diff --git a/docs/source/pyroboplan.planning.rst b/docs/source/pyroboplan.planning.rst
index 4cd3e1e..4eb93ff 100644
--- a/docs/source/pyroboplan.planning.rst
+++ b/docs/source/pyroboplan.planning.rst
@@ -1,6 +1,17 @@
 pyroboplan.planning package
 ===========================
 
+Submodules
+----------
+
+pyroboplan.planning.utils module
+--------------------------------
+
+.. automodule:: pyroboplan.planning.utils
+   :members:
+   :undoc-members:
+   :show-inheritance:
+
 Module contents
 ---------------
 
diff --git a/examples/example_collision_along_path.py b/examples/example_collision_along_path.py
index a032715..816d74a 100644
--- a/examples/example_collision_along_path.py
+++ b/examples/example_collision_along_path.py
@@ -1,4 +1,3 @@
-import copy
 import hppfcl
 import pinocchio
 from pinocchio.visualize import MeshcatVisualizer