diff --git a/unified_frameworks/pathfinders/__init__.py b/unified_frameworks/pathfinders/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/unified_frameworks/sensor_array/LidarClass.py b/unified_frameworks/sensor_array/lidar/LidarClass.py
similarity index 100%
rename from unified_frameworks/sensor_array/LidarClass.py
rename to unified_frameworks/sensor_array/lidar/LidarClass.py
diff --git a/unified_frameworks/sensor_array/lidar/__init__.py b/unified_frameworks/sensor_array/lidar/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/unified_frameworks/sensor_array/actual_lidar.py b/unified_frameworks/sensor_array/lidar/actual_lidar.py
similarity index 91%
rename from unified_frameworks/sensor_array/actual_lidar.py
rename to unified_frameworks/sensor_array/lidar/actual_lidar.py
index 9a8defb..f12eed6 100644
--- a/unified_frameworks/sensor_array/actual_lidar.py
+++ b/unified_frameworks/sensor_array/lidar/actual_lidar.py
@@ -3,13 +3,13 @@
 import traceback
 
 try:
-    from sensor_array.LidarClass import _Lidar
+    from unified_frameworks.sensor_array.lidar.LidarClass import _Lidar
 except ModuleNotFoundError:
     import sys
     import re
 
     sys.path.append((next(re.finditer(".*unified_frameworks", __file__)).group()))
-    from sensor_array.LidarClass import _Lidar
+    from unified_frameworks.sensor_array.lidar.LidarClass import _Lidar
 from rplidar import RPLidar, RPLidarException
 import serial.tools.list_ports
 from serial.serialutil import PortNotOpenError
diff --git a/unified_frameworks/sensor_array/bridge_lidar.py b/unified_frameworks/sensor_array/lidar/bridge_lidar.py
similarity index 92%
rename from unified_frameworks/sensor_array/bridge_lidar.py
rename to unified_frameworks/sensor_array/lidar/bridge_lidar.py
index 1776708..9d3ca08 100644
--- a/unified_frameworks/sensor_array/bridge_lidar.py
+++ b/unified_frameworks/sensor_array/lidar/bridge_lidar.py
@@ -2,8 +2,8 @@
 import re
 root = (next(re.finditer(".*unified_frameworks", __file__)).group())
 sys.path.append(root) if root not in sys.path else None
-from sensor_array.actual_lidar import ActualLidar
-from sensor_array.LidarClass import _Lidar
+from unified_frameworks.sensor_array.lidar.actual_lidar import ActualLidar
+from unified_frameworks.sensor_array.lidar.LidarClass import _Lidar
 from bridge import rover_side, client_side
 from bridge.exceptions import NoOpenBridgeException
 from unified_utils import Service
diff --git a/unified_frameworks/sensor_array/fake_lidar.py b/unified_frameworks/sensor_array/lidar/fake_lidar.py
similarity index 94%
rename from unified_frameworks/sensor_array/fake_lidar.py
rename to unified_frameworks/sensor_array/lidar/fake_lidar.py
index c6ba2f4..5cbd17a 100644
--- a/unified_frameworks/sensor_array/fake_lidar.py
+++ b/unified_frameworks/sensor_array/lidar/fake_lidar.py
@@ -8,7 +8,7 @@
 import sys
 import re
 sys.path.append((next(re.finditer(".*unified_frameworks", __file__)).group()))
-from sensor_array.LidarClass import _Lidar
+from unified_frameworks.sensor_array.lidar.LidarClass import _Lidar
 from unified_utils import Service, polar_sum
 
 config = {
diff --git a/unified_frameworks/sensor_array/lidar.py b/unified_frameworks/sensor_array/lidar/lidar.py
similarity index 90%
rename from unified_frameworks/sensor_array/lidar.py
rename to unified_frameworks/sensor_array/lidar/lidar.py
index 5bc2bc9..45bee9c 100644
--- a/unified_frameworks/sensor_array/lidar.py
+++ b/unified_frameworks/sensor_array/lidar/lidar.py
@@ -2,11 +2,11 @@
 import re
 root = (next(re.finditer(".*unified_frameworks", __file__)).group())
 sys.path.append(root) if root not in sys.path else None
-from sensor_array.actual_lidar import ActualLidar
-from sensor_array.bridge_lidar import BridgeLidar
+from unified_frameworks.sensor_array.lidar.actual_lidar import ActualLidar
+from unified_frameworks.sensor_array.lidar.bridge_lidar import BridgeLidar
 import importlib
-from sensor_array.fake_lidar import FakeLidar
-from sensor_array.LidarClass import _Lidar
+from unified_frameworks.sensor_array.lidar.fake_lidar import FakeLidar
+from unified_frameworks.sensor_array.lidar.LidarClass import _Lidar
 import traceback
 from threading import Thread
 from math import pi, cos, sin, sqrt, atan2, radians
diff --git a/unified_frameworks/sensor_array/lidar_visualizer.py b/unified_frameworks/sensor_array/lidar/lidar_visualizer.py
similarity index 93%
rename from unified_frameworks/sensor_array/lidar_visualizer.py
rename to unified_frameworks/sensor_array/lidar/lidar_visualizer.py
index 3fc5df4..4389c76 100644
--- a/unified_frameworks/sensor_array/lidar_visualizer.py
+++ b/unified_frameworks/sensor_array/lidar/lidar_visualizer.py
@@ -4,7 +4,7 @@
 import json
 import sys
 # print(sys.path)
-import lidar as L
+import unified_frameworks.sensor_array.lidar.lidar as L
 import time
 import traceback
 
diff --git a/unified_frameworks/worldview.py b/unified_frameworks/worldview.py
index abaff0c..778c7ae 100644
--- a/unified_frameworks/worldview.py
+++ b/unified_frameworks/worldview.py
@@ -7,12 +7,12 @@
 from threading import Thread
 from math import pi
 from unified_utils import polar_sum, _Abstract_Service
-import sensor_array.lidar
+import unified_frameworks.sensor_array.lidar.lidar
 import bridge.client_side
 import importlib
 importlib.reload(bridge.client_side)
-importlib.reload(sensor_array.lidar)
-lidar = sensor_array.lidar
+importlib.reload(unified_frameworks.sensor_array.lidar.lidar)
+lidar = unified_frameworks.sensor_array.lidar.lidar
 
 
 config = {