diff --git a/src/controllers/config/rl_policy.yaml b/src/controllers/config/rl_policy.yaml
index 4afee5a2..a473e3f2 100644
--- a/src/controllers/config/rl_policy.yaml
+++ b/src/controllers/config/rl_policy.yaml
@@ -1,6 +1,6 @@
 rl_policy:
   ros__parameters:
-    actor_path: Models/sac_actor.pht
-    critic_path: Models/sac_critic.pht
+    actor_path: training_logs/SAC-CarTrack-23_11_20_15:33:07/models/SAC_actor.pht
+    critic_path: training_logs/SAC-CarTrack-23_11_20_15:33:07/models/SAC_critic.pht
     algorithm: 'SAC'
     observation_mode: 'lidar_only'
diff --git a/src/controllers/controllers/rl_policy.py b/src/controllers/controllers/rl_policy.py
index 31f410c9..37161e87 100644
--- a/src/controllers/controllers/rl_policy.py
+++ b/src/controllers/controllers/rl_policy.py
@@ -6,7 +6,7 @@
 from cares_reinforcement_learning.util.helpers import denormalize
 from cares_reinforcement_learning.algorithm.policy import TD3
 from cares_reinforcement_learning.networks.TD3 import Actor, Critic
-from cares_reinforcement_learning.util.NetworkFactory import NetworkFactory
+from cares_reinforcement_learning.util.network_factory import NetworkFactory
 from reinforcement_learning.parse_args import parse_args
 
 def main():
diff --git a/src/controllers/launch/ftg.launch.py b/src/controllers/launch/ftg.launch.py
deleted file mode 100644
index f014885f..00000000
--- a/src/controllers/launch/ftg.launch.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, PythonExpression
-
-def generate_launch_description():
-    car_name = LaunchConfiguration('car_name')
-
-    car_name_arg = DeclareLaunchArgument(
-        'car_name',
-        default_value='ftg_car'
-    )
- 
-    main = Node(
-        package='controllers',
-        executable='ftg_policy',
-        output='screen',
-        parameters=[{'car_name': car_name}],
-    )
-
-    return LaunchDescription([
-        car_name_arg,
-        main
-        ])
\ No newline at end of file
diff --git a/src/controllers/launch/sim.launch.py b/src/controllers/launch/sim.launch.py
index d9a6e564..51461c96 100644
--- a/src/controllers/launch/sim.launch.py
+++ b/src/controllers/launch/sim.launch.py
@@ -45,16 +45,9 @@ def generate_launch_description():
         }.items() #TODO: this doesn't do anything
     )
 
-    algorithm = IncludeLaunchDescription(
-        launch_description_source = PythonLaunchDescriptionSource(
-            os.path.join(pkg_controllers, f'{alg_launch[alg]}.launch.py')),
-        launch_arguments={
-            'car_name': TextSubstitution(text=str(config['sim']['ros__parameters']['car_name']) if 'car_name' in config['sim']['ros__parameters'] else 'f1tenth'),
-        }.items()
-    )
 
     # Launch the Environment
-    main = Node(
+    sim = Node(
             package='controllers',
             executable='sim',
             parameters=[
@@ -65,11 +58,37 @@ def generate_launch_description():
             emulate_tty=True, # Allows python print to show
     )
 
+    """alg_config_path = os.path.join(
+        get_package_share_directory('controllers'),
+        f'{alg}_policy.yaml'
+    )"""
+
+    if (f'{alg}' != 'rl'):
+        alg = Node(
+            package='controllers',
+            executable=f'{alg}_policy',
+            output='screen',
+            parameters=[{'car_name': TextSubstitution(text=str(config['sim']['ros__parameters']['car_name']) if 'car_name' in config['sim']['ros__parameters'] else 'f1tenth')}],
+        )
+    #algorithm = 0
+    else:
+        alg = IncludeLaunchDescription(
+            launch_description_source = PythonLaunchDescriptionSource(
+                os.path.join(pkg_controllers, f'{alg_launch[alg]}.launch.py')),
+            launch_arguments={
+                'car_name': TextSubstitution(text=str(config['sim']['ros__parameters']['car_name']) if 'car_name' in config['sim']['ros__parameters'] else 'f1tenth'),
+            }.items()
+        )
+    
+
+    
+
     return LaunchDescription([
         #TODO: Find a way to remove this
         SetEnvironmentVariable(name='GZ_SIM_RESOURCE_PATH', value=pkg_f1tenth_description[:-19]),
         SetParameter(name='use_sim_time', value=True),
         environment,
-        algorithm,
-        main
+        alg,
+        sim,
+        #algorithm
 ])
\ No newline at end of file