diff --git a/rl_studio/envs/gazebo/f1/models/f1_env_camera.py b/rl_studio/envs/gazebo/f1/models/f1_env_camera.py
index bd9bf364a..e2d66b4df 100644
--- a/rl_studio/envs/gazebo/f1/models/f1_env_camera.py
+++ b/rl_studio/envs/gazebo/f1/models/f1_env_camera.py
@@ -114,8 +114,6 @@ def calculate_observation(self, state: list) -> list:
 
     def step(self, action) -> Tuple:
 
-        self._gazebo_unpause()
-        
         vel_cmd = Twist()
         vel_cmd.linear.x = self.actions[action][0]
         vel_cmd.angular.z = self.actions[action][1]
@@ -139,7 +137,6 @@ def step(self, action) -> Tuple:
         end = time.time()
         #print(end - start)
         
-        self._gazebo_pause()
         points = self.processed_image(f1_image_camera.data)
         state = self.calculate_observation(points)
         center = float(self.config.center_image - points[0]) / (
@@ -170,7 +167,6 @@ def reset(self):
         else:
             self._gazebo_reset()
 
-        self._gazebo_unpause()
 
         # Get camera info
         image_data = None
@@ -189,12 +185,9 @@ def reset(self):
         state = self.calculate_observation(points)
         # reset_state = (state, False)
 
-        self._gazebo_pause()
-
         return state
 
     def inference(self, action):
-        self._gazebo_unpause()
 
         vel_cmd = Twist()
         vel_cmd.linear.x = self.config.ACTIONS_SET[action][0]
@@ -207,7 +200,6 @@ def inference(self, action):
         cv_image = CvBridge().imgmsg_to_cv2(image_data, "bgr8")
         f1_image_camera = self.image_msg_to_image(image_data, cv_image)
 
-        self._gazebo_pause()
 
         points = self.processed_image(f1_image_camera.data)
         state = self.calculate_observation(points)
diff --git a/rl_studio/envs/gazebo/f1/models/reset.py b/rl_studio/envs/gazebo/f1/models/reset.py
index 3ef041549..d285c8d6b 100644
--- a/rl_studio/envs/gazebo/f1/models/reset.py
+++ b/rl_studio/envs/gazebo/f1/models/reset.py
@@ -54,11 +54,9 @@ def reset_f1_state_sp(self):
         else:
             self._gazebo_set_fix_pose_f1_follow_right_lane()
 
-        self._gazebo_unpause()
 
         ##==== get image from sensor camera
         f1_image_camera, _ = self.f1gazeboimages.get_camera_info()
-        self._gazebo_pause()
 
         ##==== calculating State
         # simplified perception as observation
diff --git a/rl_studio/envs/gazebo/f1/models/simplified_perception.py b/rl_studio/envs/gazebo/f1/models/simplified_perception.py
index 7bc281b9d..975a0f466 100644
--- a/rl_studio/envs/gazebo/f1/models/simplified_perception.py
+++ b/rl_studio/envs/gazebo/f1/models/simplified_perception.py
@@ -13,7 +13,7 @@ def processed_image(self, img, height, width, x_row, center_image):
         :parameters: input image 640x480
         :return:
             centrals: lists with distance to center in pixels
-            cntrals_normalized: lists with distance in range [0,1] for calculating rewards
+            centrals_normalized: lists with distance in range [0,1] for calculating rewards
         """
         image_middle_line = height // 2
         img_sliced = img[image_middle_line:]
diff --git a/rl_studio/envs/gazebo/f1/models/step.py b/rl_studio/envs/gazebo/f1/models/step.py
index f45b20162..06b3be4bb 100644
--- a/rl_studio/envs/gazebo/f1/models/step.py
+++ b/rl_studio/envs/gazebo/f1/models/step.py
@@ -1,5 +1,6 @@
 from geometry_msgs.msg import Twist
 import numpy as np
+import time
 
 from rl_studio.agents.utils import (
     print_messages,
@@ -51,7 +52,6 @@ def step_followline_state_image_actions_discretes(self, action, step):
         return state, reward, done, {}
 
     def step_followline_state_sp_actions_discretes(self, action, step):
-        self._gazebo_unpause()
         vel_cmd = Twist()
         vel_cmd.linear.x = self.actions[action][0]
         vel_cmd.angular.z = self.actions[action][1]
@@ -59,12 +59,12 @@ def step_followline_state_sp_actions_discretes(self, action, step):
 
         ##==== get image from sensor camera
         f1_image_camera, _ = self.f1gazeboimages.get_camera_info()
-        self._gazebo_pause()
 
         ##==== get center
         points_in_red_line, _ = self.simplifiedperception.processed_image(
             f1_image_camera.data, self.height, self.width, self.x_row, self.center_image
         )
+
         if self.state_space == "spn":
             self.point = points_in_red_line[self.poi]
         else:
@@ -176,7 +176,6 @@ def __init__(self, **config):
         self.name = config["states"]
 
     def step_followlane_state_sp_actions_discretes(self, action, step):
-        self._gazebo_unpause()
         vel_cmd = Twist()
         vel_cmd.linear.x = self.actions[action][0]
         vel_cmd.angular.z = self.actions[action][1]
@@ -184,7 +183,6 @@ def step_followlane_state_sp_actions_discretes(self, action, step):
 
         ##==== get image from sensor camera
         f1_image_camera, _ = self.f1gazeboimages.get_camera_info()
-        self._gazebo_pause()
 
         ##==== get center
         centrals_in_lane, centrals_in_lane_normalized = self.simplifiedperception.processed_image(