diff --git a/mock/__init__.py b/mock/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/mock/server.py b/mock/server.py
index a022e3e..9c96723 100644
--- a/mock/server.py
+++ b/mock/server.py
@@ -1,12 +1,34 @@
 import asyncio
 from enum import Enum
 import json
+import sys
 import websockets
 from model import model
+from MotionController import GaitState
+from simulator.GaitGenerator.Bezier import BezierGait
+from simulator.GymEnvs.spot_bezier_env import spotBezierEnv
+from simulator.Kinematics.SpotKinematics import SpotModel
+from simulator.util.gui import GUI
+from simulator.simulator import BodyState, Simulator
 import struct
 
+sys.path.append("./simulator/GymEnvs")
+
 clients = {}
 
+env = spotBezierEnv(
+    render=True,
+    on_rack=False,
+    height_field=False,
+    draw_foot_path=False,
+    env_randomizer=None,
+)
+gui = GUI(env.spot.quadruped)
+bodyState = BodyState()
+gaitState = GaitState()
+spot = SpotModel()
+bezierGait = BezierGait()
+simulator = Simulator()
 
 class Command(Enum):
     ESTOP = 0
diff --git a/mock/simulator/GymEnvs/spot_bezier_env.py b/mock/simulator/GymEnvs/spot_bezier_env.py
index 157ffa3..95df89e 100644
--- a/mock/simulator/GymEnvs/spot_bezier_env.py
+++ b/mock/simulator/GymEnvs/spot_bezier_env.py
@@ -10,13 +10,11 @@ import pybullet_data
 from gym import spaces
 from gym.utils import seeding
 from pkg_resources import parse_version
-import spot
+from .. import spot
 import pybullet_utils.bullet_client as bullet_client
 from gym.envs.registration import register
-from OpenLoopSM.SpotOL import BezierStepper
-from spot_gym_env import spotGymEnv
-import Kinematics.LieAlgebra as LA
-from spot_env_randomizer import SpotEnvRandomizer
+from ..spot_gym_env import spotGymEnv
+from ..spot_env_randomizer import SpotEnvRandomizer
 
 SENSOR_NOISE_STDDEV = spot.SENSOR_NOISE_STDDEV
 
diff --git a/mock/simulator/Kinematics/SpotKinematics.py b/mock/simulator/Kinematics/SpotKinematics.py
index 7e824b4..cc35f30 100644
--- a/mock/simulator/Kinematics/SpotKinematics.py
+++ b/mock/simulator/Kinematics/SpotKinematics.py
@@ -1,8 +1,8 @@
 #!/usr/bin/env python
 
 import numpy as np
-from Kinematics.LegKinematics import LegIK
-from Kinematics.LieAlgebra import RpToTrans, TransToRp, TransInv, RPY, TransformVector
+from .LegKinematics import LegIK
+from .LieAlgebra import RpToTrans, TransToRp, TransInv, RPY, TransformVector
 from collections import OrderedDict
 
 
diff --git a/mock/simulator/simulator.py b/mock/simulator/simulator.py
index 53267ce..74e3a1a 100644
--- a/mock/simulator/simulator.py
+++ b/mock/simulator/simulator.py
@@ -4,12 +4,12 @@ import numpy as np
 import copy
 import sys
 
-sys.path.append("../../")
+# sys.path.append("../../")
 
-from GymEnvs.spot_bezier_env import spotBezierEnv
-from util.gui import GUI
-from Kinematics.SpotKinematics import SpotModel
-from GaitGenerator.Bezier import BezierGait
+from .GymEnvs.spot_bezier_env import spotBezierEnv
+from .util.gui import GUI
+from .Kinematics.SpotKinematics import SpotModel
+from .GaitGenerator.Bezier import BezierGait
 
 
 class GaitState:
diff --git a/mock/simulator/spot.py b/mock/simulator/spot.py
index b81dfa0..b5c94fe 100644
--- a/mock/simulator/spot.py
+++ b/mock/simulator/spot.py
@@ -16,12 +16,12 @@ import copy
 import math
 import re
 import numpy as np
-import motor
+from . import motor
 from util import pybullet_data
 
 print(pybullet_data.getDataPath())
-from Kinematics.SpotKinematics import SpotModel
-import Kinematics.LieAlgebra as LA
+from .Kinematics.SpotKinematics import SpotModel
+from .Kinematics import LieAlgebra as LA
 
 INIT_POSITION = [0, 0, 0.25]
 INIT_RACK_POSITION = [0, 0, 1]
diff --git a/mock/simulator/spot_env_randomizer.py b/mock/simulator/spot_env_randomizer.py
index 8144488..87be6c0 100644
--- a/mock/simulator/spot_env_randomizer.py
+++ b/mock/simulator/spot_env_randomizer.py
@@ -12,7 +12,7 @@ https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybul
 """
 
 import numpy as np
-import env_randomizer_base
+from . import env_randomizer_base
 
 # Relative range.
 spot_BASE_MASS_ERROR_RANGE = (-0.2, 0.2)  # 0.2 means 20%
diff --git a/mock/simulator/spot_gym_env.py b/mock/simulator/spot_gym_env.py
index c6e5591..d0bca88 100644
--- a/mock/simulator/spot_gym_env.py
+++ b/mock/simulator/spot_gym_env.py
@@ -20,13 +20,13 @@ import pybullet_data
 from gym import spaces
 from gym.utils import seeding
 from pkg_resources import parse_version
-import spot
+from . import spot
 import pybullet_utils.bullet_client as bullet_client
 from gym.envs.registration import register
-from heightfield import HeightField
-from OpenLoopSM.SpotOL import BezierStepper
-import Kinematics.LieAlgebra as LA
-from spot_env_randomizer import SpotEnvRandomizer
+from .heightfield import HeightField
+from .OpenLoopSM.SpotOL import BezierStepper
+from .Kinematics import LieAlgebra as LA
+from .spot_env_randomizer import SpotEnvRandomizer
 
 NUM_SUBSTEPS = 5
 NUM_MOTORS = 12