diff --git a/spot_rl_experiments/spot_rl/envs/base_env.py b/spot_rl_experiments/spot_rl/envs/base_env.py
index 8c13b126..0c6fd516 100644
--- a/spot_rl_experiments/spot_rl/envs/base_env.py
+++ b/spot_rl_experiments/spot_rl/envs/base_env.py
@@ -464,6 +464,7 @@ def step(  # noqa
 
         print(f"base_action: {arr2str(base_action)}\tarm_action: {arr2str(arm_action)}")
 
+        # Spin until enough time has passed during this step
         start_time = time.time()
         if arm_ee_action is not None and self._max_lin_dist_scale == 0.0:
             pass
diff --git a/spot_rl_experiments/spot_rl/utils/helper_nodes.py b/spot_rl_experiments/spot_rl/utils/helper_nodes.py
index f39f6690..40c3f632 100644
--- a/spot_rl_experiments/spot_rl/utils/helper_nodes.py
+++ b/spot_rl_experiments/spot_rl/utils/helper_nodes.py
@@ -1,4 +1,3 @@
-# mypy: ignore-errors
 # Copyright (c) Meta Platforms, Inc. and its affiliates.
 # This source code is licensed under the MIT license found in the
 # LICENSE file in the root directory of this source tree.