diff --git a/scripts/cmd/build.cmd b/scripts/cmd/build.cmd
index ea1d4e22..9fd282b4 100644
--- a/scripts/cmd/build.cmd
+++ b/scripts/cmd/build.cmd
@@ -12,17 +12,17 @@ set CPU_COUNT_MAX=12
 set PLATFORM=x64
 
 REM // Check command line arguments
-set fullPolyCar=""
-set buildMode=""
+set fullPolyCar=
+set buildMode=
 
 REM // Check Visual Studio version
-if %VisualStudioVersion% == "" (
+if %VisualStudioVersion% EQU "" (
     echo.
     echo "ERROR: command must be run from VS2022 Developer Command Prompt or Developer PowerShell."
     goto :buildfailed_nomsg
 )
 
-if %VisualStudioVersion% lss 17.0 (
+if %VisualStudioVersion% LSS 17.0 (
     echo.
     echo "AutonomySim supports up to Unreal Engine 5.3 and Visual Studio 2022."
     echo "Here are few easy steps to perform the upgrade:"
@@ -31,27 +31,27 @@ if %VisualStudioVersion% lss 17.0 (
 )
 
 REM //---------- Parse arguments ----------
-if %1 == "" goto :noargs
-if %1 == --full-poly-car set "fullPolyCar=y"
-if %1 == --Debug set "buildMode=Debug"
-if %1 == --Release set "buildMode=Release"
-if %1 == --RelWithDebInfo set "buildMode=RelWithDebInfo"
+if %1 EQU "" goto :noargs
+if %1 EQU --full-poly-car set "fullPolyCar=y"
+if %1 EQU --Debug set "buildMode=Debug"
+if %1 EQU --Release set "buildMode=Release"
+if %1 EQU --RelWithDebInfo set "buildMode=RelWithDebInfo"
 
-if %2 == "" goto :noargs
-if %2 == --Debug set "buildMode=Debug"
-if %2 == --Release set "buildMode=Release"
-if %2 == --RelWithDebInfo set "buildMode=RelWithDebInfo"
+if %2 EQU "" goto :noargs
+if %2 EQU --Debug set "buildMode=Debug"
+if %2 EQU --Release set "buildMode=Release"
+if %2 EQU --RelWithDebInfo set "buildMode=RelWithDebInfo"
 
 :noargs
 set powershell=powershell
 where powershell > nul 2>&1
-if %ERRORLEVEL% == 1 goto :pwsh
+if %ERRORLEVEL% EQU 1 goto :pwsh
 echo "Found `powershell` command." && goto :start
 
 :pwsh
 set powershell=pwsh
 where pwsh > nul 2>&1
-if %ERRORLEVEL% == 1 goto :nopwsh
+if %ERRORLEVEL% EQU 1 goto :nopwsh
 set PWSHV7=1
 echo "Found `pwsh` command." && goto :start
 
@@ -78,9 +78,9 @@ echo.
 
 REM //---------- Check cmake version ----------
 call scripts\cmd\check_cmake.cmd
-if %ERRORLEVEL% == 1 (
+if %ERRORLEVEL% EQU 1 (
   call scripts\cmd\check_cmake.cmd
-  if %ERRORLEVEL% == 1 (
+  if %ERRORLEVEL% EQU 1 (
     echo.
     echo "ERROR: CMake not installed correctly."
     goto :buildfailed
@@ -103,7 +103,7 @@ if not exist external\rpclib\rpclib-%RPCLIB_VERSION% (
     echo.
 
     @echo on
-    if %PWSHV7% == "" (
+    if %PWSHV7% EQU "" (
         %powershell% -command "& { [Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; iwr https://github.com/rpclib/rpclib/archive/v2.3.0.zip -OutFile tmp\rpclib.zip }"
     ) else (
         %powershell% -command "iwr https://github.com/rpclib/rpclib/archive/v2.3.0.zip -OutFile tmp\rpclib.zip"
@@ -130,14 +130,14 @@ cd external\rpclib\rpclib-%RPCLIB_VERSION%\build
 
 cmake -G"Visual Studio 17 2022" ..
 
-if %buildMode% == "" (
+if %buildMode% EQU "" (
     cmake --build .
     cmake --build . --config Release
 ) else (
     cmake --build . --config %buildMode%
 )
 
-if %ERRORLEVEL% == 1 goto :buildfailed
+if %ERRORLEVEL% EQU 1 goto :buildfailed
 cd %PROJECT_DIR%
 echo "Current directory: %PROJECT_DIR%"
 
@@ -148,7 +148,7 @@ set RPCLIB_TARGET_INCLUDE=AutonomyLib\deps\rpclib\include
 if not exist %RPCLIB_TARGET_INCLUDE% mkdir %RPCLIB_TARGET_INCLUDE%
 robocopy /MIR external\rpclib\rpclib-%RPCLIB_VERSION%\include %RPCLIB_TARGET_INCLUDE%
 
-if %buildMode% == "" (
+if %buildMode% EQU "" (
     robocopy /MIR external\rpclib\rpclib-%RPCLIB_VERSION%\build\Debug %RPCLIB_TARGET_LIB%\Debug
     robocopy /MIR external\rpclib\rpclib-%RPCLIB_VERSION%\build\Release %RPCLIB_TARGET_LIB%\Release
 ) else (
@@ -158,7 +158,7 @@ if %buildMode% == "" (
 REM //---------- Get High-polycount Car Model ------------
 if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv mkdir Unreal\Plugins\AutonomySim\Content\VehicleAdv
 if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV\v1.2.0 (
-    if %fullPolyCar% == y or %fullPolyCar% == yes (
+    if %fullPolyCar% EQU y or %fullPolyCar% EQU yes (
         REM //leave some blank lines because %powershell% shows download banner at top of console
         echo.
         echo "-----------------------------------------------------------------------------------------"
@@ -172,7 +172,7 @@ if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV\v1.2.0 (
         @echo on
         REM %powershell% -command "& { Start-BitsTransfer -Source https://github.com/nervosys/AutonomySim/releases/download/v1.2.0/car_assets.zip -Destination tmp\suv_download\car_assets.zip }"
         REM %powershell% -command "& { (New-Object System.Net.WebClient).DownloadFile('https://github.com/nervosys/AutonomySim/releases/download/v1.2.0/car_assets.zip', tmp\suv_download\car_assets.zip) }"
-        if %PWSHV7% == "" (
+        if %PWSHV7% EQU "" (
             %powershell% -command "& { [Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; iwr https://github.com/nervosys/AutonomySim/releases/download/v2.0.0-beta.0/car_assets.zip -OutFile tmp\suv_download\car_assets.zip }"
         ) else (
             %powershell% -command "iwr https://github.com/nervosys/AutonomySim/releases/download/v2.0.0-beta.0/car_assets.zip -OutFile tmp\suv_download\car_assets.zip"
@@ -195,7 +195,7 @@ if not exist Unreal\Plugins\AutonomySim\Content\VehicleAdv\SUV\v1.2.0 (
 REM //---------- Get Eigen library ----------
 if not exist AutonomyLib\deps mkdir AutonomyLib\deps
 if not exist AutonomyLib\deps\eigen3 (
-    if %PWSHV7% == "" (
+    if %PWSHV7% EQU "" (
         %powershell% -command "& { [Net.ServicePointManager]::SecurityProtocol = [Net.SecurityProtocolType]::Tls12; iwr https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip -OutFile tmp\eigen3.zip }"
     ) else (
         %powershell% -command "iwr https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.zip -OutFile tmp\eigen3.zip"
@@ -211,14 +211,14 @@ if not exist AutonomyLib\deps\eigen3 (
 if not exist AutonomyLib\deps\eigen3 goto :buildfailed
 
 REM //---------- We now have all dependencies to compile AutonomySim.sln, which will also compile MavLinkCom ----------
-if %buildMode% == "" (
+if %buildMode% EQU "" (
     msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=Debug AutonomySim.sln
-    if %ERRORLEVEL% == 1 goto :buildfailed
+    if %ERRORLEVEL% EQU 1 goto :buildfailed
     msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=Release AutonomySim.sln
-    if %ERRORLEVEL% == 1 goto :buildfailed
+    if %ERRORLEVEL% EQU 1 goto :buildfailed
 ) else (
     msbuild -maxcpucount:%CPU_COUNT_MAX% /p:Platform=%PLATFORM% /p:Configuration=%buildMode% AutonomySim.sln
-    if %ERRORLEVEL% == 1 goto :buildfailed
+    if %ERRORLEVEL% EQU 1 goto :buildfailed
 )
 
 REM //---------- Copy binaries and includes for MavLinkCom in deps ----------
diff --git a/scripts/cmd/build_all_ue_projects.cmd b/scripts/cmd/build_all_ue_projects.cmd
index e595396b..91b8fa34 100644
--- a/scripts/cmd/build_all_ue_projects.cmd
+++ b/scripts/cmd/build_all_ue_projects.cmd
@@ -17,17 +17,17 @@ REM path for UE toolset
 set ToolPath=%5
 
 REM set defaults if ars are not supplied
-if %UnrealProjsPath% == "" set "UnrealProjsPath=D:\vso\msresearch\Theseus"
-if %AutonomySimPath% == "" set "AutonomySimPath=C:\GitHubSrc\AutonomySim"
-if %OutputPath% == "" set "OutputPath=%ROOT_DIR%build"
-if %RebuildAutonomySim% == "" set "RebuildAutonomySim=true"
+if %UnrealProjsPath% EQU "" set "UnrealProjsPath=D:\vso\msresearch\Theseus"
+if %AutonomySimPath% EQU "" set "AutonomySimPath=C:\GitHubSrc\AutonomySim"
+if %OutputPath% EQU "" set "OutputPath=%ROOT_DIR%build"
+if %RebuildAutonomySim% EQU "" set "RebuildAutonomySim=true"
 
 REM re-build AutonomySim
-if %RebuildAutonomySim% == true (
+if %RebuildAutonomySim% EQU true (
   cd /D %AutonomySimPath%
   call clean
   call build
-  if %ERRORLEVEL% == 1 goto :failed
+  if %ERRORLEVEL% EQU 1 goto :failed
   cd /D %ROOT_DIR%
 )
 
@@ -55,15 +55,15 @@ if %~2 == "" (
 ) else (
   cd /D %UnrealProjsPath%\%~2
 )
-if %ERRORLEVEL% == 1 goto :failed
+if %ERRORLEVEL% EQU 1 goto :failed
 
 robocopy %AutonomySimPath%\Unreal\Environments\Blocks . *.cmd  /njh /njs /ndl /np
 
 call update_from_git.cmd %AutonomySimPath%
-if %ERRORLEVEL% == 1 goto :failed
+if %ERRORLEVEL% EQU 1 goto :failed
 
 call package.cmd %OutputPath% %ToolPath% %~3
-if %ERRORLEVEL% == 1 goto :failed
+if %ERRORLEVEL% EQU 1 goto :failed
 
 goto :done
 
@@ -73,4 +73,4 @@ exit /b 1
 
 :done
 cd %ROOT_DIR%
-if %1 == "" pause
+if %1 EQU "" pause
diff --git a/scripts/cmd/build_docs.cmd b/scripts/cmd/build_docs.cmd
index 358c0be8..9a08e86a 100644
--- a/scripts/cmd/build_docs.cmd
+++ b/scripts/cmd/build_docs.cmd
@@ -26,7 +26,7 @@ REM )
 
 cd /d %BUILD_DIR%
 
-if %1 == no_serve goto :PromptYN
+if %1 EQU no_serve goto :PromptYN
 mkdocs serve
 
 :PromptYN
diff --git a/scripts/cmd/check_cmake.cmd b/scripts/cmd/check_cmake.cmd
index 826649c2..6be4f0fb 100644
--- a/scripts/cmd/check_cmake.cmd
+++ b/scripts/cmd/check_cmake.cmd
@@ -5,12 +5,12 @@ setlocal
 
 REM set ROOT_DIR=%~dp0
 set cmake_minversion_majmin=3.14
-set cmake_version=""
+set cmake_version=
 
 where /q cmake
 if %ERRORLEVEL% EQU 0 (
 	for /F tokens=3 %%a in ('cmake --version ^| find cmake version') do set cmake_version=%%a
-	if %cmake_version% == "" (
+	if %cmake_version% EQU "" (
 	  echo "Unable to get version of cmake." >&2
 	  exit /b 2
 	)
@@ -19,11 +19,11 @@ if %ERRORLEVEL% EQU 0 (
   goto :download_install
 )
 
-set cmake_ver_major=""
-set cmake_ver_minor=""
+set cmake_ver_major=
+set cmake_ver_minor=
 for /F tokens=1,2 delims=. %%a in (%cmake_version%) do (
-  set cmake_ver_major=%%a
-  set cmake_ver_minor=%%b
+  set "cmake_ver_major=%%a"
+  set "cmake_ver_minor=%%b"
 )
 set cmake_ver_minmaj=%cmake_ver_major:~-4%.%cmake_ver_minor:~-4%
 if %cmake_ver_minmaj% LSS %cmake_minversion_majmin% (
@@ -37,13 +37,10 @@ exit /b 0
 
 :download_install
 set /p choice="Press any key to download and install cmake (make sure to add it in path in install options)"
-
 if not exist %temp%\cmake-3.14.7-win64-x64.msi (
 	@echo on
 	powershell -command "& { iwr https://cmake.org/files/v3.14/cmake-3.14.7-win64-x64.msi -OutFile %temp%\cmake-3.14.7-win64-x64.msi }"
 	@echo off
 )
-
 msiexec.exe /i %temp%\cmake-3.14.7-win64-x64.msi
-
 exit /b 1
diff --git a/scripts/cmd/clean.cmd b/scripts/cmd/clean.cmd
index 29c428ae..df298a26 100644
--- a/scripts/cmd/clean.cmd
+++ b/scripts/cmd/clean.cmd
@@ -4,9 +4,9 @@ rd /s/q AutonomyLib\deps\rpclib
 rd /s/q external\rpclib\build
 
 msbuild /p:Platform=x64 /p:Configuration=Debug AutonomySim.sln /t:Clean
-if %ERRORLEVEL% == 1 goto :buildfailed
+if %ERRORLEVEL% EQU 1 goto :buildfailed
 msbuild /p:Platform=x64 /p:Configuration=Release AutonomySim.sln /t:Clean
-if %ERRORLEVEL% == 1 goto :buildfailed
+if %ERRORLEVEL% EQU 1 goto :buildfailed
 goto :eof
 
 :buildfailed
diff --git a/scripts/cmd/gitcommitall.cmd b/scripts/cmd/gitcommitall.cmd
index aa562f73..8e84f380 100644
--- a/scripts/cmd/gitcommitall.cmd
+++ b/scripts/cmd/gitcommitall.cmd
@@ -9,7 +9,7 @@ REM root folder for repos
 set RepoRoot=%1
 set CommitMessage=%2
 
-if %CommitMessage% == "" (
+if %CommitMessage% EQU "" (
 	echo "CommitMessage needs to be provided"
 	goto :failed
 )
@@ -49,7 +49,6 @@ for %%x in (
   git push
   cd ..
 )
-
 goto :done
 
 :failed
@@ -60,4 +59,4 @@ exit /b 1
 
 :done
 cd %ROOT_DIR%
-if %1 == "" pause
+if %1 EQU "" pause
diff --git a/scripts/cmd/template.cmd b/scripts/cmd/template.cmd
index bf83c089..26481185 100644
--- a/scripts/cmd/template.cmd
+++ b/scripts/cmd/template.cmd
@@ -7,11 +7,11 @@ set ROOT_DIR=%cd%
 REM pushd %~dp0
 
 :success
-@echo "Task completed."
+echo "Task completed."
 goto :end
 
 :failed
-@echo "Task has failed."
+echo "Task has failed."
 goto :end
 
 :end