From 10045c8c36fb4aa043d674023c887f095aab1193 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 13:46:17 -0800
Subject: [PATCH 01/15] test autorun CI

make sure colcon build works
---
 .github/workflows/main.yaml                   | 54 +++++++++++++++++++
 requirements/all_requirements.txt             | 17 ++++++
 .../requirements.txt                          |  8 ++-
 3 files changed, 74 insertions(+), 5 deletions(-)
 create mode 100644 .github/workflows/main.yaml
 create mode 100644 requirements/all_requirements.txt
 rename requirements.txt => requirements/requirements.txt (61%)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
new file mode 100644
index 0000000..b86795c
--- /dev/null
+++ b/.github/workflows/main.yaml
@@ -0,0 +1,54 @@
+name: Test Colcon Build
+on:
+  push:
+
+jobs:
+  build_and_test_ros2:
+    runs-on: ubuntu-22.04
+    container:
+      image: ros:humble-ros-base
+    
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+        with:
+          submodules: recursive
+      
+      - name: Set up Python virtual environment
+        shell: bash
+        run: |
+          # Install python3-venv if not available
+          apt-get update
+          
+          # Create virtual environment
+          python3 -m venv .venv
+          
+          # Activate and install dependencies
+          source .venv/bin/activate
+          pip install --upgrade pip
+          pip install -r requirements/all_requirements.txt
+      
+      - name: Install rosdep dependencies
+        run: |
+          # Update rosdep
+          apt-get update
+          rosdep update
+          
+          # Install dependencies from all packages in src/
+          rosdep install --from-paths src --ignore-src -r -y
+      
+      - name: Build with colcon
+        shell: bash
+        run: |
+          # Activate venv and source ROS2 and workspace environment
+          source .venv/bin/activate
+          source /opt/ros/humble/setup.bash
+          
+          # Make sure build works (ignore hardware specific packages)
+          colcon build --packages-ignore \
+            camera_node \
+            tr-camera-basler \
+            lidar_node \
+            yolox_ros_cpp \
+            yolox_ros \
+            yolox_cpp
\ No newline at end of file
diff --git a/requirements/all_requirements.txt b/requirements/all_requirements.txt
new file mode 100644
index 0000000..44909c6
--- /dev/null
+++ b/requirements/all_requirements.txt
@@ -0,0 +1,17 @@
+# colcon build deps
+catkin_pkg==1.1.0
+empy==3.3.4
+lark==1.3.1
+catkin-pkg==1.1.0
+PyYAML==6.0.3
+setuptools==80.9.0
+jinja2==3.1.6
+typeguard==4.4.4
+
+# for messages
+numpy==1.26.4
+
+# # for sim_node
+mani_skill==3.0.0b21
+torch==2.9.1
+pynput==1.8.1
\ No newline at end of file
diff --git a/requirements.txt b/requirements/requirements.txt
similarity index 61%
rename from requirements.txt
rename to requirements/requirements.txt
index c103544..469c334 100644
--- a/requirements.txt
+++ b/requirements/requirements.txt
@@ -1,11 +1,9 @@
-mani_skill
-torch 
-pynput==1.8.1
-
 # colcon build deps
 catkin_pkg
 empy==3.3.4 
 lark 
 catkin-pkg 
 PyYAML 
-setuptools
\ No newline at end of file
+setuptools
+jinja2
+typeguard
\ No newline at end of file

From 05dea4684c3d72180d4288f25e935991351d817f Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 13:56:13 -0800
Subject: [PATCH 02/15] update perms

---
 .github/workflows/main.yaml | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index b86795c..1d7d62a 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -1,9 +1,12 @@
 name: Test Colcon Build
 on:
+  pull_request:
+    branches:
+      - main
   push:
 
 jobs:
-  build_and_test_ros2:
+  build_and_run:
     runs-on: ubuntu-22.04
     container:
       image: ros:humble-ros-base
@@ -13,6 +16,7 @@ jobs:
         uses: actions/checkout@v3
         with:
           submodules: recursive
+          token: ${{ secrets.GITHUB_TOKEN }}
       
       - name: Set up Python virtual environment
         shell: bash

From ce00d959481d8cba008c14d8be455aac1956ca0f Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 13:57:42 -0800
Subject: [PATCH 03/15] small fix and rerun ci

---
 requirements/all_requirements.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/requirements/all_requirements.txt b/requirements/all_requirements.txt
index 44909c6..0dd2bf4 100644
--- a/requirements/all_requirements.txt
+++ b/requirements/all_requirements.txt
@@ -11,7 +11,7 @@ typeguard==4.4.4
 # for messages
 numpy==1.26.4
 
-# # for sim_node
+# for sim_node
 mani_skill==3.0.0b21
 torch==2.9.1
 pynput==1.8.1
\ No newline at end of file

From 6db2ad79db201cd1ea3f737e3ea8e3345bc65251 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 14:06:59 -0800
Subject: [PATCH 04/15] better perms

---
 .github/workflows/main.yaml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 1d7d62a..18d567a 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -16,7 +16,7 @@ jobs:
         uses: actions/checkout@v3
         with:
           submodules: recursive
-          token: ${{ secrets.GITHUB_TOKEN }}
+          token: ${{ secrets.GH_PAT }}
       
       - name: Set up Python virtual environment
         shell: bash

From df467d350b843f026b783db9b8c720511e56714e Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 14:08:38 -0800
Subject: [PATCH 05/15] Update main.yaml

---
 .github/workflows/main.yaml | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 18d567a..47f438f 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -23,6 +23,7 @@ jobs:
         run: |
           # Install python3-venv if not available
           apt-get update
+          apt-get install -y python3-venv
           
           # Create virtual environment
           python3 -m venv .venv

From 5c6e000db2588037db3aa05a765cc9cac76b4e76 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 14:16:04 -0800
Subject: [PATCH 06/15] cache venv and rosdep

cache venv and rosdep so it doesn't take as long
---
 .github/workflows/main.yaml | 22 ++++++++++++++++++++--
 1 file changed, 20 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 47f438f..056235b 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -18,6 +18,22 @@ jobs:
           submodules: recursive
           token: ${{ secrets.GH_PAT }}
       
+      - name: Cache Python dependencies
+        uses: actions/cache@v3
+        with:
+          path: .venv
+          key: venv-${{ runner.os }}-${{ hashFiles('requirements/all_requirements.txt') }}
+          restore-keys: |
+            venv-${{ runner.os }}-
+      
+      - name: Cache apt packages
+        uses: actions/cache@v3
+        with:
+          path: /var/cache/apt
+          key: apt-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
+          restore-keys: |
+            apt-${{ runner.os }}-
+      
       - name: Set up Python virtual environment
         shell: bash
         run: |
@@ -25,8 +41,10 @@ jobs:
           apt-get update
           apt-get install -y python3-venv
           
-          # Create virtual environment
-          python3 -m venv .venv
+          # Create virtual environment if it doesn't exist
+          if [ ! -d ".venv" ]; then
+            python3 -m venv .venv
+          fi
           
           # Activate and install dependencies
           source .venv/bin/activate

From b6ad33c2914f0c86e451e63520bf7ab0dad66ccf Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 14:41:30 -0800
Subject: [PATCH 07/15] cleaner structure

---
 .github/workflows/main.yaml | 16 ++++++++--------
 1 file changed, 8 insertions(+), 8 deletions(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 056235b..3f60621 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -33,25 +33,25 @@ jobs:
           key: apt-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
           restore-keys: |
             apt-${{ runner.os }}-
-      
-      - name: Set up Python virtual environment
+
+      - name: Install Python Venv (if cache miss)
+        if: steps.cache-python-dependencies.outputs.cache-hit != 'true'
         shell: bash
         run: |
           # Install python3-venv if not available
           apt-get update
           apt-get install -y python3-venv
           
-          # Create virtual environment if it doesn't exist
-          if [ ! -d ".venv" ]; then
-            python3 -m venv .venv
-          fi
+          # Create virtual environment
+          python3 -m venv .venv
           
           # Activate and install dependencies
           source .venv/bin/activate
           pip install --upgrade pip
           pip install -r requirements/all_requirements.txt
-      
-      - name: Install rosdep dependencies
+
+      - name: Install rosdep dependencies (if cache miss)
+        if: steps.cache-apt-packages.outputs.cache-hit != 'true'
         run: |
           # Update rosdep
           apt-get update

From d78b346b012dc4b20660e833b0b5fbb72b48d40c Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 15 Nov 2025 14:51:08 -0800
Subject: [PATCH 08/15] Update main.yaml

---
 .github/workflows/main.yaml | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 3f60621..f093c17 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -20,19 +20,23 @@ jobs:
       
       - name: Cache Python dependencies
         uses: actions/cache@v3
+        id: cache-venv
         with:
           path: .venv
           key: venv-${{ runner.os }}-${{ hashFiles('requirements/all_requirements.txt') }}
           restore-keys: |
             venv-${{ runner.os }}-
       
-      - name: Cache apt packages
+      - name: Cache rosdep packages
         uses: actions/cache@v3
+        id: cache-rosdep
         with:
-          path: /var/cache/apt
-          key: apt-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
+          path: |
+            /var/cache/apt/archives
+            /var/lib/apt/lists
+          key: rosdep-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
           restore-keys: |
-            apt-${{ runner.os }}-
+            rosdep-${{ runner.os }}-
 
       - name: Install Python Venv (if cache miss)
         if: steps.cache-python-dependencies.outputs.cache-hit != 'true'

From 05536475896569596de40353175aae28665454cd Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 22 Nov 2025 14:18:38 -0800
Subject: [PATCH 09/15] cache rosdep properly

---
 .github/workflows/main.yaml | 8 +++++---
 1 file changed, 5 insertions(+), 3 deletions(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index f093c17..267c5c2 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -39,7 +39,7 @@ jobs:
             rosdep-${{ runner.os }}-
 
       - name: Install Python Venv (if cache miss)
-        if: steps.cache-python-dependencies.outputs.cache-hit != 'true'
+        if: steps.cache-venv.outputs.cache-hit != 'true'
         shell: bash
         run: |
           # Install python3-venv if not available
@@ -54,9 +54,11 @@ jobs:
           pip install --upgrade pip
           pip install -r requirements/all_requirements.txt
 
-      - name: Install rosdep dependencies (if cache miss)
-        if: steps.cache-apt-packages.outputs.cache-hit != 'true'
+      - name: Install rosdep dependencies
         run: |
+          # Ensure apt cache is preserved
+          rm -f /etc/apt/apt.conf.d/docker-clean
+
           # Update rosdep
           apt-get update
           rosdep update

From 624329966a9502fd145a827d2c7b8db1b75869d9 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 24 Jan 2026 13:35:26 -0800
Subject: [PATCH 10/15] check clangd

---
 .github/workflows/main.yaml | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 267c5c2..4a82561 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -65,6 +65,15 @@ jobs:
           
           # Install dependencies from all packages in src/
           rosdep install --from-paths src --ignore-src -r -y
+
+      - name: Install clang-format
+        run: |
+          apt-get update
+          apt-get install -y clang-format
+
+      - name: Check formatting
+        run: |
+          find src -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format --dry-run --Werror
       
       - name: Build with colcon
         shell: bash

From 628ed22d2f7262c589b2f3ffda2489c9f780ecd2 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 24 Jan 2026 13:44:03 -0800
Subject: [PATCH 11/15] split jobs

---
 .github/workflows/main.yaml | 27 +++++++++++++++++----------
 1 file changed, 17 insertions(+), 10 deletions(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 4a82561..ad1132d 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -6,7 +6,23 @@ on:
   push:
 
 jobs:
-  build_and_run:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Install clang-format
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y clang-format
+
+      - name: Check formatting
+        run: |
+          find src -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format --dry-run --Werror
+
+  build:
+    needs: lint
     runs-on: ubuntu-22.04
     container:
       image: ros:humble-ros-base
@@ -65,15 +81,6 @@ jobs:
           
           # Install dependencies from all packages in src/
           rosdep install --from-paths src --ignore-src -r -y
-
-      - name: Install clang-format
-        run: |
-          apt-get update
-          apt-get install -y clang-format
-
-      - name: Check formatting
-        run: |
-          find src -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format --dry-run --Werror
       
       - name: Build with colcon
         shell: bash

From 39ea73b777b50472af072e8f6064470201df08ac Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 24 Jan 2026 13:50:52 -0800
Subject: [PATCH 12/15] reucursive fix

---
 .github/workflows/main.yaml | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index ad1132d..0756c60 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -11,6 +11,9 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v3
+        with:
+          submodules: recursive
+          token: ${{ secrets.GH_PAT }}
 
       - name: Install clang-format
         run: |

From 027d7c4e6e9ee95b24638cfd8f9547cfccb087e1 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 24 Jan 2026 14:13:38 -0800
Subject: [PATCH 13/15] python format

add python formatting with Ruff
---
 .github/workflows/main.yaml | 139 +++++++++++++++++++-----------------
 ruff.toml                   |   8 +++
 2 files changed, 81 insertions(+), 66 deletions(-)
 create mode 100644 ruff.toml

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index 0756c60..b40a801 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -6,7 +6,7 @@ on:
   push:
 
 jobs:
-  lint:
+  format:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
@@ -24,79 +24,86 @@ jobs:
         run: |
           find src -iname *.h -o -iname *.hpp -o -iname *.cpp -o -iname *.c | xargs clang-format --dry-run --Werror
 
-  build:
-    needs: lint
-    runs-on: ubuntu-22.04
-    container:
-      image: ros:humble-ros-base
+      - name: Install Ruff
+        run: pip install ruff
+
+      - name: Check Python formatting
+        run: ruff format --check .
+
+  # Currently this takes 3+ minutes, but I'm keeping this here if we ever need it
+  # build:
+  #   needs: format
+  #   runs-on: ubuntu-22.04
+  #   container:
+  #     image: ros:humble-ros-base
     
-    steps:
-      - name: Checkout code
-        uses: actions/checkout@v3
-        with:
-          submodules: recursive
-          token: ${{ secrets.GH_PAT }}
+  #   steps:
+  #     - name: Checkout code
+  #       uses: actions/checkout@v3
+  #       with:
+  #         submodules: recursive
+  #         token: ${{ secrets.GH_PAT }}
       
-      - name: Cache Python dependencies
-        uses: actions/cache@v3
-        id: cache-venv
-        with:
-          path: .venv
-          key: venv-${{ runner.os }}-${{ hashFiles('requirements/all_requirements.txt') }}
-          restore-keys: |
-            venv-${{ runner.os }}-
+  #     - name: Cache Python dependencies
+  #       uses: actions/cache@v3
+  #       id: cache-venv
+  #       with:
+  #         path: .venv
+  #         key: venv-${{ runner.os }}-${{ hashFiles('requirements/all_requirements.txt') }}
+  #         restore-keys: |
+  #           venv-${{ runner.os }}-
       
-      - name: Cache rosdep packages
-        uses: actions/cache@v3
-        id: cache-rosdep
-        with:
-          path: |
-            /var/cache/apt/archives
-            /var/lib/apt/lists
-          key: rosdep-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
-          restore-keys: |
-            rosdep-${{ runner.os }}-
+  #     - name: Cache rosdep packages
+  #       uses: actions/cache@v3
+  #       id: cache-rosdep
+  #       with:
+  #         path: |
+  #           /var/cache/apt/archives
+  #           /var/lib/apt/lists
+  #         key: rosdep-${{ runner.os }}-${{ hashFiles('src/**/package.xml') }}
+  #         restore-keys: |
+  #           rosdep-${{ runner.os }}-
 
-      - name: Install Python Venv (if cache miss)
-        if: steps.cache-venv.outputs.cache-hit != 'true'
-        shell: bash
-        run: |
-          # Install python3-venv if not available
-          apt-get update
-          apt-get install -y python3-venv
+  #     - name: Install Python Venv (if cache miss)
+  #       if: steps.cache-venv.outputs.cache-hit != 'true'
+  #       shell: bash
+  #       run: |
+  #         # Install python3-venv if not available
+  #         apt-get update
+  #         apt-get install -y python3-venv
           
-          # Create virtual environment
-          python3 -m venv .venv
+  #         # Create virtual environment
+  #         python3 -m venv .venv
           
-          # Activate and install dependencies
-          source .venv/bin/activate
-          pip install --upgrade pip
-          pip install -r requirements/all_requirements.txt
+  #         # Activate and install dependencies
+  #         source .venv/bin/activate
+  #         pip install --upgrade pip
+  #         pip install -r requirements/all_requirements.txt
 
-      - name: Install rosdep dependencies
-        run: |
-          # Ensure apt cache is preserved
-          rm -f /etc/apt/apt.conf.d/docker-clean
+  #     - name: Install rosdep dependencies
+  #       run: |
+  #         # Ensure apt cache is preserved
+  #         rm -f /etc/apt/apt.conf.d/docker-clean
 
-          # Update rosdep
-          apt-get update
-          rosdep update
+  #         # Update rosdep
+  #         apt-get update
+  #         rosdep update
           
-          # Install dependencies from all packages in src/
-          rosdep install --from-paths src --ignore-src -r -y
+  #         # Install dependencies from all packages in src/
+  #         rosdep install --from-paths src --ignore-src -r -y
       
-      - name: Build with colcon
-        shell: bash
-        run: |
-          # Activate venv and source ROS2 and workspace environment
-          source .venv/bin/activate
-          source /opt/ros/humble/setup.bash
+  #     - name: Build with colcon
+  #       shell: bash
+  #       run: |
+  #         # Activate venv and source ROS2 and workspace environment
+  #         source .venv/bin/activate
+  #         source /opt/ros/humble/setup.bash
           
-          # Make sure build works (ignore hardware specific packages)
-          colcon build --packages-ignore \
-            camera_node \
-            tr-camera-basler \
-            lidar_node \
-            yolox_ros_cpp \
-            yolox_ros \
-            yolox_cpp
\ No newline at end of file
+  #         # Make sure build works (ignore hardware specific packages)
+  #         colcon build --packages-ignore \
+  #           camera_node \
+  #           tr-camera-basler \
+  #           lidar_node \
+  #           yolox_ros_cpp \
+  #           yolox_ros \
+  #           yolox_cpp
\ No newline at end of file
diff --git a/ruff.toml b/ruff.toml
new file mode 100644
index 0000000..183edfa
--- /dev/null
+++ b/ruff.toml
@@ -0,0 +1,8 @@
+line-length = 88
+indent-width = 4
+
+[format]
+quote-style = "double"
+indent-style = "space"
+skip-magic-trailing-comma = false
+line-ending = "auto"

From b2afb2cd2e6417081c136f8fe9b0707c123b7807 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 24 Jan 2026 15:15:29 -0800
Subject: [PATCH 14/15] linting

add python linting
---
 .github/workflows/main.yaml       | 5 ++++-
 .gitignore                        | 1 +
 .md/cpp_python_lsp_setup.md       | 2 +-
 requirements/all_requirements.txt | 5 ++++-
 requirements/requirements.txt     | 5 ++++-
 5 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/.github/workflows/main.yaml b/.github/workflows/main.yaml
index b40a801..c934718 100644
--- a/.github/workflows/main.yaml
+++ b/.github/workflows/main.yaml
@@ -6,7 +6,7 @@ on:
   push:
 
 jobs:
-  format:
+  lint_and_format:
     runs-on: ubuntu-latest
     steps:
       - name: Checkout code
@@ -30,6 +30,9 @@ jobs:
       - name: Check Python formatting
         run: ruff format --check .
 
+      - name: Check Python linting
+        run: ruff check .
+
   # Currently this takes 3+ minutes, but I'm keeping this here if we ever need it
   # build:
   #   needs: format
diff --git a/.gitignore b/.gitignore
index c952ef4..75eeaf1 100644
--- a/.gitignore
+++ b/.gitignore
@@ -8,3 +8,4 @@ rosbag2*
 
 # clangd cache 
 .cache/
+.ruff_cache/
\ No newline at end of file
diff --git a/.md/cpp_python_lsp_setup.md b/.md/cpp_python_lsp_setup.md
index d42bc4a..85cc6e6 100644
--- a/.md/cpp_python_lsp_setup.md
+++ b/.md/cpp_python_lsp_setup.md
@@ -39,7 +39,7 @@ optionally also add the following to save on format
 1. Install the `Python` and `Pylance` extensions by microsoft
 2. install `Robot Developer Extensions for Ros2` by `Ranch Hand Robotics LLC`
 ![extension](ros2_vscode_extension.png)
-
+3. Install `Ruff` by Astral Software
 3. run `ROS2: Update Python Path` (you may need to run this periodically when you add new files or make major changes)
 4. you can verify it worked by checking `.vscode/settings.json` and seeing it has added python auto complete and analysis extra paths.
 5. you should now have type hints for ros msg definitions and custom msg definitions like tr_messages inside python! 
diff --git a/requirements/all_requirements.txt b/requirements/all_requirements.txt
index 0dd2bf4..b0dae8f 100644
--- a/requirements/all_requirements.txt
+++ b/requirements/all_requirements.txt
@@ -14,4 +14,7 @@ numpy==1.26.4
 # for sim_node
 mani_skill==3.0.0b21
 torch==2.9.1
-pynput==1.8.1
\ No newline at end of file
+pynput==1.8.1
+
+# for linting & formatting
+ruff==0.14.14
\ No newline at end of file
diff --git a/requirements/requirements.txt b/requirements/requirements.txt
index 469c334..9e95335 100644
--- a/requirements/requirements.txt
+++ b/requirements/requirements.txt
@@ -6,4 +6,7 @@ catkin-pkg
 PyYAML 
 setuptools
 jinja2
-typeguard
\ No newline at end of file
+typeguard
+
+# for linting & formatting
+ruff==0.14.14
\ No newline at end of file

From 2b49843a33c6a3fb0b01179852b3378f84b04fa3 Mon Sep 17 00:00:00 2001
From: Kane Li <122249106+Li-Kane@users.noreply.github.com>
Date: Sat, 24 Jan 2026 16:35:37 -0800
Subject: [PATCH 15/15] Update cpp_python_lsp_setup.md

---
 .md/cpp_python_lsp_setup.md | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/.md/cpp_python_lsp_setup.md b/.md/cpp_python_lsp_setup.md
index 85cc6e6..11e71e7 100644
--- a/.md/cpp_python_lsp_setup.md
+++ b/.md/cpp_python_lsp_setup.md
@@ -34,6 +34,11 @@ optionally also add the following to save on format
     "editor.formatOnSave": true,
 ```
 
+If you want to auto-format using the terminal, run:
+```
+find . -name "*.cpp" -o -name "*.h" | xargs clang-format -i -style=file
+```
+
 ## Python 
 
 1. Install the `Python` and `Pylance` extensions by microsoft