diff --git a/rosinstall/melodic.rosinstall b/rosinstall/melodic.rosinstall
index 6cc6f9cb5f..ae080c243e 100644
--- a/rosinstall/melodic.rosinstall
+++ b/rosinstall/melodic.rosinstall
@@ -5,7 +5,7 @@
 - git: 
     local-name: giskardpy
     uri: https://github.com/SemRoCo/giskardpy.git
-    version: v0.3.0
+    version: v0.4.0
 - git: 
     local-name: giskard_msgs
     uri: https://github.com/SemRoCo/giskard_msgs.git
diff --git a/rosinstall/noetic.rosinstall b/rosinstall/noetic.rosinstall
index da7e696555..ee285ab29c 100644
--- a/rosinstall/noetic.rosinstall
+++ b/rosinstall/noetic.rosinstall
@@ -5,8 +5,8 @@
 - git: 
     local-name: giskardpy
     uri: https://github.com/SemRoCo/giskardpy.git
-    version: devel
+    version: v0.4.0
 - git: 
     local-name: giskard_msgs
     uri: https://github.com/SemRoCo/giskard_msgs.git
-    version: master
+    version: v0.2.0
diff --git a/test/test_integration_pr2.py b/test/test_integration_pr2.py
index 2d8e29acaf..401706f8ea 100644
--- a/test/test_integration_pr2.py
+++ b/test/test_integration_pr2.py
@@ -25,7 +25,6 @@
 from giskardpy.utils import to_joint_state_position_dict, publish_marker_vector
 from rospy_message_converter.message_converter import convert_dictionary_to_ros_message
 from utils_for_tests import PR2, compare_poses
-from iai_naive_kinematics_sim.srv import UpdateTransform
 
 # TODO roslaunch iai_pr2_sim ros_control_sim_with_base.launch
 # TODO roslaunch iai_kitchen upload_kitchen_obj.launch
diff --git a/test/utils_for_tests.py b/test/utils_for_tests.py
index 95debc040f..18630f9fcd 100644
--- a/test/utils_for_tests.py
+++ b/test/utils_for_tests.py
@@ -1,6 +1,5 @@
 from time import time
 import keyword
-import yaml
 from collections import defaultdict
 from copy import deepcopy
 from multiprocessing import Queue
@@ -25,7 +24,6 @@
 from tf.transformations import rotation_from_matrix, quaternion_matrix
 
 from giskardpy import logging, identifier
-from giskardpy.config_loader import ros_load_robot_config
 from giskardpy.garden import grow_tree
 from giskardpy.identifier import robot, world
 from giskardpy.pybullet_world import PyBulletWorld