diff --git a/fix_robotics_env.sh b/fix_robotics_env.sh
deleted file mode 100755
index 48fda83..0000000
--- a/fix_robotics_env.sh
+++ /dev/null
@@ -1,6 +0,0 @@
-#!/bin/bash
-echo "Fixing robotics environment..."
-conda activate coppeliasim
-export PYTHONPATH="/home/zl/miniforge3/envs/coppeliasim/lib/python3.10/site-packages"
-pip install osqp==0.6.2.post8 --force-reinstall
-python -c "import osqp; print(f'OSQP version: {osqp.__version__}')"
diff --git a/rm75_kinematics.py b/rm75_kinematics.py
index 63977bd..203f158 100644
--- a/rm75_kinematics.py
+++ b/rm75_kinematics.py
@@ -10,7 +10,12 @@ How to use:
     Example in test1.py:
         python test1.py
 '''
-
+import pinocchio as pin
+from Robotic_Arm.rm_robot_interface import *
+import numpy as np
+import osqp
+from scipy import sparse
+import math
 
 
 class rm75_kinematics():
@@ -65,17 +70,8 @@ class rm75_kinematics():
 
 
 
-#!/usr/bin/env python3
-import sys
-import os
 
-import pinocchio as pin
-import numpy as np
-import osqp
-from scipy import sparse
-from math import radians, degrees, pi, cos, sin
-import time
-import threading
+
 
 
 
@@ -246,7 +242,7 @@ class rm75_kine_qp():
         if max_j is None:
             max_j = [3.14159, 2.2689, 3.14159, 2.3562, 3.14159, 2.234, 6.14159]
 
-        k = 1.0 if rad_flag is True else 1.0 / 180 * pi
+        k = 1.0 if rad_flag is True else 1.0 / 180 * math.pi
 
         for i in range(7):
             self.model.lowerPositionLimit[i] = min_j[i] * k
@@ -1063,9 +1059,7 @@ class rm75_kine_qp():
 
 
 
-from Robotic_Arm.rm_robot_interface import *
-import numpy as np
-import math
+
 
 class rm75_kine_api():
     def __init__(self):