diff --git a/keyboard_controls/keyboard_controls.py b/keyboard_controls/keyboard_controls.py
index 9fdabd2..2307e32 100644
--- a/keyboard_controls/keyboard_controls.py
+++ b/keyboard_controls/keyboard_controls.py
@@ -2,7 +2,6 @@
 from rclpy.node import Node
 from tr_messages.msg import SimTeleopInput
 from pynput import keyboard
-import numpy
 from sim_node import constants
 
 
diff --git a/sim_node/comp_field.py b/sim_node/comp_field.py
index 1e96b5c..ea748c0 100644
--- a/sim_node/comp_field.py
+++ b/sim_node/comp_field.py
@@ -7,13 +7,16 @@
 import os
 from sim_node import infantry_robot
 import numpy as np
-from sim_node import infantry_robot
 from mani_skill.agents.multi_agent import MultiAgent
-from mani_skill.sensors.camera import *
+from mani_skill.sensors.camera import (
+    parse_camera_configs,
+    update_camera_configs_from_dict,
+    CameraConfig,
+)
 from mani_skill.sensors.depth_camera import StereoDepthCameraConfig, StereoDepthCamera
 from mani_skill.sensors.camera import Camera
 from mani_skill.utils.structs.render_camera import RenderCamera
-from mani_skill.utils.structs.pose import Pose
+# from mani_skill.utils.structs.pose import Pose
 
 package_dir = get_package_share_directory("sim_node")
 base_field_path = "resource/models/field/"
@@ -42,7 +45,6 @@
 
 @register_env("comp_field")
 class CompFieldEnv(BaseEnv):
-
     def __init__(self, *args, robot_uids=("infantry"), **kwargs):
         super().__init__(*args, robot_uids=robot_uids, **kwargs)
 
@@ -80,7 +82,7 @@ def _load_agent(self, options: dict):
     def _step_action(
         self, action: None | np.ndarray | infantry_robot.Tensor | Dict
     ) -> None | infantry_robot.Tensor:
-        plate_poses = self.agent.agents[0].get_armor_panel_poses()
+        # plate_poses = self.agent.agents[0].get_armor_panel_poses()
 
         # cube = self.scene.actors["debug_cube"]
         # cube.set_pose(plate_poses[3])
diff --git a/sim_node/infantry_robot.py b/sim_node/infantry_robot.py
index 7acaebc..a2bbe11 100644
--- a/sim_node/infantry_robot.py
+++ b/sim_node/infantry_robot.py
@@ -3,7 +3,11 @@
 import sapien
 import numpy as np
 from mani_skill.agents.base_agent import BaseAgent, Keyframe
-from mani_skill.agents.controllers import *
+from mani_skill.agents.controllers import (
+    deepcopy_dict,
+    PDJointPosControllerConfig,
+    PDBaseVelControllerConfig,
+)
 from mani_skill.agents.registration import register_agent
 from mani_skill.sensors.camera import CameraConfig
 from torch import Tensor
@@ -19,9 +23,7 @@
 @register_agent()
 class InfantryRobot(BaseAgent):
     uid = "infantry"
-    urdf_path = str(
-        os.path.join(package_dir, "resource/models/infantry/infantry.urdf")
-    )
+    urdf_path = str(os.path.join(package_dir, "resource/models/infantry/infantry.urdf"))
 
     # TODO ideally we define a srdf file instead of disabling all collisions. That way we only disable problematic collisions and
     disable_self_collisions = True
@@ -88,7 +90,6 @@ def _after_loading_articulation(self):
 
     @property
     def _controller_configs(self):
-
         pitch_pd_joint = PDJointPosControllerConfig(
             self.pitch_joint_names,
             lower=None,
diff --git a/sim_node/ros_bridge.py b/sim_node/ros_bridge.py
index 14d2c27..6e99159 100644
--- a/sim_node/ros_bridge.py
+++ b/sim_node/ros_bridge.py
@@ -3,17 +3,13 @@
 from rclpy.node import Node
 from tr_messages.srv import WriteSerial, ListenSerial
 from tr_messages.msg import SimTeleopInput, RobotGroundTruth, SimGroundTruth
-from sensor_msgs.msg import Image
 from sim_node import simulation
 
 from sensor_msgs.msg import Image, PointCloud2, PointField
 from std_msgs.msg import Header
 from sensor_msgs_py import point_cloud2  # pointcloud utilizes
 from rosgraph_msgs.msg import Clock
-from tf2_msgs.msg import TFMessage
-from geometry_msgs.msg import TransformStamped
 from sim_node import utils, constants
-import numpy as np
 
 from cv_bridge import CvBridge
 import torch
@@ -294,7 +290,6 @@ def secondary_robot_teleop_callback(self, msg):
         )
 
     def points_to_ros_pointcloud2(self, points):
-
         header = Header()
         # TODO FIX ME
         header.stamp = self.get_clock().now().to_msg()
diff --git a/sim_node/simulation.py b/sim_node/simulation.py
index b58cb07..db37fd7 100644
--- a/sim_node/simulation.py
+++ b/sim_node/simulation.py
@@ -1,9 +1,5 @@
 import gymnasium as gym
-import mani_skill.envs
 from mani_skill.envs.sapien_env import BaseEnv
-from mani_skill.agents.base_agent import BaseAgent
-from mani_skill.agents.multi_agent import MultiAgent
-from sim_node import comp_field
 import numpy as np
 from sim_node import utils
 from mani_skill.utils.structs import SimConfig
@@ -21,7 +17,6 @@
 
 
 class Simulation:
-
     def __init__(self, options: dict, seed=2930):
         self.options = dict(reconfigure=True, user=options)
         self.should_render_gui = self.options["user"]["human_gui"]
@@ -99,7 +94,7 @@ def step(
         }
 
         obs, reward, terminated, truncated, info = self.env.step(action=action)
-        done = terminated or truncated
+        # done = terminated or truncated
         if self.should_render_gui:
             self.env.render()
 
diff --git a/sim_node/utils.py b/sim_node/utils.py
index 7737238..4653033 100644
--- a/sim_node/utils.py
+++ b/sim_node/utils.py
@@ -1,14 +1,9 @@
 from typing import Dict
 
-import numpy as np
-import sapien.physx as physx
 import torch
-
-from mani_skill.sensors.base_sensor import BaseSensor, BaseSensorConfig
-from mani_skill.sensors.camera import Camera
 from mani_skill.utils import common
 
-from tr_messages.msg import RobotGroundTruth, SimGroundTruth
+from tr_messages.msg import RobotGroundTruth
 from geometry_msgs.msg import Pose