  |   0
 .../brains/{ => gazebo}/agents/dqn.py         |   0
 .../brains/{ => gazebo}/agents/f1/.env        |   0
 .../brains/{ => gazebo}/agents/f1/.env.sample |   0
 .../{car => gazebo/agents/f1}/__init__.py     |   0
 .../brains/{ => gazebo}/agents/f1/dqn.py      |   0
 .../agents/f1/f1_follow_line_camera_dqn.py    |   0
 .../agents/f1/f1_follow_line_qlearn.py        |   0
 .../brains/{ => gazebo}/agents/f1/liveplot.py |   0
 .../brains/{ => gazebo}/agents/f1/memory.py   |   0
 .../brains/{ => gazebo}/agents/f1/qlearn.py   |   0
 .../{ => gazebo}/agents/f1/ros_gazebo_pose.py |   0
 .../brains/{ => gazebo}/agents/f1/settings.py |   0
 .../agents/f1_follow_line_camera_dqn.py       |   0
 .../agents/f1_follow_line_qlearn.py           |   0
 .../brains/{ => gazebo}/agents/liveplot.py    |   0
 .../brains/{ => gazebo}/agents/memory.py      |   0
 .../brains/{ => gazebo}/agents/qlearn.py      |   0
 .../{ => gazebo}/agents/ros_gazebo_pose.py    |   0
 .../agents/scripts/benchmark_runner           |   0
 .../brains/{ => gazebo}/agents/settings.py    |   0
 .../circuit2_turtlebot_lidar_qlearn.py        |   0
 .../circuit2c_turtlebot_camera_dqn.py         |   0
 .../{ => gazebo}/agents/turtlebot/deepq.py    |   0
 .../{ => gazebo}/agents/turtlebot/liveplot.py |   0
 .../{ => gazebo}/agents/turtlebot/memory.py   |   0
 .../{ => gazebo}/agents/turtlebot/qlearn.py   |   0
 .../turtlebot/round_turtlebot_lidar_test.py   |   0
 ...untraining_dqn_circuit2_turtlebot_lidar.py |   0
 .../{ => gazebo}/agents/turtlebot/sarsa.py    |   0
 .../agents/utilities/averaged_table.py        |   0
 .../agents/utilities/camera_visualizer.py     |   0
 .../agents/utilities/display_plot.py          |   0
 .../brains/{drone => gazebo/car}/__init__.py  |   0
 .../{ => gazebo}/car/brain_car_opencv2.py     |   0
 .../brains/{f1 => gazebo/drone}/__init__.py   |   0
 .../drone/brain_drone_explicit.py             |   0
 .../{f1/torch_utils => gazebo/f1}/__init__.py |   0
 .../brains/{ => gazebo}/f1/brain_f1_dummy.py  |   0
 .../{ => gazebo}/f1/brain_f1_explicit.py      |   0
 .../f1/brain_f1_follow_line_dqn.py            |   2 +-
 .../f1/brain_f1_follow_line_qlearn.py         |   2 +-
 .../{ => gazebo}/f1/brain_f1_keras-lstm.py    |   0
 .../brains/{ => gazebo}/f1/brain_f1_keras.py  |   0
 .../f1/brain_f1_keras_classification-bw.py    |   0
 .../f1/brain_f1_keras_classification.py       |   0
 .../f1/brain_f1_keras_opencv_dataset.py       |   0
 .../f1/brain_f1_keras_preprocessed.py         |   0
 .../f1/brain_f1_keras_preprocessed_lstm.py    |   0
 ...eras_preprocessed_lstm_3_elements-60pts.py |   0
 ...n_f1_keras_preprocessed_lstm_3_elements.py |   0
 ...n_f1_keras_preprocessed_lstm_5_elements.py |   0
 .../f1/brain_f1_keras_preprocessed_v_w.py     |   0
 .../f1/brain_f1_keras_scripting.py            |   0
 .../{ => gazebo}/f1/brain_f1_keras_seq_3.py   |   0
 .../f1/brain_f1_keras_seq_3_opencv_dataset.py |   0
 .../brains/{ => gazebo}/f1/brain_f1_opencv.py |   0
 .../{ => gazebo}/f1/brain_f1_torch-lstm.py    |   0
 .../brains/{ => gazebo}/f1/brain_f1_torch.py  |   2 +-
 .../{ => gazebo}/f1/brain_f1_torchstacked.py  |   0
 .../f1/config/config_f1_qlearn.yaml           |   0
 ...ig_inference_followline_dqn_f1_gazebo.yaml |   0
 .../f1/rl_utils/algorithms/__init__.py        |   0
 .../f1/rl_utils/algorithms/algorithms_type.py |   0
 .../f1/rl_utils/algorithms/dqn_f1.py          |   0
 .../f1/rl_utils/algorithms/exceptions.py      |   0
 .../f1/rl_utils/algorithms/loaders.py         |   0
 .../f1/rl_utils/algorithms/qlearn_f1.py       |   0
 .../{ => gazebo}/f1/rl_utils/env_type.py      |   0
 .../{ => gazebo}/f1/rl_utils/exceptions.py    |   0
 .../{ => gazebo}/f1/rl_utils/gazebo_envs.py   |   0
 .../{ => gazebo}/f1/rl_utils/image_f1.py      |   0
 .../{ => gazebo}/f1/rl_utils/inference.py     |   0
 .../f1/rl_utils/models/__init__.py            |   0
 .../{ => gazebo}/f1/rl_utils/models/f1_env.py |   0
 .../f1/rl_utils/models/f1_env_camera.py       |   0
 .../f1/rl_utils/models/followline_dqn_tf.py   |   0
 .../{ => gazebo}/f1/rl_utils/models/images.py |   0
 .../{ => gazebo}/f1/rl_utils/models/reset.py  |   0
 .../f1/rl_utils/models/rewards.py             |   0
 .../f1/rl_utils/models/settings.py            |   0
 .../rl_utils/models/simplified_perception.py  |   0
 .../{ => gazebo}/f1/rl_utils/models/step.py   |   0
 .../{ => gazebo}/f1/rl_utils/models/utils.py  |   0
 .../{ => gazebo}/f1/rl_utils/settings.py      |   0
 .../f1/torch_utils}/__init__.py               |   0
 .../brains/gazebo/f1/torch_utils/convlstm.py  | 195 ++++++++++++++++++
 .../torch_utils/deepest_lstm_tinypilotnet.py  |  45 ++++
 .../brains/gazebo/f1/torch_utils/pilotnet.py  |  58 ++++++
 .../gazebo/f1/torch_utils/pilotnetStacked.py  |  59 ++++++
 .../{f1rl/utils => gazebo/f1rl}/__init__.py   |   0
 .../{ => gazebo}/f1rl/brain_f1_dummy.py       |   0
 .../f1rl/f1_follow_line_camera_dqn.py         |   0
 .../f1rl/f1_follow_line_qlearn.py             |   0
 .../f1rl/f1_follow_line_qlearn_laser.py       |   0
 .../brains/{ => gazebo}/f1rl/train.py         |   0
 .../f1rl/utils}/__init__.py                   |   0
 .../brains/{ => gazebo}/f1rl/utils/dqn.py     |   0
 .../{ => gazebo}/f1rl/utils/liveplot.py       |   0
 .../brains/{ => gazebo}/f1rl/utils/memory.py  |   0
 .../brains/{ => gazebo}/f1rl/utils/qlearn.py  |   0
 .../f1rl/utils/ros_gazebo_pose.py             |   0
 .../{ => gazebo}/f1rl/utils/settings.py       |   0
 .../brains/gazebo/turtlebot/__init__.py       |   0
 .../turtlebot/brain_turtlebot_opencv2.py      |   0
 .../configs/gazebo/DL-tensorflow.yml          |   2 +-
 .../configs/gazebo/DL-torch-lstm.yml          |   2 +-
 .../configs/gazebo/DL-torch-stacked.yml       |   2 +-
 behavior_metrics/configs/gazebo/DL-torch.yml  |   2 +-
 .../configs/gazebo/default-multiple.yml       |   2 +-
 .../configs/gazebo/default-rl-dqn.yml         |   2 +-
 .../configs/gazebo/default-rl-qlearn.yml      |   2 +-
 behavior_metrics/configs/gazebo/default.yml   |   2 +-
 .../configs/gazebo/torch-multiple.yml         |   2 +-
 behavior_metrics/profiles/default.yml         |   2 +-
 behavior_metrics/robot/configurations/f1.yml  |   2 +-
 .../robot/configurations/f1_laser.yml         |   2 +-
 .../robot/configurations/turtlebot_laser.yml  |   2 +-
 behavior_metrics/ui/tui/main_view.py          |   2 +-
 129 files changed, 379 insertions(+), 21 deletions(-)
 rename behavior_metrics/brains/{agents => CARLA/pytorch/utils}/__init__.py (100%)
 rename behavior_metrics/brains/{f1/torch_utils => CARLA/pytorch/utils}/convlstm.py (100%)
 rename behavior_metrics/brains/{f1/torch_utils => CARLA/pytorch/utils}/deepest_lstm_tinypilotnet.py (100%)
 rename behavior_metrics/brains/{f1/torch_utils => CARLA/pytorch/utils}/pilotnet.py (100%)
 rename behavior_metrics/brains/{f1/torch_utils => CARLA/pytorch/utils}/pilotnetStacked.py (100%)
 rename behavior_metrics/brains/{agents/f1 => gazebo/agents}/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/.env (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/.env.sample (100%)
 rename behavior_metrics/brains/{car => gazebo/agents/f1}/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/f1_follow_line_camera_dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/f1_follow_line_qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/liveplot.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/memory.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/ros_gazebo_pose.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1/settings.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1_follow_line_camera_dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/f1_follow_line_qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/liveplot.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/memory.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/ros_gazebo_pose.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/scripts/benchmark_runner (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/settings.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/deepq.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/liveplot.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/memory.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/round_turtlebot_lidar_test.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/turtlebot/sarsa.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/utilities/averaged_table.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/utilities/camera_visualizer.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/agents/utilities/display_plot.py (100%)
 rename behavior_metrics/brains/{drone => gazebo/car}/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/car/brain_car_opencv2.py (100%)
 rename behavior_metrics/brains/{f1 => gazebo/drone}/__init__.py (100%)
 mode change 100755 => 100644
 rename behavior_metrics/brains/{ => gazebo}/drone/brain_drone_explicit.py (100%)
 rename behavior_metrics/brains/{f1/torch_utils => gazebo/f1}/__init__.py (100%)
 mode change 100644 => 100755
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_dummy.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_explicit.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_follow_line_dqn.py (98%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_follow_line_qlearn.py (98%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras-lstm.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_classification-bw.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_classification.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_opencv_dataset.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_preprocessed.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_preprocessed_lstm.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_preprocessed_lstm_3_elements.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_preprocessed_lstm_5_elements.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_preprocessed_v_w.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_scripting.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_seq_3.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_keras_seq_3_opencv_dataset.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_opencv.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_torch-lstm.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_torch.py (98%)
 rename behavior_metrics/brains/{ => gazebo}/f1/brain_f1_torchstacked.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/config/config_f1_qlearn.yaml (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/config/config_inference_followline_dqn_f1_gazebo.yaml (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/algorithms/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/algorithms/algorithms_type.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/algorithms/dqn_f1.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/algorithms/exceptions.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/algorithms/loaders.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/algorithms/qlearn_f1.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/env_type.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/exceptions.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/gazebo_envs.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/image_f1.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/inference.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/f1_env.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/f1_env_camera.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/followline_dqn_tf.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/images.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/reset.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/rewards.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/settings.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/simplified_perception.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/step.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/models/utils.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1/rl_utils/settings.py (100%)
 rename behavior_metrics/brains/{f1rl => gazebo/f1/torch_utils}/__init__.py (100%)
 create mode 100644 behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py
 create mode 100644 behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py
 create mode 100644 behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py
 create mode 100644 behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py
 rename behavior_metrics/brains/{f1rl/utils => gazebo/f1rl}/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/brain_f1_dummy.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/f1_follow_line_camera_dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/f1_follow_line_qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/f1_follow_line_qlearn_laser.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/train.py (100%)
 rename behavior_metrics/brains/{turtlebot => gazebo/f1rl/utils}/__init__.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/utils/dqn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/utils/liveplot.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/utils/memory.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/utils/qlearn.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/utils/ros_gazebo_pose.py (100%)
 rename behavior_metrics/brains/{ => gazebo}/f1rl/utils/settings.py (100%)
 create mode 100644 behavior_metrics/brains/gazebo/turtlebot/__init__.py
 rename behavior_metrics/brains/{ => gazebo}/turtlebot/brain_turtlebot_opencv2.py (100%)

diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py
index aac2f4af..1c86fb03 100644
--- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py
+++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch.py
@@ -1,5 +1,5 @@
 from PIL import Image
-from brains.f1.torch_utils.pilotnet import PilotNet
+from brains.CARLA.pytorch.utils.pilotnet import PilotNet
 from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH
 from os import path
 from albumentations import (
diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py
index 6bb5d10b..a7b6393d 100644
--- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py
+++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_optimized.py
@@ -1,5 +1,5 @@
 from PIL import Image
-from brains.f1.torch_utils.pilotnet import PilotNet
+from brains.CARLA.pytorch.utils.pilotnet import PilotNet
 from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH
 from os import path
 from albumentations import (
diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py
index 46459ea8..1be9db8c 100644
--- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py
+++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_float.py
@@ -1,5 +1,5 @@
 from PIL import Image
-from brains.f1.torch_utils.pilotnet import PilotNet
+from brains.CARLA.pytorch.utils.pilotnet import PilotNet
 from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH
 from os import path
 from albumentations import (
diff --git a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py
index dbc1b1be..d7d05a2d 100644
--- a/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py
+++ b/behavior_metrics/brains/CARLA/pytorch/brain_carla_bird_eye_deep_learning_torch_tensorrt_int_8.py
@@ -1,5 +1,5 @@
 from PIL import Image
-from brains.f1.torch_utils.pilotnet import PilotNet
+from brains.CARLA.pytorch.utils.pilotnet import PilotNet
 from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH
 from os import path
 from albumentations import (
diff --git a/behavior_metrics/brains/agents/__init__.py b/behavior_metrics/brains/CARLA/pytorch/utils/__init__.py
similarity index 100%
rename from behavior_metrics/brains/agents/__init__.py
rename to behavior_metrics/brains/CARLA/pytorch/utils/__init__.py
diff --git a/behavior_metrics/brains/f1/torch_utils/convlstm.py b/behavior_metrics/brains/CARLA/pytorch/utils/convlstm.py
similarity index 100%
rename from behavior_metrics/brains/f1/torch_utils/convlstm.py
rename to behavior_metrics/brains/CARLA/pytorch/utils/convlstm.py
diff --git a/behavior_metrics/brains/f1/torch_utils/deepest_lstm_tinypilotnet.py b/behavior_metrics/brains/CARLA/pytorch/utils/deepest_lstm_tinypilotnet.py
similarity index 100%
rename from behavior_metrics/brains/f1/torch_utils/deepest_lstm_tinypilotnet.py
rename to behavior_metrics/brains/CARLA/pytorch/utils/deepest_lstm_tinypilotnet.py
diff --git a/behavior_metrics/brains/f1/torch_utils/pilotnet.py b/behavior_metrics/brains/CARLA/pytorch/utils/pilotnet.py
similarity index 100%
rename from behavior_metrics/brains/f1/torch_utils/pilotnet.py
rename to behavior_metrics/brains/CARLA/pytorch/utils/pilotnet.py
diff --git a/behavior_metrics/brains/f1/torch_utils/pilotnetStacked.py b/behavior_metrics/brains/CARLA/pytorch/utils/pilotnetStacked.py
similarity index 100%
rename from behavior_metrics/brains/f1/torch_utils/pilotnetStacked.py
rename to behavior_metrics/brains/CARLA/pytorch/utils/pilotnetStacked.py
diff --git a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py
index 7dbe5377..c58be794 100644
--- a/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py
+++ b/behavior_metrics/brains/CARLA/tensorflow/brain_carla_bird_eye_deep_learning.py
@@ -136,6 +136,7 @@ def execute(self):
         self.update_pose(self.pose.getPose3d())
 
         image_shape=(66, 200)
+        #image_shape=(50, 150)
         img_base = cv2.resize(bird_eye_view_1, image_shape)
 
         AUGMENTATIONS_TEST = Compose([
diff --git a/behavior_metrics/brains/agents/f1/__init__.py b/behavior_metrics/brains/gazebo/agents/__init__.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/__init__.py
rename to behavior_metrics/brains/gazebo/agents/__init__.py
diff --git a/behavior_metrics/brains/agents/dqn.py b/behavior_metrics/brains/gazebo/agents/dqn.py
similarity index 100%
rename from behavior_metrics/brains/agents/dqn.py
rename to behavior_metrics/brains/gazebo/agents/dqn.py
diff --git a/behavior_metrics/brains/agents/f1/.env b/behavior_metrics/brains/gazebo/agents/f1/.env
similarity index 100%
rename from behavior_metrics/brains/agents/f1/.env
rename to behavior_metrics/brains/gazebo/agents/f1/.env
diff --git a/behavior_metrics/brains/agents/f1/.env.sample b/behavior_metrics/brains/gazebo/agents/f1/.env.sample
similarity index 100%
rename from behavior_metrics/brains/agents/f1/.env.sample
rename to behavior_metrics/brains/gazebo/agents/f1/.env.sample
diff --git a/behavior_metrics/brains/car/__init__.py b/behavior_metrics/brains/gazebo/agents/f1/__init__.py
similarity index 100%
rename from behavior_metrics/brains/car/__init__.py
rename to behavior_metrics/brains/gazebo/agents/f1/__init__.py
diff --git a/behavior_metrics/brains/agents/f1/dqn.py b/behavior_metrics/brains/gazebo/agents/f1/dqn.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/dqn.py
rename to behavior_metrics/brains/gazebo/agents/f1/dqn.py
diff --git a/behavior_metrics/brains/agents/f1/f1_follow_line_camera_dqn.py b/behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_camera_dqn.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/f1_follow_line_camera_dqn.py
rename to behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_camera_dqn.py
diff --git a/behavior_metrics/brains/agents/f1/f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_qlearn.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/f1_follow_line_qlearn.py
rename to behavior_metrics/brains/gazebo/agents/f1/f1_follow_line_qlearn.py
diff --git a/behavior_metrics/brains/agents/f1/liveplot.py b/behavior_metrics/brains/gazebo/agents/f1/liveplot.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/liveplot.py
rename to behavior_metrics/brains/gazebo/agents/f1/liveplot.py
diff --git a/behavior_metrics/brains/agents/f1/memory.py b/behavior_metrics/brains/gazebo/agents/f1/memory.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/memory.py
rename to behavior_metrics/brains/gazebo/agents/f1/memory.py
diff --git a/behavior_metrics/brains/agents/f1/qlearn.py b/behavior_metrics/brains/gazebo/agents/f1/qlearn.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/qlearn.py
rename to behavior_metrics/brains/gazebo/agents/f1/qlearn.py
diff --git a/behavior_metrics/brains/agents/f1/ros_gazebo_pose.py b/behavior_metrics/brains/gazebo/agents/f1/ros_gazebo_pose.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/ros_gazebo_pose.py
rename to behavior_metrics/brains/gazebo/agents/f1/ros_gazebo_pose.py
diff --git a/behavior_metrics/brains/agents/f1/settings.py b/behavior_metrics/brains/gazebo/agents/f1/settings.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1/settings.py
rename to behavior_metrics/brains/gazebo/agents/f1/settings.py
diff --git a/behavior_metrics/brains/agents/f1_follow_line_camera_dqn.py b/behavior_metrics/brains/gazebo/agents/f1_follow_line_camera_dqn.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1_follow_line_camera_dqn.py
rename to behavior_metrics/brains/gazebo/agents/f1_follow_line_camera_dqn.py
diff --git a/behavior_metrics/brains/agents/f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/agents/f1_follow_line_qlearn.py
similarity index 100%
rename from behavior_metrics/brains/agents/f1_follow_line_qlearn.py
rename to behavior_metrics/brains/gazebo/agents/f1_follow_line_qlearn.py
diff --git a/behavior_metrics/brains/agents/liveplot.py b/behavior_metrics/brains/gazebo/agents/liveplot.py
similarity index 100%
rename from behavior_metrics/brains/agents/liveplot.py
rename to behavior_metrics/brains/gazebo/agents/liveplot.py
diff --git a/behavior_metrics/brains/agents/memory.py b/behavior_metrics/brains/gazebo/agents/memory.py
similarity index 100%
rename from behavior_metrics/brains/agents/memory.py
rename to behavior_metrics/brains/gazebo/agents/memory.py
diff --git a/behavior_metrics/brains/agents/qlearn.py b/behavior_metrics/brains/gazebo/agents/qlearn.py
similarity index 100%
rename from behavior_metrics/brains/agents/qlearn.py
rename to behavior_metrics/brains/gazebo/agents/qlearn.py
diff --git a/behavior_metrics/brains/agents/ros_gazebo_pose.py b/behavior_metrics/brains/gazebo/agents/ros_gazebo_pose.py
similarity index 100%
rename from behavior_metrics/brains/agents/ros_gazebo_pose.py
rename to behavior_metrics/brains/gazebo/agents/ros_gazebo_pose.py
diff --git a/behavior_metrics/brains/agents/scripts/benchmark_runner b/behavior_metrics/brains/gazebo/agents/scripts/benchmark_runner
similarity index 100%
rename from behavior_metrics/brains/agents/scripts/benchmark_runner
rename to behavior_metrics/brains/gazebo/agents/scripts/benchmark_runner
diff --git a/behavior_metrics/brains/agents/settings.py b/behavior_metrics/brains/gazebo/agents/settings.py
similarity index 100%
rename from behavior_metrics/brains/agents/settings.py
rename to behavior_metrics/brains/gazebo/agents/settings.py
diff --git a/behavior_metrics/brains/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py b/behavior_metrics/brains/gazebo/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/circuit2_turtlebot_lidar_qlearn.py
diff --git a/behavior_metrics/brains/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py b/behavior_metrics/brains/gazebo/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/circuit2c_turtlebot_camera_dqn.py
diff --git a/behavior_metrics/brains/agents/turtlebot/deepq.py b/behavior_metrics/brains/gazebo/agents/turtlebot/deepq.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/deepq.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/deepq.py
diff --git a/behavior_metrics/brains/agents/turtlebot/liveplot.py b/behavior_metrics/brains/gazebo/agents/turtlebot/liveplot.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/liveplot.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/liveplot.py
diff --git a/behavior_metrics/brains/agents/turtlebot/memory.py b/behavior_metrics/brains/gazebo/agents/turtlebot/memory.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/memory.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/memory.py
diff --git a/behavior_metrics/brains/agents/turtlebot/qlearn.py b/behavior_metrics/brains/gazebo/agents/turtlebot/qlearn.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/qlearn.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/qlearn.py
diff --git a/behavior_metrics/brains/agents/turtlebot/round_turtlebot_lidar_test.py b/behavior_metrics/brains/gazebo/agents/turtlebot/round_turtlebot_lidar_test.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/round_turtlebot_lidar_test.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/round_turtlebot_lidar_test.py
diff --git a/behavior_metrics/brains/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py b/behavior_metrics/brains/gazebo/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/runtraining_dqn_circuit2_turtlebot_lidar.py
diff --git a/behavior_metrics/brains/agents/turtlebot/sarsa.py b/behavior_metrics/brains/gazebo/agents/turtlebot/sarsa.py
similarity index 100%
rename from behavior_metrics/brains/agents/turtlebot/sarsa.py
rename to behavior_metrics/brains/gazebo/agents/turtlebot/sarsa.py
diff --git a/behavior_metrics/brains/agents/utilities/averaged_table.py b/behavior_metrics/brains/gazebo/agents/utilities/averaged_table.py
similarity index 100%
rename from behavior_metrics/brains/agents/utilities/averaged_table.py
rename to behavior_metrics/brains/gazebo/agents/utilities/averaged_table.py
diff --git a/behavior_metrics/brains/agents/utilities/camera_visualizer.py b/behavior_metrics/brains/gazebo/agents/utilities/camera_visualizer.py
similarity index 100%
rename from behavior_metrics/brains/agents/utilities/camera_visualizer.py
rename to behavior_metrics/brains/gazebo/agents/utilities/camera_visualizer.py
diff --git a/behavior_metrics/brains/agents/utilities/display_plot.py b/behavior_metrics/brains/gazebo/agents/utilities/display_plot.py
similarity index 100%
rename from behavior_metrics/brains/agents/utilities/display_plot.py
rename to behavior_metrics/brains/gazebo/agents/utilities/display_plot.py
diff --git a/behavior_metrics/brains/drone/__init__.py b/behavior_metrics/brains/gazebo/car/__init__.py
similarity index 100%
rename from behavior_metrics/brains/drone/__init__.py
rename to behavior_metrics/brains/gazebo/car/__init__.py
diff --git a/behavior_metrics/brains/car/brain_car_opencv2.py b/behavior_metrics/brains/gazebo/car/brain_car_opencv2.py
similarity index 100%
rename from behavior_metrics/brains/car/brain_car_opencv2.py
rename to behavior_metrics/brains/gazebo/car/brain_car_opencv2.py
diff --git a/behavior_metrics/brains/f1/__init__.py b/behavior_metrics/brains/gazebo/drone/__init__.py
old mode 100755
new mode 100644
similarity index 100%
rename from behavior_metrics/brains/f1/__init__.py
rename to behavior_metrics/brains/gazebo/drone/__init__.py
diff --git a/behavior_metrics/brains/drone/brain_drone_explicit.py b/behavior_metrics/brains/gazebo/drone/brain_drone_explicit.py
similarity index 100%
rename from behavior_metrics/brains/drone/brain_drone_explicit.py
rename to behavior_metrics/brains/gazebo/drone/brain_drone_explicit.py
diff --git a/behavior_metrics/brains/f1/torch_utils/__init__.py b/behavior_metrics/brains/gazebo/f1/__init__.py
old mode 100644
new mode 100755
similarity index 100%
rename from behavior_metrics/brains/f1/torch_utils/__init__.py
rename to behavior_metrics/brains/gazebo/f1/__init__.py
diff --git a/behavior_metrics/brains/f1/brain_f1_dummy.py b/behavior_metrics/brains/gazebo/f1/brain_f1_dummy.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_dummy.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_dummy.py
diff --git a/behavior_metrics/brains/f1/brain_f1_explicit.py b/behavior_metrics/brains/gazebo/f1/brain_f1_explicit.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_explicit.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_explicit.py
diff --git a/behavior_metrics/brains/f1/brain_f1_follow_line_dqn.py b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_dqn.py
similarity index 98%
rename from behavior_metrics/brains/f1/brain_f1_follow_line_dqn.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_dqn.py
index b3ba8397..7583c4ef 100644
--- a/behavior_metrics/brains/f1/brain_f1_follow_line_dqn.py
+++ b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_dqn.py
@@ -154,7 +154,7 @@ def __init__(self, sensors, actuators, handler, config=None):
             'algorithm': 'dqn',
             'environment': 'simple',
             'agent': 'f1',
-            'filename': 'brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml'
+            'filename': 'brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml'
         }
 
         f = open(args['filename'], "r")
diff --git a/behavior_metrics/brains/f1/brain_f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_qlearn.py
similarity index 98%
rename from behavior_metrics/brains/f1/brain_f1_follow_line_qlearn.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_qlearn.py
index d79ca355..86e20b4a 100644
--- a/behavior_metrics/brains/f1/brain_f1_follow_line_qlearn.py
+++ b/behavior_metrics/brains/gazebo/f1/brain_f1_follow_line_qlearn.py
@@ -44,7 +44,7 @@ def __init__(self, sensors, actuators, handler, config=None):
             'algorithm': 'qlearn',
             'environment': 'simple', 
             'agent': 'f1',
-            'filename': 'brains/f1/config/config_f1_qlearn.yaml'
+            'filename': 'brains/gazebo/sf1/config/config_f1_qlearn.yaml'
         }
         
         f = open(args['filename'], "r")
diff --git a/behavior_metrics/brains/f1/brain_f1_keras-lstm.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras-lstm.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras-lstm.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras-lstm.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_classification-bw.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification-bw.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_classification-bw.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification-bw.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_classification.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_classification.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_classification.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_opencv_dataset.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_opencv_dataset.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_opencv_dataset.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_opencv_dataset.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements-60pts.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_3_elements.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_3_elements.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_5_elements.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_5_elements.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_lstm_5_elements.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_lstm_5_elements.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_preprocessed_v_w.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_v_w.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_preprocessed_v_w.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_preprocessed_v_w.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_scripting.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_scripting.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_scripting.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_scripting.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_seq_3.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_seq_3.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3.py
diff --git a/behavior_metrics/brains/f1/brain_f1_keras_seq_3_opencv_dataset.py b/behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3_opencv_dataset.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_keras_seq_3_opencv_dataset.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_keras_seq_3_opencv_dataset.py
diff --git a/behavior_metrics/brains/f1/brain_f1_opencv.py b/behavior_metrics/brains/gazebo/f1/brain_f1_opencv.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_opencv.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_opencv.py
diff --git a/behavior_metrics/brains/f1/brain_f1_torch-lstm.py b/behavior_metrics/brains/gazebo/f1/brain_f1_torch-lstm.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_torch-lstm.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_torch-lstm.py
diff --git a/behavior_metrics/brains/f1/brain_f1_torch.py b/behavior_metrics/brains/gazebo/f1/brain_f1_torch.py
similarity index 98%
rename from behavior_metrics/brains/f1/brain_f1_torch.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_torch.py
index 82ed5bd2..7c063354 100644
--- a/behavior_metrics/brains/f1/brain_f1_torch.py
+++ b/behavior_metrics/brains/gazebo/f1/brain_f1_torch.py
@@ -17,7 +17,7 @@
 import time
 import os
 from PIL import Image
-from brains.f1.torch_utils.pilotnet import PilotNet
+from brains.gazebo.f1.torch_utils.pilotnet import PilotNetss
 from utils.constants import PRETRAINED_MODELS_DIR, ROOT_PATH
 from os import path
 
diff --git a/behavior_metrics/brains/f1/brain_f1_torchstacked.py b/behavior_metrics/brains/gazebo/f1/brain_f1_torchstacked.py
similarity index 100%
rename from behavior_metrics/brains/f1/brain_f1_torchstacked.py
rename to behavior_metrics/brains/gazebo/f1/brain_f1_torchstacked.py
diff --git a/behavior_metrics/brains/f1/config/config_f1_qlearn.yaml b/behavior_metrics/brains/gazebo/f1/config/config_f1_qlearn.yaml
similarity index 100%
rename from behavior_metrics/brains/f1/config/config_f1_qlearn.yaml
rename to behavior_metrics/brains/gazebo/f1/config/config_f1_qlearn.yaml
diff --git a/behavior_metrics/brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml b/behavior_metrics/brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml
similarity index 100%
rename from behavior_metrics/brains/f1/config/config_inference_followline_dqn_f1_gazebo.yaml
rename to behavior_metrics/brains/gazebo/f1/config/config_inference_followline_dqn_f1_gazebo.yaml
diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/__init__.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/__init__.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/algorithms/__init__.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/__init__.py
diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/algorithms_type.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/algorithms_type.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/algorithms/algorithms_type.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/algorithms_type.py
diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/dqn_f1.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/dqn_f1.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/algorithms/dqn_f1.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/dqn_f1.py
diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/exceptions.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/exceptions.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/algorithms/exceptions.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/exceptions.py
diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/loaders.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/loaders.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/algorithms/loaders.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/loaders.py
diff --git a/behavior_metrics/brains/f1/rl_utils/algorithms/qlearn_f1.py b/behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/qlearn_f1.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/algorithms/qlearn_f1.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/algorithms/qlearn_f1.py
diff --git a/behavior_metrics/brains/f1/rl_utils/env_type.py b/behavior_metrics/brains/gazebo/f1/rl_utils/env_type.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/env_type.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/env_type.py
diff --git a/behavior_metrics/brains/f1/rl_utils/exceptions.py b/behavior_metrics/brains/gazebo/f1/rl_utils/exceptions.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/exceptions.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/exceptions.py
diff --git a/behavior_metrics/brains/f1/rl_utils/gazebo_envs.py b/behavior_metrics/brains/gazebo/f1/rl_utils/gazebo_envs.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/gazebo_envs.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/gazebo_envs.py
diff --git a/behavior_metrics/brains/f1/rl_utils/image_f1.py b/behavior_metrics/brains/gazebo/f1/rl_utils/image_f1.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/image_f1.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/image_f1.py
diff --git a/behavior_metrics/brains/f1/rl_utils/inference.py b/behavior_metrics/brains/gazebo/f1/rl_utils/inference.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/inference.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/inference.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/__init__.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/__init__.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/__init__.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/__init__.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/f1_env.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/f1_env.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/f1_env_camera.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env_camera.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/f1_env_camera.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/f1_env_camera.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/followline_dqn_tf.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/followline_dqn_tf.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/followline_dqn_tf.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/followline_dqn_tf.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/images.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/images.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/images.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/images.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/reset.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/reset.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/reset.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/reset.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/rewards.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/rewards.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/rewards.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/rewards.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/settings.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/settings.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/settings.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/settings.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/simplified_perception.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/simplified_perception.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/simplified_perception.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/simplified_perception.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/step.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/step.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/step.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/step.py
diff --git a/behavior_metrics/brains/f1/rl_utils/models/utils.py b/behavior_metrics/brains/gazebo/f1/rl_utils/models/utils.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/models/utils.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/models/utils.py
diff --git a/behavior_metrics/brains/f1/rl_utils/settings.py b/behavior_metrics/brains/gazebo/f1/rl_utils/settings.py
similarity index 100%
rename from behavior_metrics/brains/f1/rl_utils/settings.py
rename to behavior_metrics/brains/gazebo/f1/rl_utils/settings.py
diff --git a/behavior_metrics/brains/f1rl/__init__.py b/behavior_metrics/brains/gazebo/f1/torch_utils/__init__.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/__init__.py
rename to behavior_metrics/brains/gazebo/f1/torch_utils/__init__.py
diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py b/behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py
new file mode 100644
index 00000000..678caa74
--- /dev/null
+++ b/behavior_metrics/brains/gazebo/f1/torch_utils/convlstm.py
@@ -0,0 +1,195 @@
+"""
+This implementation of Convolutional LSTM has been adapted from https://github.com/ndrplz/ConvLSTM_pytorch.
+"""
+
+import torch.nn as nn
+import torch
+
+
+class ConvLSTMCell(nn.Module):
+
+    def __init__(self, input_dim, hidden_dim, kernel_size, bias):
+        """
+        Initialize ConvLSTM cell.
+
+        Parameters
+        ----------
+        input_dim: int
+            Number of channels of input tensor.
+        hidden_dim: int
+            Number of channels of hidden state.
+        kernel_size: (int, int)
+            Size of the convolutional kernel.
+        bias: bool
+            Whether or not to add the bias.
+        """
+
+        super(ConvLSTMCell, self).__init__()
+
+        self.input_dim = input_dim
+        self.hidden_dim = hidden_dim
+
+        self.kernel_size = kernel_size
+        self.padding = kernel_size[0] // 2, kernel_size[1] // 2
+        self.bias = bias
+
+        self.conv = nn.Conv2d(in_channels=self.input_dim + self.hidden_dim,
+                              out_channels=4 * self.hidden_dim,
+                              kernel_size=self.kernel_size,
+                              padding=self.padding,
+                              bias=self.bias)
+
+    def forward(self, input_tensor, cur_state):
+        h_cur, c_cur = cur_state
+
+        combined = torch.cat([input_tensor, h_cur], dim=1)  # concatenate along channel axis
+
+        combined_conv = self.conv(combined)
+        cc_i, cc_f, cc_o, cc_g = torch.split(combined_conv, self.hidden_dim, dim=1)
+        i = torch.sigmoid(cc_i)
+        f = torch.sigmoid(cc_f)
+        o = torch.sigmoid(cc_o)
+        g = torch.tanh(cc_g)
+
+        c_next = f * c_cur + i * g
+        h_next = o * torch.tanh(c_next)
+
+        return h_next, c_next
+
+    def init_hidden(self, batch_size, image_size):
+        height, width = image_size
+        return (torch.zeros(batch_size, self.hidden_dim, height, width, device=self.conv.weight.device),
+                torch.zeros(batch_size, self.hidden_dim, height, width, device=self.conv.weight.device))
+
+
+class ConvLSTM(nn.Module):
+
+    """
+
+    Parameters:
+        input_dim: Number of channels in input
+        hidden_dim: Number of hidden channels
+        kernel_size: Size of kernel in convolutions
+        num_layers: Number of LSTM layers stacked on each other
+        batch_first: Whether or not dimension 0 is the batch or not
+        bias: Bias or no bias in Convolution
+        return_all_layers: Return the list of computations for all layers
+        Note: Will do same padding.
+
+    Input:
+        A tensor of size B, T, C, H, W or T, B, C, H, W
+    Output:
+        A tuple of two lists of length num_layers (or length 1 if return_all_layers is False).
+            0 - layer_output_list is the list of lists of length T of each output
+            1 - last_state_list is the list of last states
+                    each element of the list is a tuple (h, c) for hidden state and memory
+    Example:
+        >> x = torch.rand((32, 10, 64, 128, 128))
+        >> convlstm = ConvLSTM(64, 16, 3, 1, True, True, False)
+        >> _, last_states = convlstm(x)
+        >> h = last_states[0][0]  # 0 for layer index, 0 for h index
+    """
+
+    def __init__(self, input_dim, hidden_dim, kernel_size, num_layers,
+                 batch_first=False, bias=True, return_all_layers=False):
+        super(ConvLSTM, self).__init__()
+
+        self._check_kernel_size_consistency(kernel_size)
+
+        # Make sure that both `kernel_size` and `hidden_dim` are lists having len == num_layers
+        kernel_size = self._extend_for_multilayer(kernel_size, num_layers)
+        hidden_dim = self._extend_for_multilayer(hidden_dim, num_layers)
+        if not len(kernel_size) == len(hidden_dim) == num_layers:
+            raise ValueError('Inconsistent list length.')
+
+        self.input_dim = input_dim
+        self.hidden_dim = hidden_dim
+        self.kernel_size = kernel_size
+        self.num_layers = num_layers
+        self.batch_first = batch_first
+        self.bias = bias
+        self.return_all_layers = return_all_layers
+
+        cell_list = []
+        for i in range(0, self.num_layers):
+            cur_input_dim = self.input_dim if i == 0 else self.hidden_dim[i - 1]
+
+            cell_list.append(ConvLSTMCell(input_dim=cur_input_dim,
+                                          hidden_dim=self.hidden_dim[i],
+                                          kernel_size=self.kernel_size[i],
+                                          bias=self.bias))
+
+        self.cell_list = nn.ModuleList(cell_list)
+
+    def forward(self, input_tensor, hidden_state=None):
+        """
+
+        Parameters
+        ----------
+        input_tensor: todo
+            5-D Tensor either of shape (t, b, c, h, w) or (b, t, c, h, w)
+        hidden_state: todo
+            None. todo implement stateful
+
+        Returns
+        -------
+        last_state_list, layer_output
+        """
+        if not self.batch_first:
+            # (t, b, c, h, w) -> (b, t, c, h, w)
+            input_tensor = input_tensor.permute(1, 0, 2, 3, 4)
+
+        b, _, _, h, w = input_tensor.size()
+
+        # Implement stateful ConvLSTM
+        if hidden_state is not None:
+            raise NotImplementedError()
+        else:
+            # Since the init is done in forward. Can send image size here
+            hidden_state = self._init_hidden(batch_size=b,
+                                             image_size=(h, w))
+
+        layer_output_list = []
+        last_state_list = []
+
+        seq_len = input_tensor.size(1)
+        cur_layer_input = input_tensor
+
+        for layer_idx in range(self.num_layers):
+
+            h, c = hidden_state[layer_idx]
+            output_inner = []
+            for t in range(seq_len):
+                h, c = self.cell_list[layer_idx](input_tensor=cur_layer_input[:, t, :, :, :],
+                                                 cur_state=[h, c])
+                output_inner.append(h)
+
+            layer_output = torch.stack(output_inner, dim=1)
+            cur_layer_input = layer_output
+
+            layer_output_list.append(layer_output)
+            last_state_list.append([h, c])
+
+        if not self.return_all_layers:
+            layer_output_list = layer_output_list[-1:]
+            last_state_list = last_state_list[-1:]
+
+        return layer_output_list, last_state_list
+
+    def _init_hidden(self, batch_size, image_size):
+        init_states = []
+        for i in range(self.num_layers):
+            init_states.append(self.cell_list[i].init_hidden(batch_size, image_size))
+        return init_states
+
+    @staticmethod
+    def _check_kernel_size_consistency(kernel_size):
+        if not (isinstance(kernel_size, tuple) or
+                (isinstance(kernel_size, list) and all([isinstance(elem, tuple) for elem in kernel_size]))):
+            raise ValueError('`kernel_size` must be tuple or list of tuples')
+
+    @staticmethod
+    def _extend_for_multilayer(param, num_layers):
+        if not isinstance(param, list):
+            param = [param] * num_layers
+        return param
\ No newline at end of file
diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py b/behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py
new file mode 100644
index 00000000..4affa175
--- /dev/null
+++ b/behavior_metrics/brains/gazebo/f1/torch_utils/deepest_lstm_tinypilotnet.py
@@ -0,0 +1,45 @@
+import torch
+import torch.nn as nn
+from .convlstm import ConvLSTM
+
+class DeepestLSTMTinyPilotNet(nn.Module):
+    def __init__(self, image_shape, num_labels):
+        super(DeepestLSTMTinyPilotNet, self).__init__()
+        self.num_channels = image_shape[2]
+        self.cn_1 = nn.Conv2d(self.num_channels, 8, kernel_size=3, stride=2)
+        self.relu_1 = nn.ReLU()
+        self.cn_2 = nn.Conv2d(8, 8, kernel_size=3, stride=2)
+        self.relu_2 = nn.ReLU()
+        self.cn_3 = nn.Conv2d(8, 8, kernel_size=3, stride=2)
+        self.relu_3 = nn.ReLU() 
+        self.dropout_1 = nn.Dropout(0.2)
+
+        self.clstm_n = ConvLSTM(8, 8, (5, 5), 3, batch_first=True, bias=True, return_all_layers=False)
+        
+        self.fc_1 = nn.Linear(8*11*5, 50)
+        self.relu_fc_1 = nn.ReLU()
+        self.fc_2 = nn.Linear(50, 10)
+        self.relu_fc_2 = nn.ReLU()
+        self.fc_3 = nn.Linear(10, num_labels)
+
+    def forward(self, img):        
+        out = self.cn_1(img)
+        out = self.relu_1(out)
+        out = self.cn_2(out)
+        out = self.relu_2(out)
+        out = self.cn_3(out)
+        out = self.relu_3(out)
+        out = self.dropout_1(out)
+        # add additional dimension at 1
+        out = out.unsqueeze(1) 
+
+        _, last_states = self.clstm_n(out)
+        out =  last_states[0][0]  # 0 for layer index, 0 for h index
+        # flatten
+        out = out.reshape(out.size(0), -1)
+        out = self.fc_1(out)
+        out = self.relu_fc_1(out)
+        out = self.fc_2(out)
+        out = self.relu_fc_2(out)
+        out = self.fc_3(out)
+        return out
diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py
new file mode 100644
index 00000000..153928ae
--- /dev/null
+++ b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnet.py
@@ -0,0 +1,58 @@
+import torch
+import torch.nn as nn
+
+
+class PilotNet(nn.Module):
+    def __init__(self,
+                image_shape,
+                num_labels):
+        super(PilotNet, self).__init__()
+
+        self.img_height = image_shape[0]
+        self.img_width = image_shape[1]
+        self.num_channels = image_shape[2]
+
+        self.output_size = num_labels
+        
+        self.ln_1 = nn.BatchNorm2d(self.num_channels, eps=1e-03)
+
+        self.cn_1 = nn.Conv2d(self.num_channels, 24, kernel_size=5, stride=2)
+        self.cn_2 = nn.Conv2d(24, 36, kernel_size=5, stride=2)
+        self.cn_3 = nn.Conv2d(36, 48, kernel_size=5, stride=2)
+        self.cn_4 = nn.Conv2d(48, 64, kernel_size=3, stride=1)
+        self.cn_5 = nn.Conv2d(64, 64, kernel_size=3, stride=1)
+
+        self.fc_1 = nn.Linear(1 * 18 * 64, 1164)
+        self.fc_2 = nn.Linear(1164, 100)
+        self.fc_3 = nn.Linear(100, 50)
+        self.fc_4 = nn.Linear(50, 10)
+        self.fc_5 = nn.Linear(10, self.output_size)
+
+    def forward(self, img):
+
+        out = self.ln_1(img)
+
+        out = self.cn_1(out)
+        out = torch.relu(out)
+        out = self.cn_2(out)
+        out = torch.relu(out)
+        out = self.cn_3(out)
+        out = torch.relu(out)
+        out = self.cn_4(out)
+        out = torch.relu(out)
+        out = self.cn_5(out)
+        out = torch.relu(out)
+
+        out = out.reshape(out.size(0), -1)
+
+        out = self.fc_1(out)
+        out = torch.relu(out)
+        out = self.fc_2(out)
+        out = torch.relu(out)
+        out = self.fc_3(out)
+        out = torch.relu(out)
+        out = self.fc_4(out)
+        out = torch.relu(out)
+        out = self.fc_5(out)
+
+        return out
diff --git a/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py
new file mode 100644
index 00000000..6d72e6bf
--- /dev/null
+++ b/behavior_metrics/brains/gazebo/f1/torch_utils/pilotnetStacked.py
@@ -0,0 +1,59 @@
+import torch
+import torch.nn as nn
+
+
+class PilotNet(nn.Module):
+    def __init__(self,
+                image_shape,
+                num_labels,
+                horizon):
+        super(PilotNet, self).__init__()
+
+        self.img_height = image_shape[0]
+        self.img_width = image_shape[1]
+        self.num_channels = horizon * image_shape[2]
+
+        self.output_size = num_labels
+        
+        self.ln_1 = nn.BatchNorm2d(self.num_channels, eps=1e-03)
+
+        self.cn_1 = nn.Conv2d(self.num_channels, 36, kernel_size=5, stride=2)
+        self.cn_2 = nn.Conv2d(36, 48, kernel_size=5, stride=2)
+        self.cn_3 = nn.Conv2d(48, 64, kernel_size=5, stride=2)
+        self.cn_4 = nn.Conv2d(64, 80, kernel_size=3, stride=1)
+        self.cn_5 = nn.Conv2d(80, 80, kernel_size=3, stride=1)
+
+        self.fc_1 = nn.Linear(1 * 18 * 80, 1164)
+        self.fc_2 = nn.Linear(1164, 100)
+        self.fc_3 = nn.Linear(100, 50)
+        self.fc_4 = nn.Linear(50, 10)
+        self.fc_5 = nn.Linear(10, self.output_size)
+
+    def forward(self, img):
+
+        out = self.ln_1(img)
+
+        out = self.cn_1(out)
+        out = torch.relu(out)
+        out = self.cn_2(out)
+        out = torch.relu(out)
+        out = self.cn_3(out)
+        out = torch.relu(out)
+        out = self.cn_4(out)
+        out = torch.relu(out)
+        out = self.cn_5(out)
+        out = torch.relu(out)
+
+        out = out.reshape(out.size(0), -1)
+
+        out = self.fc_1(out)
+        out = torch.relu(out)
+        out = self.fc_2(out)
+        out = torch.relu(out)
+        out = self.fc_3(out)
+        out = torch.relu(out)
+        out = self.fc_4(out)
+        out = torch.relu(out)
+        out = self.fc_5(out)
+
+        return out
\ No newline at end of file
diff --git a/behavior_metrics/brains/f1rl/utils/__init__.py b/behavior_metrics/brains/gazebo/f1rl/__init__.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/__init__.py
rename to behavior_metrics/brains/gazebo/f1rl/__init__.py
diff --git a/behavior_metrics/brains/f1rl/brain_f1_dummy.py b/behavior_metrics/brains/gazebo/f1rl/brain_f1_dummy.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/brain_f1_dummy.py
rename to behavior_metrics/brains/gazebo/f1rl/brain_f1_dummy.py
diff --git a/behavior_metrics/brains/f1rl/f1_follow_line_camera_dqn.py b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_camera_dqn.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/f1_follow_line_camera_dqn.py
rename to behavior_metrics/brains/gazebo/f1rl/f1_follow_line_camera_dqn.py
diff --git a/behavior_metrics/brains/f1rl/f1_follow_line_qlearn.py b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/f1_follow_line_qlearn.py
rename to behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn.py
diff --git a/behavior_metrics/brains/f1rl/f1_follow_line_qlearn_laser.py b/behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn_laser.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/f1_follow_line_qlearn_laser.py
rename to behavior_metrics/brains/gazebo/f1rl/f1_follow_line_qlearn_laser.py
diff --git a/behavior_metrics/brains/f1rl/train.py b/behavior_metrics/brains/gazebo/f1rl/train.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/train.py
rename to behavior_metrics/brains/gazebo/f1rl/train.py
diff --git a/behavior_metrics/brains/turtlebot/__init__.py b/behavior_metrics/brains/gazebo/f1rl/utils/__init__.py
similarity index 100%
rename from behavior_metrics/brains/turtlebot/__init__.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/__init__.py
diff --git a/behavior_metrics/brains/f1rl/utils/dqn.py b/behavior_metrics/brains/gazebo/f1rl/utils/dqn.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/dqn.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/dqn.py
diff --git a/behavior_metrics/brains/f1rl/utils/liveplot.py b/behavior_metrics/brains/gazebo/f1rl/utils/liveplot.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/liveplot.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/liveplot.py
diff --git a/behavior_metrics/brains/f1rl/utils/memory.py b/behavior_metrics/brains/gazebo/f1rl/utils/memory.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/memory.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/memory.py
diff --git a/behavior_metrics/brains/f1rl/utils/qlearn.py b/behavior_metrics/brains/gazebo/f1rl/utils/qlearn.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/qlearn.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/qlearn.py
diff --git a/behavior_metrics/brains/f1rl/utils/ros_gazebo_pose.py b/behavior_metrics/brains/gazebo/f1rl/utils/ros_gazebo_pose.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/ros_gazebo_pose.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/ros_gazebo_pose.py
diff --git a/behavior_metrics/brains/f1rl/utils/settings.py b/behavior_metrics/brains/gazebo/f1rl/utils/settings.py
similarity index 100%
rename from behavior_metrics/brains/f1rl/utils/settings.py
rename to behavior_metrics/brains/gazebo/f1rl/utils/settings.py
diff --git a/behavior_metrics/brains/gazebo/turtlebot/__init__.py b/behavior_metrics/brains/gazebo/turtlebot/__init__.py
new file mode 100644
index 00000000..e69de29b
diff --git a/behavior_metrics/brains/turtlebot/brain_turtlebot_opencv2.py b/behavior_metrics/brains/gazebo/turtlebot/brain_turtlebot_opencv2.py
similarity index 100%
rename from behavior_metrics/brains/turtlebot/brain_turtlebot_opencv2.py
rename to behavior_metrics/brains/gazebo/turtlebot/brain_turtlebot_opencv2.py
diff --git a/behavior_metrics/configs/gazebo/DL-tensorflow.yml b/behavior_metrics/configs/gazebo/DL-tensorflow.yml
index 84e4a0c6..9383c7cd 100644
--- a/behavior_metrics/configs/gazebo/DL-tensorflow.yml
+++ b/behavior_metrics/configs/gazebo/DL-tensorflow.yml
@@ -17,7 +17,7 @@ Behaviors:
                     MaxV: 3
                     MaxW: 0.3
 
-        BrainPath: 'brains/f1/brain_f1_keras.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_keras.py'
         PilotTimeCycle: 50
         Parameters:
             Model: '[model_name].h5'
diff --git a/behavior_metrics/configs/gazebo/DL-torch-lstm.yml b/behavior_metrics/configs/gazebo/DL-torch-lstm.yml
index 8f7d639e..38c12de0 100644
--- a/behavior_metrics/configs/gazebo/DL-torch-lstm.yml
+++ b/behavior_metrics/configs/gazebo/DL-torch-lstm.yml
@@ -16,7 +16,7 @@ Behaviors:
                     Topic: '/F1ROS/cmd_vel'
                     MaxV: 3
                     MaxW: 0.3
-        BrainPath: 'brains/f1/brain_f1_torch-lstm.py'
+        BrainPath: 'brains/gazebo/ssf1/brain_f1_torch-lstm.py'
         PilotTimeCycle: 50
         Parameters:
             Model: 'model_lstm_pilotnet_torch.ckpt'
diff --git a/behavior_metrics/configs/gazebo/DL-torch-stacked.yml b/behavior_metrics/configs/gazebo/DL-torch-stacked.yml
index ec6432b1..87b7c122 100644
--- a/behavior_metrics/configs/gazebo/DL-torch-stacked.yml
+++ b/behavior_metrics/configs/gazebo/DL-torch-stacked.yml
@@ -16,7 +16,7 @@ Behaviors:
                     Topic: '/F1ROS/cmd_vel'
                     MaxV: 3
                     MaxW: 0.3
-        BrainPath: 'brains/f1/brain_f1_torchstacked.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_torchstacked.py'
         PilotTimeCycle: 50
         Parameters:
             Model: 'model_pilotnet_torch_h5_extreme.ckpt'
diff --git a/behavior_metrics/configs/gazebo/DL-torch.yml b/behavior_metrics/configs/gazebo/DL-torch.yml
index 6ddf6782..8b9f1ea6 100644
--- a/behavior_metrics/configs/gazebo/DL-torch.yml
+++ b/behavior_metrics/configs/gazebo/DL-torch.yml
@@ -16,7 +16,7 @@ Behaviors:
                     Topic: '/F1ROS/cmd_vel'
                     MaxV: 3
                     MaxW: 0.3
-        BrainPath: 'brains/f1/brain_f1_torch.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_torch.py'
         PilotTimeCycle: 50
         Parameters:
             Model: 'baseline.pth'
diff --git a/behavior_metrics/configs/gazebo/default-multiple.yml b/behavior_metrics/configs/gazebo/default-multiple.yml
index 58da4295..d8facdb9 100644
--- a/behavior_metrics/configs/gazebo/default-multiple.yml
+++ b/behavior_metrics/configs/gazebo/default-multiple.yml
@@ -16,7 +16,7 @@ Behaviors:
                     Topic: '/F1ROS/cmd_vel'
                     MaxV: 3
                     MaxW: 0.3
-        BrainPath: ['brains/f1/brain_f1_follow_line_dqn.py', 'brains/f1/brain_f1_follow_line_qlearn.py']
+        BrainPath: ['brains/gazebo/f1/brain_f1_follow_line_dqn.py', 'brains/gazebo/f1/brain_f1_follow_line_qlearn.py']
         PilotTimeCycle: 50
         Parameters:
 #            Model: ['model_deepest_lstm_cropped_250_norm_max_pooling.h5', 'model_deepest_lstm_cropped_250_norm_test.h5']
diff --git a/behavior_metrics/configs/gazebo/default-rl-dqn.yml b/behavior_metrics/configs/gazebo/default-rl-dqn.yml
index a9fa160c..60e51aa4 100644
--- a/behavior_metrics/configs/gazebo/default-rl-dqn.yml
+++ b/behavior_metrics/configs/gazebo/default-rl-dqn.yml
@@ -17,7 +17,7 @@ Behaviors:
                     MaxV: 3
                     MaxW: 0.3
                     
-        BrainPath: 'brains/f1/brain_f1_follow_line_dqn.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_follow_line_dqn.py'
         PilotTimeCycle: 50
         Parameters:
             ImageTranform: ''
diff --git a/behavior_metrics/configs/gazebo/default-rl-qlearn.yml b/behavior_metrics/configs/gazebo/default-rl-qlearn.yml
index 1f220904..43c1f04e 100644
--- a/behavior_metrics/configs/gazebo/default-rl-qlearn.yml
+++ b/behavior_metrics/configs/gazebo/default-rl-qlearn.yml
@@ -17,7 +17,7 @@ Behaviors:
                     MaxV: 3
                     MaxW: 0.3
                     
-        BrainPath: 'brains/f1/brain_f1_follow_line_qlearn.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_follow_line_qlearn.py'
         PilotTimeCycle: 50
         Parameters:
             ImageTranform: ''
diff --git a/behavior_metrics/configs/gazebo/default.yml b/behavior_metrics/configs/gazebo/default.yml
index ee29f3be..65e26565 100644
--- a/behavior_metrics/configs/gazebo/default.yml
+++ b/behavior_metrics/configs/gazebo/default.yml
@@ -17,7 +17,7 @@ Behaviors:
                     MaxV: 3
                     MaxW: 0.3
                     
-        BrainPath: 'brains/f1/brain_f1_opencv.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py'
         PilotTimeCycle: 50
         Parameters:
             ImageTranform: ''
diff --git a/behavior_metrics/configs/gazebo/torch-multiple.yml b/behavior_metrics/configs/gazebo/torch-multiple.yml
index 8510feed..cf50acab 100644
--- a/behavior_metrics/configs/gazebo/torch-multiple.yml
+++ b/behavior_metrics/configs/gazebo/torch-multiple.yml
@@ -16,7 +16,7 @@ Behaviors:
                     Topic: '/F1ROS/cmd_vel'
                     MaxV: 3
                     MaxW: 0.3
-        BrainPath: ['brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py', 'brains/f1/brain_f1_torch.py']
+        BrainPath: ['brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py', 'brains/gazebo/f1/brain_f1_torch.py']
         PilotTimeCycle: 50
         Parameters:
             Model: ['model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt', 'model_pilotnet_torch.ckpt']
diff --git a/behavior_metrics/profiles/default.yml b/behavior_metrics/profiles/default.yml
index 7e9f6644..d092cc9b 100644
--- a/behavior_metrics/profiles/default.yml
+++ b/behavior_metrics/profiles/default.yml
@@ -16,7 +16,7 @@ Behaviors:
                     Topic: '/F1ROS/cmd_vel'
                     MaxV: 3
                     MaxW: 0.3
-        BrainPath: 'brains/f1/brain_f1_opencv.py'
+        BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py'
         Type: 'f1'
     Simulation:
         World: /opt/jderobot/share/jderobot/gazebo/launch/simple_circuit.launch
diff --git a/behavior_metrics/robot/configurations/f1.yml b/behavior_metrics/robot/configurations/f1.yml
index da76327b..21454dd7 100644
--- a/behavior_metrics/robot/configurations/f1.yml
+++ b/behavior_metrics/robot/configurations/f1.yml
@@ -15,5 +15,5 @@ Robot:
                 Topic: '/F1ROS/cmd_vel'
                 MaxV: 3
                 MaxW: 0.3
-    BrainPath: 'brains/f1/brain_f1_opencv.py'
+    BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py'
     Type: 'formula1'
\ No newline at end of file
diff --git a/behavior_metrics/robot/configurations/f1_laser.yml b/behavior_metrics/robot/configurations/f1_laser.yml
index 4c122006..591a3a93 100644
--- a/behavior_metrics/robot/configurations/f1_laser.yml
+++ b/behavior_metrics/robot/configurations/f1_laser.yml
@@ -19,5 +19,5 @@ Robot:
                 Topic: '/F1ROS/cmd_vel'
                 MaxV: 3
                 MaxW: 0.3
-    BrainPath: 'brains/f1/brain_f1_opencv.py'
+    BrainPath: 'brains/gazebo/f1/brain_f1_opencv.py'
     Type: 'formula1'
\ No newline at end of file
diff --git a/behavior_metrics/robot/configurations/turtlebot_laser.yml b/behavior_metrics/robot/configurations/turtlebot_laser.yml
index 47e71a89..44f5c67d 100644
--- a/behavior_metrics/robot/configurations/turtlebot_laser.yml
+++ b/behavior_metrics/robot/configurations/turtlebot_laser.yml
@@ -22,5 +22,5 @@ Robot:
                 Topic: '/turtlebotROS/mobile_base/commands/velocity'
                 MaxV: 3
                 MaxW: 0.3
-    BrainPath: 'brains/f1/brain_f1_opencv2.py'
+    BrainPath: 'brains/gazebo/f1/brain_f1_opencv2.py'
     Type: 'turtlebot'
\ No newline at end of file
diff --git a/behavior_metrics/ui/tui/main_view.py b/behavior_metrics/ui/tui/main_view.py
index 669fceb1..ebd23136 100644
--- a/behavior_metrics/ui/tui/main_view.py
+++ b/behavior_metrics/ui/tui/main_view.py
@@ -12,7 +12,7 @@
 # This application class serves as a wrapper for the initialization of curses
 # and also manages the actual forms of the application
 
-brains_dir = ROOT_PATH + '/brains/f1/brain_f1_opencv.py'
+brains_dir = ROOT_PATH + '/brains/gazebo/f1/brain_f1_opencv.py'
 dset_dir = ROOT_PATH + '/datasets/'
 logs_dir = ROOT_PATH + '/logs/'
 logs_path = ROOT_PATH + '/logs/log.log'