diff --git a/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py b/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py
index 2e3eda54..6949c266 100644
--- a/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py
+++ b/rb_ws/src/buggy/scripts/auton/model_predictive_controller.py
@@ -1,12 +1,12 @@
 #!/usr/bin/env python3
 
 import time
+from threading import Lock
 
 from numba import njit
 
 import numpy as np
 import osqp
-import scipy
 from scipy import sparse
 
 import rospy
@@ -20,7 +20,6 @@
 from controller import Controller
 from world import World
 
-from threading import Lock
 
 import matplotlib.pyplot as plt
 
@@ -608,7 +607,7 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
             return reference_trajectory
 
         state_trajectory += reference_trajectory
-        steer_rate_trajectory = solution_trajectory[:, :self.N_CONTROLS]
+        # steer_rate_trajectory = solution_trajectory[:, :self.N_CONTROLS]
 
         if self.TIME:
             solve_time = 1000 * (time.time() - t)
@@ -624,7 +623,7 @@ def compute_trajectory(self, current_pose: Pose, trajectory: Trajectory, current
 
         if self.PLOT:
             # Plot the results
-            fig, [[ax1, ax2], [ax3, ax4]] = plt.subplots(2, 2)
+            _, [[ax1, ax2], [ax3, ax4]] = plt.subplots(2, 2)
 
             # Extract the states
             states = np.zeros((self.MPC_HORIZON, self.N_STATES))