diff --git a/spot_examples/docs/simple_sub.md b/spot_examples/docs/simple_sub.md
index 06de65918..4c1c02de3 100644
--- a/spot_examples/docs/simple_sub.md
+++ b/spot_examples/docs/simple_sub.md
@@ -52,4 +52,3 @@ Make sure the required environment variable `ROBOT_NAME` is set and the configur
 
 ## Author
 - Kabir Kedia <kabirk@andrew.cmu.edu>
-
diff --git a/spot_examples/spot_examples/robot_commander.py b/spot_examples/spot_examples/robot_commander.py
index c211829ad..afa1a721b 100644
--- a/spot_examples/spot_examples/robot_commander.py
+++ b/spot_examples/spot_examples/robot_commander.py
@@ -1,25 +1,24 @@
-import argparse
 import logging
 from typing import Optional
 
-import synchros2.process as ros_process
 import synchros2.scope as ros_scope
 from bosdyn.client.frame_helpers import BODY_FRAME_NAME, VISION_FRAME_NAME
-from bosdyn.client.math_helpers import Quat, SE2Pose, SE3Pose
+from bosdyn.client.math_helpers import Quat, SE3Pose
 from bosdyn.client.robot_command import RobotCommandBuilder
 from bosdyn_msgs.conversions import convert
+from geometry_msgs.msg import Pose
 from rclpy.node import Node
 from synchros2.action_client import ActionClientWrapper
 from synchros2.tf_listener_wrapper import TFListenerWrapper
 from synchros2.utilities import fqn, namespace_with
 
 from spot_msgs.action import RobotCommand  # type: ignore
-from geometry_msgs.msg import Pose
 
 from .simple_spot_commander import SimpleSpotCommander
 
 # Where we want the robot to walk to relative to itself
 
+
 class RobotCommander:
     def __init__(self, robot_name: Optional[str] = None, node: Optional[Node] = None) -> None:
         self._logger = logging.getLogger(fqn(self.__class__))
@@ -61,11 +60,11 @@ def initialize_robot(self) -> bool:
         self._logger.info("Successfully stood up.")
         return True
 
-    def walk_forward_with_world_frame_goal(self, waypoint) -> None:
+    def walk_forward_with_world_frame_goal(self, waypoint: Pose) -> bool:
         """
         Walk forward to a goal in the world frame.
         Arguments:
-            waypoint: The waypoint to walk to with respect to the body frame. 
+            waypoint: The waypoint to walk to with respect to the body frame.
                       Type is geometry_msgs.msg.Pose
         """
         self._logger.info("Walking")
@@ -108,4 +107,4 @@ def walk_forward_with_world_frame_goal(self, waypoint) -> None:
             self._logger.info(f"Navigated to waypoint: {waypoint}")
         else:
             self._logger.info(f"Failed to navigate to waypoint: {waypoint}")
-        return result
\ No newline at end of file
+        return result
diff --git a/spot_examples/spot_examples/simple_sub.py b/spot_examples/spot_examples/simple_sub.py
index 293552649..a546f42e3 100644
--- a/spot_examples/spot_examples/simple_sub.py
+++ b/spot_examples/spot_examples/simple_sub.py
@@ -1,31 +1,28 @@
 # This file interfaces with spot to send action. Helper files are robot_commander and simple_spot_commander
 import os
-from typing import List
 from contextlib import closing
-from std_msgs.msg import String
-from geometry_msgs.msg import Pose, PoseArray
 
-from synchros2.subscription import Subscription
 import synchros2.process as ros_process
+from geometry_msgs.msg import Pose
+from synchros2.subscription import Subscription
+
 from .robot_commander import RobotCommander
-from ament_index_python.packages import get_package_share_directory
 
 
 @ros_process.main()
 def main() -> None:
     # print("here")
-    robot_name= os.getenv("ROBOT_NAME")  # Get robot name from environment variable
+    robot_name = os.getenv("ROBOT_NAME")  # Get robot name from environment variable
     robot_commander = RobotCommander(robot_name=robot_name)
-    
+
     robot_commander._logger.info(f"name:{robot_commander._robot_name}")
     result = robot_commander.initialize_robot()
 
     if result is False:
         robot_commander._logger.info("Failed to initialize robot")
-        return 
-    
-    robot_commander._logger.info("Initialized robot")
+        return
 
+    robot_commander._logger.info("Initialized robot")
 
     topic_data = Subscription(Pose, "/pose_commands")
 
@@ -52,5 +49,6 @@ def main() -> None:
                     is_busy = False
                     latest_message = None  # Clear the buffer after processing
 
+
 if __name__ == "__main__":
     main()