diff --git a/.editorconfig b/.editorconfig
new file mode 100644
index 0000000000..6644370b86
--- /dev/null
+++ b/.editorconfig
@@ -0,0 +1,27 @@
+# top-most EditorConfig file
+root = true
+
+[*]
+indent_style = space
+indent_size = 2
+end_of_line = lf
+charset = utf-8
+trim_trailing_whitespace = true
+insert_final_newline = true
+
+[*.md]
+indent_size = 4
+
+[*.nix]
+indent_size = 2
+
+[*.{py,ipynb}]
+indent_size = 4
+max_line_length = 100
+
+[*.rs]
+indent_style = space
+indent_size = 4
+
+[*.{ts,svelte}]
+indent_size = 2
diff --git a/.envrc b/.envrc
index 09e580571a..a73ae4a035 100644
--- a/.envrc
+++ b/.envrc
@@ -2,4 +2,4 @@ if ! has nix_direnv_version || ! nix_direnv_version 3.0.6; then
   source_url "https://raw.githubusercontent.com/nix-community/nix-direnv/3.0.6/direnvrc" "sha256-RYcUJaRMf8oF5LznDrlCXbkOQrywm0HDv1VjYGaJGdM="
 fi
 use flake .
-dotenv
\ No newline at end of file
+dotenv
diff --git a/.github/workflows/_docker-build-template.yml b/.github/workflows/_docker-build-template.yml
index 730f4a4696..478a9bec84 100644
--- a/.github/workflows/_docker-build-template.yml
+++ b/.github/workflows/_docker-build-template.yml
@@ -38,19 +38,19 @@ jobs:
           sudo rm -rf /usr/share/dotnet
           sudo rm -rf /usr/local/share/boost
           sudo rm -rf /usr/local/lib/android
-          
+
           echo "=== Cleaning images from deleted branches ==="
-          
+
           # Get list of all remote branches
           git ls-remote --heads origin | awk '{print $2}' | sed 's|refs/heads/||' > /tmp/active_branches.txt
-          
+
           # Check each docker image tag against branch list
           docker images --format "{{.Repository}}:{{.Tag}}|{{.ID}}" | \
           grep "ghcr.io/dimensionalos" | \
           grep -v ":<none>" | \
           while IFS='|' read image_ref id; do
             tag=$(echo "$image_ref" | cut -d: -f2)
-            
+
             # Skip if tag matches an active branch
             if grep -qx "$tag" /tmp/active_branches.txt; then
               echo "Branch exists: $tag - keeping $image_ref"
@@ -59,15 +59,15 @@ jobs:
               docker rmi "$id" 2>/dev/null || true
             fi
           done
-          
+
           rm -f /tmp/active_branches.txt
-          
+
           USAGE=$(df / | awk 'NR==2 {print $5}' | sed 's/%//')
           echo "Pre-docker-cleanup disk usage: ${USAGE}%"
-          
+
           if [ $USAGE -gt 60 ]; then
             echo "=== Running quick cleanup (usage > 60%) ==="
-            
+
             # Keep newest image per tag
             docker images --format "{{.Repository}}|{{.Tag}}|{{.ID}}" | \
             grep "ghcr.io/dimensionalos" | \
@@ -81,10 +81,10 @@ jobs:
             {
               repo=$1; tag=$2; id=$3
               repo_tag = repo ":" tag
-              
+
               # Skip protected tags
               if (tag ~ /^(main|dev|latest)$/) next
-              
+
               # Keep newest per tag, remove older duplicates
               if (!(repo_tag in seen_combos)) {
                 seen_combos[repo_tag] = 1
@@ -92,28 +92,28 @@ jobs:
                 system("docker rmi " id " 2>/dev/null || true")
               }
             }'
-            
+
             docker image prune -f
             docker volume prune -f
           fi
-          
+
           # Aggressive cleanup if still above 85%
           USAGE=$(df / | awk 'NR==2 {print $5}' | sed 's/%//')
           if [ $USAGE -gt 85 ]; then
             echo "=== AGGRESSIVE cleanup (usage > 85%) - removing all except main/dev ==="
-            
+
             # Remove ALL images except main and dev tags
             docker images --format "{{.Repository}}:{{.Tag}} {{.ID}}" | \
             grep -E "ghcr.io/dimensionalos" | \
             grep -vE ":(main|dev)$" | \
             awk '{print $2}' | xargs -r docker rmi -f || true
-            
+
             docker container prune -f
             docker volume prune -a -f
             docker network prune -f
-            docker image prune -f 
+            docker image prune -f
           fi
-          
+
           echo -e "post cleanup space:\n $(df -h)"
 
       - uses: docker/login-action@v3
diff --git a/.github/workflows/code-cleanup.yml b/.github/workflows/code-cleanup.yml
index ddb75a90e3..59cf08dd04 100644
--- a/.github/workflows/code-cleanup.yml
+++ b/.github/workflows/code-cleanup.yml
@@ -13,20 +13,20 @@ jobs:
     - name: Fix permissions
       run: |
         sudo chown -R $USER:$USER ${{ github.workspace }} || true
-        
+
     - uses: actions/checkout@v3
     - uses: actions/setup-python@v3
     - name: Run pre-commit
       id: pre-commit-first
       uses: pre-commit/action@v3.0.1
       continue-on-error: true
-      
+
     - name: Re-run pre-commit if failed initially
       id: pre-commit-retry
       if: steps.pre-commit-first.outcome == 'failure'
       uses: pre-commit/action@v3.0.1
       continue-on-error: false
-      
+
     - name: Commit code changes
       uses: stefanzweifel/git-auto-commit-action@v5
       with:
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
index 0c6abff68d..dc3aa40a7c 100644
--- a/.github/workflows/docker.yml
+++ b/.github/workflows/docker.yml
@@ -24,7 +24,7 @@ jobs:
       - name: Fix permissions
         run: |
           sudo chown -R $USER:$USER ${{ github.workspace }} || true
-          
+
       - uses: actions/checkout@v4
       - id: filter
         uses: dorny/paths-filter@v3
@@ -132,7 +132,7 @@ jobs:
     uses: ./.github/workflows/_docker-build-template.yml
     with:
       should-run: ${{
-        needs.check-changes.result == 'success' && 
+        needs.check-changes.result == 'success' &&
         (needs.check-changes.outputs.dev == 'true' ||
          (needs.ros-python.result == 'success' && (needs.check-changes.outputs.python == 'true' || needs.check-changes.outputs.ros == 'true')))
         }}
@@ -218,21 +218,20 @@ jobs:
   #     - name: Fix permissions
   #       run: |
   #         sudo chown -R $USER:$USER ${{ github.workspace }} || true
-  #         
+  #
   #     - uses: actions/checkout@v4
   #       with:
   #         lfs: true
-  #         
+  #
   #     - name: Configure Git LFS
   #       run: |
   #         git config --global --add safe.directory '*'
   #         git lfs install
   #         git lfs fetch
   #         git lfs checkout
-  #       
+  #
   #     - name: Run module tests
   #       env:
   #         CI: "true"
   #       run: |
   #         /entrypoint.sh bash -c "pytest -m module"
-      
diff --git a/.github/workflows/readme.md b/.github/workflows/readme.md
index 0bc86973d8..f82ba479bb 100644
--- a/.github/workflows/readme.md
+++ b/.github/workflows/readme.md
@@ -12,17 +12,17 @@ https://code.visualstudio.com/docs/devcontainers/containers
 create personal access token (classic, not fine grained)
 https://github.com/settings/tokens
 
-add permissions 
+add permissions
 - read:packages scope to download container images and read their metadata.
-    
+
     and optionally,
-    
+
 - write:packages scope to download and upload container images and read and write their metadata.
 - delete:packages scope to delete container images.
 
 more info @ https://docs.github.com/en/packages/working-with-a-github-packages-registry/working-with-the-container-registry
 
-login to docker via 
+login to docker via
 
 `sh
 echo TOKEN | docker login ghcr.io -u GITHUB_USER --password-stdin
@@ -38,14 +38,14 @@ pull dev image (master)
 docker pull ghcr.io/dimensionalos/dev:latest
 `
 
-# todo 
+# todo
 
 Currently there is an issue with ensuring both correct docker image build ordering, and skipping unneccessary re-builds.
 
 (we need job dependancies for builds to wait to their images underneath to be built (for example py waits for ros))
 by default if a parent is skipped, it's children get skipped as well, unless they have always() in their conditional.
 
-Issue is once we put always() in the conditional, it seems that no matter what other check we put in the same conditional, job will always run. 
+Issue is once we put always() in the conditional, it seems that no matter what other check we put in the same conditional, job will always run.
 for this reason we cannot skip python (and above) builds for now. Needs review.
 
 I think we will need to write our own build dispatcher in python that calls github workflows that build images.
diff --git a/.github/workflows/tests.yml b/.github/workflows/tests.yml
index a94839a505..e84d7d43d2 100644
--- a/.github/workflows/tests.yml
+++ b/.github/workflows/tests.yml
@@ -28,14 +28,14 @@ jobs:
   #       if: ${{ !inputs.should-run }}
   #       run: |
   #         exit 0
-          
+
   #     - name: Free disk space
   #       run: |
   #         sudo rm -rf /opt/ghc
   #         sudo rm -rf /usr/share/dotnet
   #         sudo rm -rf /usr/local/share/boost
   #         sudo rm -rf /usr/local/lib/android
-          
+
   run-tests:
     runs-on: [self-hosted, Linux]
     container:
@@ -47,17 +47,16 @@ jobs:
 
     steps:
       - uses: actions/checkout@v4
-          
+
       - name: Fix permissions
         run: |
           git config --global --add safe.directory '*'
-          
+
       - name: Run tests
         run: |
           /entrypoint.sh bash -c "${{ inputs.cmd }}"
-          
+
       - name: check disk space
         if: failure()
         run: |
           df -h
-        
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 0e38877c44..40b1877835 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -33,7 +33,9 @@ repos:
       - id: trailing-whitespace
         language: python
         types: [text]
-        stages: [pre-push]
+      - id: end-of-file-fixer
+      - id: mixed-line-ending
+        args: [--fix=lf]
       - id: check-json
       - id: check-toml
       - id: check-yaml
@@ -41,6 +43,13 @@ repos:
         name: format json
         args: [ --autofix, --no-sort-keys ]
 
+  - repo: https://github.com/editorconfig-checker/editorconfig-checker.python
+    rev: 3.4.1
+    hooks:
+      - id: editorconfig-checker
+        alias: ec
+        args: [-disable-max-line-length, -disable-indentation]
+
   # - repo: local
   #   hooks:
   #     - id: mypy
@@ -60,5 +69,3 @@ repos:
         pass_filenames: false
         entry: bin/lfs_check
         language: script
-
-        
diff --git a/.python-version b/.python-version
new file mode 100644
index 0000000000..e4fba21835
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.12
diff --git a/.style.yapf b/.style.yapf
index e1d4f5f627..b8d6fb374a 100644
--- a/.style.yapf
+++ b/.style.yapf
@@ -1,3 +1,3 @@
    [style]
    based_on_style = google
-   column_limit = 80
\ No newline at end of file
+   column_limit = 80
diff --git a/AUTONOMY_STACK_README.md b/AUTONOMY_STACK_README.md
index 70eff131ce..4a74500b2f 100644
--- a/AUTONOMY_STACK_README.md
+++ b/AUTONOMY_STACK_README.md
@@ -122,7 +122,7 @@ cd ~/autonomy_stack_mecanum_wheel_platform
 | `/goal_pose` | `geometry_msgs/PoseStamped` | Send goal with orientation |
 | `/cancel_goal` | `std_msgs/Bool` | Cancel current goal (data: true) |
 | `/joy` | `sensor_msgs/Joy` | Joystick input |
-| `/stop` | `std_msgs/Int8` | Soft Stop (2=stop all commmand, 0 = release) | 
+| `/stop` | `std_msgs/Int8` | Soft Stop (2=stop all commmand, 0 = release) |
 | `/navigation_boundary` | `geometry_msgs/PolygonStamped` | Set navigation boundaries |
 | `/added_obstacles` | `sensor_msgs/PointCloud2` | Virtual obstacles |
 
@@ -281,4 +281,4 @@ init_yaw: 0.0
 mapping_line_resolution: 0.1   # Decrease for higher quality
 mapping_plane_resolution: 0.2  # Decrease for higher quality
 max_iterations: 5               # Increase for better accuracy
-```
\ No newline at end of file
+```
diff --git a/LICENSE b/LICENSE
index b06471524c..5e2927e3ad 100644
--- a/LICENSE
+++ b/LICENSE
@@ -14,4 +14,4 @@
    distributed under the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    See the License for the specific language governing permissions and
-   limitations under the License. 
\ No newline at end of file
+   limitations under the License.
diff --git a/README.md b/README.md
index 1db93e9887..f8df86f5aa 100644
--- a/README.md
+++ b/README.md
@@ -20,11 +20,11 @@
 
 ## What is Dimensional?
 
-Dimensional is an open-source framework for building agentive generalist robots. DimOS allows off-the-shelf Agents to call tools/functions and read sensor/state data directly from ROS. 
+Dimensional is an open-source framework for building agentive generalist robots. DimOS allows off-the-shelf Agents to call tools/functions and read sensor/state data directly from ROS.
 
-The framework enables neurosymbolic orchestration of Agents as generalized spatial reasoners/planners and Robot state/action primitives as functions. 
+The framework enables neurosymbolic orchestration of Agents as generalized spatial reasoners/planners and Robot state/action primitives as functions.
 
-The result: cross-embodied *"Dimensional Applications"* exceptional at generalization and robust at symbolic action execution. 
+The result: cross-embodied *"Dimensional Applications"* exceptional at generalization and robust at symbolic action execution.
 
 ## DIMOS x Unitree Go2 (OUT OF DATE)
 
@@ -38,18 +38,18 @@ We are shipping a first look at the DIMOS x Unitree Go2 integration, allowing fo
 - Lidar / PointCloud primitives
 - Any other generic Unitree ROS2 topics
 
-### Features 
+### Features
 
 - **DimOS Agents**
   - Agent() classes with planning, spatial reasoning, and Robot.Skill() function calling abilities.
   - Integrate with any off-the-shelf hosted or local model: OpenAIAgent, ClaudeAgent, GeminiAgent 🚧, DeepSeekAgent 🚧, HuggingFaceRemoteAgent, HuggingFaceLocalAgent, etc.
-  - Modular agent architecture for easy extensibility and chaining of Agent output --> Subagents input. 
+  - Modular agent architecture for easy extensibility and chaining of Agent output --> Subagents input.
   - Agent spatial / language memory for location grounded reasoning and recall.
 
 - **DimOS Infrastructure**
   - A reactive data streaming architecture using RxPY to manage real-time video (or other sensor input), outbound commands, and inbound robot state between the DimOS interface, Agents, and ROS2.
-  - Robot Command Queue to handle complex multi-step actions to Robot.  
-  - Simulation bindings (Genesis, Isaacsim, etc.) to test your agentive application before deploying to a physical robot. 
+  - Robot Command Queue to handle complex multi-step actions to Robot.
+  - Simulation bindings (Genesis, Isaacsim, etc.) to test your agentive application before deploying to a physical robot.
 
 - **DimOS Interface / Development Tools**
   - Local development interface to control your robot, orchestrate agents, visualize camera/lidar streams, and debug your dimensional agentive application.
@@ -92,27 +92,27 @@ pip install -e .[cuda,dev]
 cp default.env .env
 ```
 
-#### Test the install 
-```bash 
+#### Test the install
+```bash
 pytest -s dimos/
 ```
 
 #### Test Dimensional with a replay UnitreeGo2 stream (no robot required)
 ```bash
-CONNECTION_TYPE=replay python dimos/robot/unitree_webrtc/unitree_go2.py 
+CONNECTION_TYPE=replay python dimos/robot/unitree_webrtc/unitree_go2.py
 ```
 
 #### Test Dimensional with a simulated UnitreeGo2 in MuJoCo (no robot required)
 ```bash
 pip install -e .[sim]
 export DISPLAY=:1 # Or DISPLAY=:0 if getting GLFW/OpenGL X11 errors
-CONNECTION_TYPE=mujoco python dimos/robot/unitree_webrtc/unitree_go2.py 
+CONNECTION_TYPE=mujoco python dimos/robot/unitree_webrtc/unitree_go2.py
 ```
 
 #### Test Dimensional with a real UnitreeGo2 over WebRTC
 ```bash
 export ROBOT_IP=192.168.X.XXX # Add the robot IP address
-python dimos/robot/unitree_webrtc/unitree_go2.py 
+python dimos/robot/unitree_webrtc/unitree_go2.py
 ```
 
 #### Test Dimensional with a real UnitreeGo2 running Agents
@@ -127,7 +127,7 @@ python dimos/robot/unitree_webrtc/run_agents2.py
 
 Full functionality will require API keys for the following:
 
-Requirements: 
+Requirements:
 - OpenAI API key (required for all LLMAgents due to OpenAIEmbeddings)
 - Claude API key (required for ClaudeAgent)
 - Alibaba API key (required for Navigation skills)
@@ -139,10 +139,10 @@ export CLAUDE_API_KEY=<your private key>
 export ALIBABA_API_KEY=<your private key>
 ```
 
-### ROS2 Unitree Go2 SDK Installation 
+### ROS2 Unitree Go2 SDK Installation
 
 #### System Requirements
-- Ubuntu 22.04 
+- Ubuntu 22.04
 - ROS2 Distros: Iron, Humble, Rolling
 
 See [Unitree Go2 ROS2 SDK](https://github.com/dimensionalOS/go2_ros2_sdk) for additional installation instructions.
@@ -167,7 +167,7 @@ colcon build
 
 ### Run the test application
 
-#### ROS2 Terminal: 
+#### ROS2 Terminal:
 ```bash
 # Change path to your Go2 ROS2 SDK installation
 source /ros2_ws/install/setup.bash
@@ -179,7 +179,7 @@ ros2 launch go2_robot_sdk robot.launch.py
 
 ```
 
-#### Python Terminal: 
+#### Python Terminal:
 ```bash
 # Change path to your Go2 ROS2 SDK installation
 source /ros2_ws/install/setup.bash
@@ -189,7 +189,7 @@ python tests/run.py
 #### DimOS Interface:
 ```bash
 cd dimos/web/dimos_interface
-yarn install 
+yarn install
 yarn dev # you may need to run sudo if previously built via Docker
 ```
 
@@ -224,7 +224,7 @@ yarn dev # you may need to run sudo if previously built via Docker
 │   ├── types/        # Type definitions and interfaces
 │   ├── utils/        # Utility functions and helpers
 │   └── web/          # DimOS development interface and API
-│       ├── dimos_interface/ # DimOS web interface 
+│       ├── dimos_interface/ # DimOS web interface
 │       └── websocket_vis/   # Websocket visualizations
 ├── tests/            # Test files
 │   ├── genesissim/   # Genesis simulator tests
@@ -267,11 +267,11 @@ while True: # keep process running
 
 ### DimOS Application with Agent chaining (OUT OF DATE)
 
-Let's build a simple DimOS application with Agent chaining. We define a ```planner``` as a ```PlanningAgent``` that takes in user input to devise a complex multi-step plan. This plan is passed step-by-step to an ```executor``` agent that can queue ```AbstractRobotSkill``` commands to the ```ROSCommandQueue```. 
+Let's build a simple DimOS application with Agent chaining. We define a ```planner``` as a ```PlanningAgent``` that takes in user input to devise a complex multi-step plan. This plan is passed step-by-step to an ```executor``` agent that can queue ```AbstractRobotSkill``` commands to the ```ROSCommandQueue```.
 
-Our reactive Pub/Sub data streaming architecture allows for chaining of ```Agent_0 --> Agent_1 --> ... --> Agent_n``` via the ```input_query_stream``` parameter in each which takes an ```Observable``` input from the previous Agent in the chain. 
+Our reactive Pub/Sub data streaming architecture allows for chaining of ```Agent_0 --> Agent_1 --> ... --> Agent_n``` via the ```input_query_stream``` parameter in each which takes an ```Observable``` input from the previous Agent in the chain.
 
-**Via this method you can chain together any number of Agents() to create complex dimensional applications.** 
+**Via this method you can chain together any number of Agents() to create complex dimensional applications.**
 
 ```python
 
@@ -371,8 +371,8 @@ First, define your skill. For instance, a `GreeterSkill` that can deliver a conf
 ```python
 class GreeterSkill(AbstractSkill):
     """Greats the user with a friendly message.""" # Gives the agent better context for understanding (the more detailed the better).
-    
-    greeting: str = Field(..., description="The greating message to display.") # The field needed for the calling of the function. Your agent will also pull from the description here to gain better context. 
+
+    greeting: str = Field(..., description="The greating message to display.") # The field needed for the calling of the function. Your agent will also pull from the description here to gain better context.
 
     def __init__(self, greeting_message: Optional[str] = None, **data):
         super().__init__(**data)
@@ -410,19 +410,19 @@ Define the SkillLibrary and any skills it will manage in its collection:
 ```python
 class MovementSkillsLibrary(SkillLibrary):
     """A specialized skill library containing movement and navigation related skills."""
-    
+
     def __init__(self, robot=None):
         super().__init__()
         self._robot = robot
-        
+
     def initialize_skills(self, robot=None):
         """Initialize all movement skills with the robot instance."""
         if robot:
             self._robot = robot
-            
+
         if not self._robot:
             raise ValueError("Robot instance is required to initialize skills")
-            
+
         # Initialize with all movement-related skills
         self.add(Navigate(robot=self._robot))
         self.add(NavigateToGoal(robot=self._robot))
@@ -431,7 +431,7 @@ class MovementSkillsLibrary(SkillLibrary):
         self.add(GetPose(robot=self._robot))  # Position tracking skill
 ```
 
-Note the addision of initialized skills added to this collection above. 
+Note the addision of initialized skills added to this collection above.
 
 Proceed to use this skill library in an Agent:
 
@@ -450,9 +450,9 @@ performing_agent = OpenAIAgent(
 ```
 
 ### Unitree Test Files
-- **`tests/run_go2_ros.py`**: Tests `UnitreeROSControl(ROSControl)` initialization in `UnitreeGo2(Robot)` via direct function calls `robot.move()` and `robot.webrtc_req()` 
+- **`tests/run_go2_ros.py`**: Tests `UnitreeROSControl(ROSControl)` initialization in `UnitreeGo2(Robot)` via direct function calls `robot.move()` and `robot.webrtc_req()`
 - **`tests/simple_agent_test.py`**: Tests a simple zero-shot class `OpenAIAgent` example
-- **`tests/unitree/test_webrtc_queue.py`**: Tests `ROSCommandQueue` via a 20 back-to-back WebRTC requests to the robot 
+- **`tests/unitree/test_webrtc_queue.py`**: Tests `ROSCommandQueue` via a 20 back-to-back WebRTC requests to the robot
 - **`tests/test_planning_agent_web_interface.py`**: Tests a simple two-stage `PlanningAgent` chained to an `ExecutionAgent` with backend FastAPI interface.
 - **`tests/test_unitree_agent_queries_fastapi.py`**: Tests a zero-shot `ExecutionAgent` with backend FastAPI interface.
 
@@ -470,11 +470,11 @@ This project is licensed under the Apache 2.0 License - see the [LICENSE](LICENS
 
 ## Acknowledgments
 
-Huge thanks to! 
-- The Roboverse Community and their unitree-specific help. Check out their [Discord](https://discord.gg/HEXNMCNhEh). 
-- @abizovnuralem for his work on the [Unitree Go2 ROS2 SDK](https://github.com/abizovnuralem/go2_ros2_sdk) we integrate with for DimOS. 
-- @legion1581 for his work on the [Unitree Go2 WebRTC Connect](https://github.com/legion1581/go2_webrtc_connect) from which we've pulled the ```Go2WebRTCConnection``` class and other types for seamless WebRTC-only integration with DimOS. 
-- @tfoldi for the webrtc_req integration via Unitree Go2 ROS2 SDK, which allows for seamless usage of Unitree WebRTC control primitives with DimOS. 
+Huge thanks to!
+- The Roboverse Community and their unitree-specific help. Check out their [Discord](https://discord.gg/HEXNMCNhEh).
+- @abizovnuralem for his work on the [Unitree Go2 ROS2 SDK](https://github.com/abizovnuralem/go2_ros2_sdk) we integrate with for DimOS.
+- @legion1581 for his work on the [Unitree Go2 WebRTC Connect](https://github.com/legion1581/go2_webrtc_connect) from which we've pulled the ```Go2WebRTCConnection``` class and other types for seamless WebRTC-only integration with DimOS.
+- @tfoldi for the webrtc_req integration via Unitree Go2 ROS2 SDK, which allows for seamless usage of Unitree WebRTC control primitives with DimOS.
 
 ## Contact
 
@@ -482,6 +482,5 @@ Huge thanks to!
 - Email: [build@dimensionalOS.com](mailto:build@dimensionalOS.com)
 
 ## Known Issues
-- Agent() failure to execute Nav2 action primitives (move, reverse, spinLeft, spinRight) is almost always due to the internal ROS2 collision avoidance, which will sometimes incorrectly display obstacles or be overly sensitive. Look for ```[behavior_server]: Collision Ahead - Exiting DriveOnHeading``` in the ROS logs. Reccomend restarting ROS2 or moving robot from objects to resolve. 
+- Agent() failure to execute Nav2 action primitives (move, reverse, spinLeft, spinRight) is almost always due to the internal ROS2 collision avoidance, which will sometimes incorrectly display obstacles or be overly sensitive. Look for ```[behavior_server]: Collision Ahead - Exiting DriveOnHeading``` in the ROS logs. Reccomend restarting ROS2 or moving robot from objects to resolve.
 - ```docker-compose up --build``` does not fully initialize the ROS2 environment due to ```std::bad_alloc``` errors. This will occur during continuous docker development if the ```docker-compose down``` is not run consistently before rebuilding and/or you are on a machine with less RAM, as ROS is very memory intensive. Reccomend running to clear your docker cache/images/containers with ```docker system prune``` and rebuild.
-
diff --git a/assets/agent/prompt.txt b/assets/agent/prompt.txt
index f38c13eb13..346e0388e0 100644
--- a/assets/agent/prompt.txt
+++ b/assets/agent/prompt.txt
@@ -108,4 +108,4 @@ Example: If a user asks "Can you find the kitchen?", you would:
 1. Acknowledge: "I'll help you find the kitchen."
 2. Execute: Call the Navigate skill with query="kitchen"
 3. Feedback: Report success or failure of navigation attempt
-4. Next steps: Offer to take further actions once at the kitchen location
\ No newline at end of file
+4. Next steps: Offer to take further actions once at the kitchen location
diff --git a/assets/dimensionalascii.txt b/assets/dimensionalascii.txt
index 3202258acb..9b35fb8778 100644
--- a/assets/dimensionalascii.txt
+++ b/assets/dimensionalascii.txt
@@ -1,8 +1,7 @@
 
-  ██████╗ ██╗███╗   ███╗███████╗███╗   ██╗███████╗██╗ ██████╗ ███╗   ██╗ █████╗ ██╗     
-  ██╔══██╗██║████╗ ████║██╔════╝████╗  ██║██╔════╝██║██╔═══██╗████╗  ██║██╔══██╗██║     
-  ██║  ██║██║██╔████╔██║█████╗  ██╔██╗ ██║███████╗██║██║   ██║██╔██╗ ██║███████║██║     
-  ██║  ██║██║██║╚██╔╝██║██╔══╝  ██║╚██╗██║╚════██║██║██║   ██║██║╚██╗██║██╔══██║██║     
+  ██████╗ ██╗███╗   ███╗███████╗███╗   ██╗███████╗██╗ ██████╗ ███╗   ██╗ █████╗ ██╗
+  ██╔══██╗██║████╗ ████║██╔════╝████╗  ██║██╔════╝██║██╔═══██╗████╗  ██║██╔══██╗██║
+  ██║  ██║██║██╔████╔██║█████╗  ██╔██╗ ██║███████╗██║██║   ██║██╔██╗ ██║███████║██║
+  ██║  ██║██║██║╚██╔╝██║██╔══╝  ██║╚██╗██║╚════██║██║██║   ██║██║╚██╗██║██╔══██║██║
   ██████╔╝██║██║ ╚═╝ ██║███████╗██║ ╚████║███████║██║╚██████╔╝██║ ╚████║██║  ██║███████╗
   ╚═════╝ ╚═╝╚═╝     ╚═╝╚══════╝╚═╝  ╚═══╝╚══════╝╚═╝ ╚═════╝ ╚═╝  ╚═══╝╚═╝  ╚═╝╚══════╝
-
diff --git a/assets/license_file_header.txt b/assets/license_file_header.txt
index 4268cd990f..a02322f92f 100644
--- a/assets/license_file_header.txt
+++ b/assets/license_file_header.txt
@@ -10,4 +10,4 @@ Unless required by applicable law or agreed to in writing, software
 distributed under the License is distributed on an "AS IS" BASIS,
 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 See the License for the specific language governing permissions and
-limitations under the License.
\ No newline at end of file
+limitations under the License.
diff --git a/base-requirements.txt b/base-requirements.txt
index 6d4cb9671c..68b485fb9a 100644
--- a/base-requirements.txt
+++ b/base-requirements.txt
@@ -1,2 +1,2 @@
 torch==2.0.1
-torchvision==0.15.2
\ No newline at end of file
+torchvision==0.15.2
diff --git a/bin/dev b/bin/dev
index 509fa5e14d..2ccebcb071 100755
--- a/bin/dev
+++ b/bin/dev
@@ -59,7 +59,7 @@ get_tag() {
 build_image() {
     local image_tag
     image_tag=$(get_tag)
-    
+
     docker build \
         --build-arg GIT_COMMIT=$(git rev-parse --short HEAD) \
         --build-arg GIT_BRANCH=$(git rev-parse --abbrev-ref HEAD) \
diff --git a/bin/lfs_push b/bin/lfs_push
index 68b1326e49..0d9e01d743 100755
--- a/bin/lfs_push
+++ b/bin/lfs_push
@@ -28,27 +28,27 @@ compressed_dirs=()
 for dir_path in data/*; do
     # Skip if no directories found (glob didn't match)
     [ ! "$dir_path" ] && continue
-    
+
     # Extract directory name
     dir_name=$(basename "$dir_path")
-    
+
     # Skip .lfs directory if it exists
     [ "$dir_name" = ".lfs" ] && continue
-    
+
     # Define compressed file path
     compressed_file="data/.lfs/${dir_name}.tar.gz"
-    
+
     # Check if compressed file already exists
     if [ -f "$compressed_file" ]; then
         continue
     fi
-    
+
     echo -e "  ${YELLOW}Compressing${NC} $dir_path -> $compressed_file"
-    
+
     # Show directory size before compression
     dir_size=$(du -sh "$dir_path" | cut -f1)
     echo -e "    Data size: ${YELLOW}$dir_size${NC}"
-    
+
     # Create compressed archive with progress bar
     # Use tar with gzip compression, excluding hidden files and common temp files
     tar -czf "$compressed_file" \
@@ -60,13 +60,13 @@ for dir_path in data/*; do
         --checkpoint-action=dot \
         -C "data/" \
         "$dir_name"
-    
+
     if [ $? -eq 0 ]; then
         # Show compressed file size
         compressed_size=$(du -sh "$compressed_file" | cut -f1)
         echo -e "  ${GREEN}✓${NC} Successfully compressed $dir_name (${GREEN}$dir_size${NC} → ${GREEN}$compressed_size${NC})"
         compressed_dirs+=("$dir_name")
-        
+
         # Add the compressed file to git LFS tracking
         git add -f "$compressed_file"
 
@@ -87,7 +87,7 @@ if [ ${#compressed_dirs[@]} -gt 0 ]; then
         dirs_list=$(IFS=', '; echo "${compressed_dirs[*]}")
         commit_msg="Auto-compress test data: ${dirs_list}"
     fi
-    
+
     #git commit -m "$commit_msg"
     echo -e "${GREEN}✓${NC} Compressed file references added. Uploading..."
     git lfs push origin $(git branch --show-current)
@@ -95,4 +95,3 @@ if [ ${#compressed_dirs[@]} -gt 0 ]; then
 else
     echo -e "${GREEN}✓${NC} No test data to compress"
 fi
-
diff --git a/bin/robot-debugger b/bin/robot-debugger
index d9bef015e7..165a546a0c 100755
--- a/bin/robot-debugger
+++ b/bin/robot-debugger
@@ -8,7 +8,7 @@
 #
 # And now start this script
 #
-#     $ ./bin/robot-debugger 
+#     $ ./bin/robot-debugger
 #     >>> robot.explore()
 #     True
 #     >>>
diff --git a/default.env b/default.env
index 0c7a0ff14a..5098a60892 100644
--- a/default.env
+++ b/default.env
@@ -10,6 +10,6 @@ WEBRTC_SERVER_HOST=0.0.0.0
 WEBRTC_SERVER_PORT=9991
 DISPLAY=:0
 
-# Optional 
+# Optional
 #DIMOS_MAX_WORKERS=
 TEST_RTSP_URL=
diff --git a/dimos/__init__.py b/dimos/__init__.py
index 8b13789179..e69de29bb2 100644
--- a/dimos/__init__.py
+++ b/dimos/__init__.py
@@ -1 +0,0 @@
-
diff --git a/dimos/hardware/README.md b/dimos/hardware/README.md
index fb598e82cf..2587e3595d 100644
--- a/dimos/hardware/README.md
+++ b/dimos/hardware/README.md
@@ -26,4 +26,4 @@ On receiver machine:
 
 ```bash
 python3 dimos/hardware/gstreamer_camera_test_script.py --host 10.0.0.227 --port 5000
-```
\ No newline at end of file
+```
diff --git a/dimos/hardware/can_activate.sh b/dimos/hardware/can_activate.sh
index 60cc95e7ea..addb892557 100644
--- a/dimos/hardware/can_activate.sh
+++ b/dimos/hardware/can_activate.sh
@@ -37,12 +37,12 @@ if [ "$CURRENT_CAN_COUNT" -ne "1" ]; then
         for iface in $(ip -br link show type can | awk '{print $1}'); do
             # Use ethtool to retrieve bus-info.
             BUS_INFO=$(sudo ethtool -i "$iface" | grep "bus-info" | awk '{print $2}')
-            
+
             if [ -z "$BUS_INFO" ];then
                 echo "Error: Unable to retrieve bus-info for interface $iface."
                 continue
             fi
-            
+
             echo "Interface $iface is inserted into USB port $BUS_INFO"
         done
         echo -e " \e[31m Error: The number of CAN modules detected by the system ($CURRENT_CAN_COUNT) does not match the expected number (1). \e[0m"
@@ -62,7 +62,7 @@ fi
 
 if [ -n "$USB_ADDRESS" ]; then
     echo "Detected USB hardware address parameter: $USB_ADDRESS"
-    
+
     # Use ethtool to find the CAN interface corresponding to the USB hardware address.
     INTERFACE_NAME=""
     for iface in $(ip -br link show type can | awk '{print $1}'); do
@@ -72,7 +72,7 @@ if [ -n "$USB_ADDRESS" ]; then
             break
         fi
     done
-    
+
     if [ -z "$INTERFACE_NAME" ]; then
         echo "Error: Unable to find CAN interface corresponding to USB hardware address $USB_ADDRESS."
         exit 1
@@ -82,7 +82,7 @@ if [ -n "$USB_ADDRESS" ]; then
 else
     # Retrieve the unique CAN interface.
     INTERFACE_NAME=$(ip -br link show type can | awk '{print $1}')
-    
+
     # Check if the interface name has been retrieved.
     if [ -z "$INTERFACE_NAME" ]; then
         echo "Error: Unable to detect CAN interface."
@@ -100,7 +100,7 @@ CURRENT_BITRATE=$(ip -details link show "$INTERFACE_NAME" | grep -oP 'bitrate \K
 
 if [ "$IS_LINK_UP" = "yes" ] && [ "$CURRENT_BITRATE" -eq "$DEFAULT_BITRATE" ]; then
     echo "Interface $INTERFACE_NAME is already activated with a bitrate of $DEFAULT_BITRATE."
-    
+
     # Check if the interface name matches the default name.
     if [ "$INTERFACE_NAME" != "$DEFAULT_CAN_NAME" ]; then
         echo "Rename interface $INTERFACE_NAME to $DEFAULT_CAN_NAME."
@@ -118,13 +118,13 @@ else
     else
         echo "Interface $INTERFACE_NAME is not activated or bitrate is not set."
     fi
-    
+
     # Set the interface bitrate and activate it.
     sudo ip link set "$INTERFACE_NAME" down
     sudo ip link set "$INTERFACE_NAME" type can bitrate $DEFAULT_BITRATE
     sudo ip link set "$INTERFACE_NAME" up
     echo "Interface $INTERFACE_NAME has been reset to bitrate $DEFAULT_BITRATE and activated."
-    
+
     # Rename the interface to the default name.
     if [ "$INTERFACE_NAME" != "$DEFAULT_CAN_NAME" ]; then
         echo "Rename interface $INTERFACE_NAME to $DEFAULT_CAN_NAME."
diff --git a/dimos/hardware/piper_description.urdf b/dimos/hardware/piper_description.urdf
index 21209b6dbb..c8a5a11ded 100755
--- a/dimos/hardware/piper_description.urdf
+++ b/dimos/hardware/piper_description.urdf
@@ -366,7 +366,7 @@
           filename="package://piper_description/meshes/gripper_base.STL" />
       </geometry>
     </collision>
-  </link> 
+  </link>
   <joint
     name="joint6_to_gripper_base"
     type="fixed">
diff --git a/dimos/mapping/osm/README.md b/dimos/mapping/osm/README.md
index be3d4a3ee2..cb94c0160b 100644
--- a/dimos/mapping/osm/README.md
+++ b/dimos/mapping/osm/README.md
@@ -28,7 +28,7 @@ You have to update it with your current location and when you stray too far from
 ```python
 curr_map = CurrentLocationMap(QwenVlModel())
 
-# Set your latest position. 
+# Set your latest position.
 curr_map.update_position(LatLon(lat=..., lon=...))
 
 # If you want to get back a GPS position of a feature (Qwen gets your current position).
diff --git a/dimos/perception/detection/detectors/config/custom_tracker.yaml b/dimos/perception/detection/detectors/config/custom_tracker.yaml
index 4386473086..7a6748ebf6 100644
--- a/dimos/perception/detection/detectors/config/custom_tracker.yaml
+++ b/dimos/perception/detection/detectors/config/custom_tracker.yaml
@@ -18,4 +18,4 @@ gmc_method: sparseOptFlow # method of global motion compensation
 # ReID model related thresh (not supported yet)
 proximity_thresh: 0.6
 appearance_thresh: 0.35
-with_reid: False
\ No newline at end of file
+with_reid: False
diff --git a/dimos/perception/segmentation/config/custom_tracker.yaml b/dimos/perception/segmentation/config/custom_tracker.yaml
index 4386473086..7a6748ebf6 100644
--- a/dimos/perception/segmentation/config/custom_tracker.yaml
+++ b/dimos/perception/segmentation/config/custom_tracker.yaml
@@ -18,4 +18,4 @@ gmc_method: sparseOptFlow # method of global motion compensation
 # ReID model related thresh (not supported yet)
 proximity_thresh: 0.6
 appearance_thresh: 0.35
-with_reid: False
\ No newline at end of file
+with_reid: False
diff --git a/dimos/robot/agilex/README.md b/dimos/robot/agilex/README.md
index 1e678cae65..5d43fa3c3f 100644
--- a/dimos/robot/agilex/README.md
+++ b/dimos/robot/agilex/README.md
@@ -21,27 +21,27 @@ from dimos.types.robot_capabilities import RobotCapability
 
 class YourRobot:
     """Your robot implementation."""
-    
+
     def __init__(self, robot_capabilities: Optional[List[RobotCapability]] = None):
         # Core components
         self.dimos = None
         self.modules = {}
         self.skill_library = SkillLibrary()
-        
+
         # Define capabilities
         self.capabilities = robot_capabilities or [
             RobotCapability.VISION,
             RobotCapability.MANIPULATION,
         ]
-    
+
     async def start(self):
         """Start the robot modules."""
         # Initialize DIMOS with worker count
         self.dimos = core.start(2)  # Number of workers needed
-        
+
         # Deploy modules
         # ... (see Module System section)
-        
+
     def stop(self):
         """Stop all modules and clean up."""
         # Stop modules
@@ -96,7 +96,7 @@ self.camera.color_image.transport = core.LCMTransport(
     Image                         # Message type
 )
 self.camera.depth_image.transport = core.LCMTransport(
-    "/camera/depth_image", 
+    "/camera/depth_image",
     Image
 )
 ```
@@ -142,23 +142,23 @@ def main():
     # 1. Create and start robot
     robot = YourRobot()
     asyncio.run(robot.start())
-    
+
     # 2. Set up skills
     skills = robot.get_skills()
     skills.add(YourSkill)
     skills.create_instance("YourSkill", robot=robot)
-    
+
     # 3. Set up reactive streams
     agent_response_subject = rx.subject.Subject()
     agent_response_stream = agent_response_subject.pipe(ops.share())
-    
+
     # 4. Create web interface
     web_interface = RobotWebInterface(
         port=5555,
         text_streams={"agent_responses": agent_response_stream},
         audio_subject=rx.subject.Subject()
     )
-    
+
     # 5. Create agent
     agent = ClaudeAgent(
         dev_name="your_agent",
@@ -167,12 +167,12 @@ def main():
         system_query="Your system prompt here",
         model_name="claude-3-5-haiku-latest"
     )
-    
+
     # 6. Connect agent responses
     agent.get_response_observable().subscribe(
         lambda x: agent_response_subject.on_next(x)
     )
-    
+
     # 7. Run interface
     web_interface.run()
 ```
@@ -205,51 +205,51 @@ class MyRobot:
         self.camera = None
         self.manipulation = None
         self.skill_library = SkillLibrary()
-        
+
         self.capabilities = robot_capabilities or [
             RobotCapability.VISION,
             RobotCapability.MANIPULATION,
         ]
-    
+
     async def start(self):
         # Start DIMOS
         self.dimos = core.start(2)
-        
+
         # Enable LCM
         pubsub.lcm.autoconf()
-        
+
         # Deploy camera
         self.camera = self.dimos.deploy(
             CameraModule,
             camera_id=0,
             fps=30
         )
-        
+
         # Configure camera LCM
         self.camera.color_image.transport = core.LCMTransport("/camera/rgb", Image)
         self.camera.depth_image.transport = core.LCMTransport("/camera/depth", Image)
         self.camera.camera_info.transport = core.LCMTransport("/camera/info", CameraInfo)
-        
+
         # Deploy manipulation
         self.manipulation = self.dimos.deploy(ManipulationModule)
-        
+
         # Connect modules
         self.manipulation.rgb_image.connect(self.camera.color_image)
         self.manipulation.depth_image.connect(self.camera.depth_image)
         self.manipulation.camera_info.connect(self.camera.camera_info)
-        
+
         # Configure manipulation output
         self.manipulation.viz_image.transport = core.LCMTransport("/viz/output", Image)
-        
+
         # Start modules
         self.camera.start()
         self.manipulation.start()
-        
+
         await asyncio.sleep(2)  # Allow initialization
-    
+
     def get_skills(self):
         return self.skill_library
-    
+
     def stop(self):
         if self.manipulation:
             self.manipulation.stop()
@@ -279,29 +279,29 @@ def main():
     if not os.getenv("ANTHROPIC_API_KEY"):
         print("Please set ANTHROPIC_API_KEY")
         return
-    
+
     # Create robot
     robot = MyRobot()
-    
+
     try:
         # Start robot
         asyncio.run(robot.start())
-        
+
         # Set up skills
         skills = robot.get_skills()
         skills.add(BasicSkill)
         skills.create_instance("BasicSkill", robot=robot)
-        
+
         # Set up streams
         agent_response_subject = rx.subject.Subject()
         agent_response_stream = agent_response_subject.pipe(ops.share())
-        
+
         # Create web interface
         web_interface = RobotWebInterface(
             port=5555,
             text_streams={"agent_responses": agent_response_stream}
         )
-        
+
         # Create agent
         agent = ClaudeAgent(
             dev_name="my_agent",
@@ -309,17 +309,17 @@ def main():
             skills=skills,
             system_query=SYSTEM_PROMPT
         )
-        
+
         # Connect responses
         agent.get_response_observable().subscribe(
             lambda x: agent_response_subject.on_next(x)
         )
-        
+
         print("Robot ready at http://localhost:5555")
-        
+
         # Run
         web_interface.run()
-        
+
     finally:
         robot.stop()
 
@@ -341,7 +341,7 @@ from dimos.skills import Skill, skill
 class BasicSkill(Skill):
     def __init__(self, robot):
         self.robot = robot
-    
+
     def run(self, action: str):
         # Implement skill logic
         return f"Performed: {action}"
@@ -368,4 +368,4 @@ class BasicSkill(Skill):
 1. **"Module not started"**: Ensure start() is called after deployment
 2. **"No data received"**: Check LCM transport configuration
 3. **"Connection failed"**: Verify input/output types match
-4. **"Cleanup errors"**: Stop modules before closing DIMOS
\ No newline at end of file
+4. **"Cleanup errors"**: Stop modules before closing DIMOS
diff --git a/dimos/robot/agilex/README_CN.md b/dimos/robot/agilex/README_CN.md
index 482a09dd6d..909a309ce9 100644
--- a/dimos/robot/agilex/README_CN.md
+++ b/dimos/robot/agilex/README_CN.md
@@ -21,27 +21,27 @@ from dimos.types.robot_capabilities import RobotCapability
 
 class YourRobot:
     """您的机器人实现。"""
-    
+
     def __init__(self, robot_capabilities: Optional[List[RobotCapability]] = None):
         # 核心组件
         self.dimos = None
         self.modules = {}
         self.skill_library = SkillLibrary()
-        
+
         # 定义能力
         self.capabilities = robot_capabilities or [
             RobotCapability.VISION,
             RobotCapability.MANIPULATION,
         ]
-    
+
     async def start(self):
         """启动机器人模块。"""
         # 初始化 DIMOS，指定工作线程数
         self.dimos = core.start(2)  # 需要的工作线程数
-        
+
         # 部署模块
         # ... (参见模块系统章节)
-        
+
     def stop(self):
         """停止所有模块并清理资源。"""
         # 停止模块
@@ -96,7 +96,7 @@ self.camera.color_image.transport = core.LCMTransport(
     Image                         # 消息类型
 )
 self.camera.depth_image.transport = core.LCMTransport(
-    "/camera/depth_image", 
+    "/camera/depth_image",
     Image
 )
 ```
@@ -142,23 +142,23 @@ def main():
     # 1. 创建并启动机器人
     robot = YourRobot()
     asyncio.run(robot.start())
-    
+
     # 2. 设置技能
     skills = robot.get_skills()
     skills.add(YourSkill)
     skills.create_instance("YourSkill", robot=robot)
-    
+
     # 3. 设置响应式流
     agent_response_subject = rx.subject.Subject()
     agent_response_stream = agent_response_subject.pipe(ops.share())
-    
+
     # 4. 创建 Web 界面
     web_interface = RobotWebInterface(
         port=5555,
         text_streams={"agent_responses": agent_response_stream},
         audio_subject=rx.subject.Subject()
     )
-    
+
     # 5. 创建智能体
     agent = ClaudeAgent(
         dev_name="your_agent",
@@ -167,12 +167,12 @@ def main():
         system_query="您的系统提示词",
         model_name="claude-3-5-haiku-latest"
     )
-    
+
     # 6. 连接智能体响应
     agent.get_response_observable().subscribe(
         lambda x: agent_response_subject.on_next(x)
     )
-    
+
     # 7. 运行界面
     web_interface.run()
 ```
@@ -205,51 +205,51 @@ class MyRobot:
         self.camera = None
         self.manipulation = None
         self.skill_library = SkillLibrary()
-        
+
         self.capabilities = robot_capabilities or [
             RobotCapability.VISION,
             RobotCapability.MANIPULATION,
         ]
-    
+
     async def start(self):
         # 启动 DIMOS
         self.dimos = core.start(2)
-        
+
         # 启用 LCM
         pubsub.lcm.autoconf()
-        
+
         # 部署相机
         self.camera = self.dimos.deploy(
             CameraModule,
             camera_id=0,
             fps=30
         )
-        
+
         # 配置相机 LCM
         self.camera.color_image.transport = core.LCMTransport("/camera/rgb", Image)
         self.camera.depth_image.transport = core.LCMTransport("/camera/depth", Image)
         self.camera.camera_info.transport = core.LCMTransport("/camera/info", CameraInfo)
-        
+
         # 部署操作模块
         self.manipulation = self.dimos.deploy(ManipulationModule)
-        
+
         # 连接模块
         self.manipulation.rgb_image.connect(self.camera.color_image)
         self.manipulation.depth_image.connect(self.camera.depth_image)
         self.manipulation.camera_info.connect(self.camera.camera_info)
-        
+
         # 配置操作输出
         self.manipulation.viz_image.transport = core.LCMTransport("/viz/output", Image)
-        
+
         # 启动模块
         self.camera.start()
         self.manipulation.start()
-        
+
         await asyncio.sleep(2)  # 允许初始化
-    
+
     def get_skills(self):
         return self.skill_library
-    
+
     def stop(self):
         if self.manipulation:
             self.manipulation.stop()
@@ -279,29 +279,29 @@ def main():
     if not os.getenv("ANTHROPIC_API_KEY"):
         print("请设置 ANTHROPIC_API_KEY")
         return
-    
+
     # 创建机器人
     robot = MyRobot()
-    
+
     try:
         # 启动机器人
         asyncio.run(robot.start())
-        
+
         # 设置技能
         skills = robot.get_skills()
         skills.add(BasicSkill)
         skills.create_instance("BasicSkill", robot=robot)
-        
+
         # 设置流
         agent_response_subject = rx.subject.Subject()
         agent_response_stream = agent_response_subject.pipe(ops.share())
-        
+
         # 创建 Web 界面
         web_interface = RobotWebInterface(
             port=5555,
             text_streams={"agent_responses": agent_response_stream}
         )
-        
+
         # 创建智能体
         agent = ClaudeAgent(
             dev_name="my_agent",
@@ -309,17 +309,17 @@ def main():
             skills=skills,
             system_query=SYSTEM_PROMPT
         )
-        
+
         # 连接响应
         agent.get_response_observable().subscribe(
             lambda x: agent_response_subject.on_next(x)
         )
-        
+
         print("机器人就绪，访问 http://localhost:5555")
-        
+
         # 运行
         web_interface.run()
-        
+
     finally:
         robot.stop()
 
@@ -341,7 +341,7 @@ from dimos.skills import Skill, skill
 class BasicSkill(Skill):
     def __init__(self, robot):
         self.robot = robot
-    
+
     def run(self, action: str):
         # 实现技能逻辑
         return f"已执行：{action}"
@@ -382,27 +382,27 @@ from dimos.core import Module, In, Out, rpc
 class CustomModule(Module):
     # 定义输入
     input_data: In[DataType] = None
-    
-    # 定义输出  
+
+    # 定义输出
     output_data: Out[DataType] = None
-    
+
     def __init__(self, param1, param2, **kwargs):
         super().__init__(**kwargs)
         self.param1 = param1
         self.param2 = param2
-    
+
     @rpc
     def start(self):
         """启动模块处理。"""
         self.input_data.subscribe(self._process_data)
-    
+
     def _process_data(self, data):
         """处理输入数据。"""
         # 处理逻辑
         result = self.process(data)
         # 发布输出
         self.output_data.publish(result)
-    
+
     @rpc
     def stop(self):
         """停止模块。"""
@@ -429,25 +429,25 @@ class ComplexSkill(Skill):
     def __init__(self, robot, **kwargs):
         super().__init__(**kwargs)
         self.robot = robot
-    
+
     def run(self, target: str, location: Optional[str] = None):
         """执行技能逻辑。"""
         try:
             # 1. 感知阶段
             object_info = self.robot.detect_object(target)
-            
+
             # 2. 规划阶段
             if location:
                 plan = self.robot.plan_movement(object_info, location)
-            
+
             # 3. 执行阶段
             result = self.robot.execute_plan(plan)
-            
+
             return {
                 "success": True,
                 "message": f"成功移动 {target} 到 {location}"
             }
-            
+
         except Exception as e:
             return {
                 "success": False,
@@ -462,4 +462,4 @@ class ComplexSkill(Skill):
 3. **延迟加载**：仅在需要时初始化重型模块
 4. **资源池化**：重用昂贵的资源（如神经网络模型）
 
-希望本指南能帮助您快速上手 DIMOS 机器人开发！ 
\ No newline at end of file
+希望本指南能帮助您快速上手 DIMOS 机器人开发！
diff --git a/dimos/robot/unitree_webrtc/params/front_camera_720.yaml b/dimos/robot/unitree_webrtc/params/front_camera_720.yaml
index eb09710667..0030d5fc6c 100644
--- a/dimos/robot/unitree_webrtc/params/front_camera_720.yaml
+++ b/dimos/robot/unitree_webrtc/params/front_camera_720.yaml
@@ -23,4 +23,4 @@ projection_matrix:
   cols: 4
   data: [651.42609,   0.     , 633.16224,   0.     ,
            0.     , 804.93951, 373.8537 ,   0.     ,
-           0.     ,   0.     ,   1.     ,   0.     ]
\ No newline at end of file
+           0.     ,   0.     ,   1.     ,   0.     ]
diff --git a/dimos/robot/unitree_webrtc/params/sim_camera.yaml b/dimos/robot/unitree_webrtc/params/sim_camera.yaml
index 8fc1574953..6a5ac3e6d8 100644
--- a/dimos/robot/unitree_webrtc/params/sim_camera.yaml
+++ b/dimos/robot/unitree_webrtc/params/sim_camera.yaml
@@ -23,4 +23,4 @@ projection_matrix:
   cols: 4
   data: [277.,  0.   , 160.  ,  0.   ,
           0.   , 277., 120.  ,  0.   ,
-          0.   ,  0.   ,   1.  ,  0.   ]
\ No newline at end of file
+          0.   ,  0.   ,   1.  ,  0.   ]
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/README.md b/dimos/robot/unitree_webrtc/unitree_b1/README.md
index 8616fc286a..f59e6a57ae 100644
--- a/dimos/robot/unitree_webrtc/unitree_b1/README.md
+++ b/dimos/robot/unitree_webrtc/unitree_b1/README.md
@@ -44,7 +44,7 @@ The B1 robot runs Ubuntu with the following requirements:
    ```bash
    # Edit the CMakeLists.txt in the unitree_legged_sdk_B1 directory
    vim CMakeLists.txt
-   
+
    # Add this line with the other add_executable statements:
    add_executable(joystick_server example/joystick_server_udp.cpp)
    target_link_libraries(joystick_server ${EXTRA_LIBS})```
@@ -144,7 +144,7 @@ This prints commands instead of sending UDP packets - useful for development.
 - **Mode safety**: Movement only allowed in WALK mode
 - **Graceful shutdown**: Sends stop commands on exit
 
-### Server Side  
+### Server Side
 - **Packet timeout**: Robot stops if no packets for 100ms
 - **Continuous monitoring**: Checks timeout before every control update
 - **Safe defaults**: Starts in IDLE mode
@@ -173,13 +173,13 @@ External Machine (Client)          B1 Robot (Server)
 This is because the onboard hardware (mini PC, jetson, etc.) needs to connect to both the B1 wifi AP network to send cmd_vel messages over UDP, as well as the network running dimensional
 
 
-Plug in wireless adapter 
+Plug in wireless adapter
 ```bash
 nmcli device status
 nmcli device wifi list ifname *DEVICE_NAME*
 # Connect to b1 network
 nmcli device wifi connect "Unitree_B1-251" password "00000000" ifname *DEVICE_NAME*
-# Verify connection 
+# Verify connection
 nmcli connection show --active
 ```
 
diff --git a/dimos/robot/unitree_webrtc/unitree_b1/joystick_server_udp.cpp b/dimos/robot/unitree_webrtc/unitree_b1/joystick_server_udp.cpp
index 56e2b29412..e86e999b8d 100644
--- a/dimos/robot/unitree_webrtc/unitree_b1/joystick_server_udp.cpp
+++ b/dimos/robot/unitree_webrtc/unitree_b1/joystick_server_udp.cpp
@@ -31,7 +31,7 @@ struct NetworkJoystickCmd {
 
 class JoystickServer {
 public:
-    JoystickServer(uint8_t level, int server_port) : 
+    JoystickServer(uint8_t level, int server_port) :
         safe(LeggedType::B1),
         udp(level, 8090, "192.168.123.220", 8082),
         server_port_(server_port),
@@ -57,28 +57,28 @@ class JoystickServer {
     UDP udp;
     HighCmd cmd = {0};
     HighState state = {0};
-    
+
     NetworkJoystickCmd joystick_cmd_;
     std::mutex cmd_mutex_;
-    
+
     int server_port_;
     int server_socket_;
     bool running_;
     std::thread server_thread_;
-    
+
     // Client tracking for debug
     struct sockaddr_in last_client_addr_;
     bool has_client_ = false;
-    
+
     // SAFETY: Timeout tracking
     std::chrono::steady_clock::time_point last_packet_time_;
     const int PACKET_TIMEOUT_MS = 100;  // Stop if no packet for 100ms
-    
+
     float dt = 0.002;
-    
+
     // Control parameters
     const float MAX_FORWARD_SPEED = 0.2f;   // m/s
-    const float MAX_SIDE_SPEED = 0.2f;     // m/s  
+    const float MAX_SIDE_SPEED = 0.2f;     // m/s
     const float MAX_YAW_SPEED = 0.2f;      // rad/s
     const float MAX_BODY_HEIGHT = 0.1f;     // m
     const float MAX_EULER_ANGLE = 0.3f;     // rad
@@ -87,13 +87,13 @@ class JoystickServer {
 
 void JoystickServer::Start() {
     running_ = true;
-    
+
     // Start network server thread
     server_thread_ = std::thread(&JoystickServer::NetworkServerThread, this);
-    
+
     // Initialize environment
     InitEnvironment();
-    
+
     // Start control loops
     LoopFunc loop_control("control_loop", dt, boost::bind(&JoystickServer::RobotControl, this));
     LoopFunc loop_udpSend("udp_send", dt, 3, boost::bind(&JoystickServer::UDPSend, this));
@@ -107,7 +107,7 @@ void JoystickServer::Start() {
     std::cout << "Timeout protection: " << PACKET_TIMEOUT_MS << "ms" << std::endl;
     std::cout << "Expected packet size: 19 bytes" << std::endl;
     std::cout << "Robot control loops started" << std::endl;
-    
+
     // Keep running
     while (running_) {
         sleep(1);
@@ -129,41 +129,41 @@ void JoystickServer::NetworkServerThread() {
         std::cerr << "Failed to create UDP socket" << std::endl;
         return;
     }
-    
+
     // Allow socket reuse
     int opt = 1;
     setsockopt(server_socket_, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
-    
+
     // Bind socket
     struct sockaddr_in server_addr;
     server_addr.sin_family = AF_INET;
     server_addr.sin_addr.s_addr = INADDR_ANY;
     server_addr.sin_port = htons(server_port_);
-    
+
     if (bind(server_socket_, (struct sockaddr*)&server_addr, sizeof(server_addr)) < 0) {
         std::cerr << "Failed to bind UDP socket to port " << server_port_ << std::endl;
         close(server_socket_);
         return;
     }
-    
+
     std::cout << "UDP server listening on port " << server_port_ << std::endl;
     std::cout << "Waiting for joystick packets..." << std::endl;
-    
+
     NetworkJoystickCmd net_cmd;
     struct sockaddr_in client_addr;
     socklen_t client_len;
-    
+
     while (running_) {
         client_len = sizeof(client_addr);
-        
+
         // Receive UDP datagram (blocks until packet arrives)
-        ssize_t bytes = recvfrom(server_socket_, &net_cmd, sizeof(net_cmd), 
+        ssize_t bytes = recvfrom(server_socket_, &net_cmd, sizeof(net_cmd),
                                   0, (struct sockaddr*)&client_addr, &client_len);
-        
+
         if (bytes == 19) {
             // Perfect packet size from Python client
             if (!has_client_) {
-                std::cout << "Client connected from " << inet_ntoa(client_addr.sin_addr) 
+                std::cout << "Client connected from " << inet_ntoa(client_addr.sin_addr)
                           << ":" << ntohs(client_addr.sin_port) << std::endl;
                 has_client_ = true;
                 last_client_addr_ = client_addr;
@@ -172,7 +172,7 @@ void JoystickServer::NetworkServerThread() {
         } else if (bytes == sizeof(NetworkJoystickCmd)) {
             // C++ client with padding (20 bytes)
             if (!has_client_) {
-                std::cout << "C++ Client connected from " << inet_ntoa(client_addr.sin_addr) 
+                std::cout << "C++ Client connected from " << inet_ntoa(client_addr.sin_addr)
                           << ":" << ntohs(client_addr.sin_port) << std::endl;
                 has_client_ = true;
                 last_client_addr_ = client_addr;
@@ -182,7 +182,7 @@ void JoystickServer::NetworkServerThread() {
             // Wrong packet size - ignore but log
             static int error_count = 0;
             if (error_count++ < 5) {  // Only log first 5 errors
-                std::cerr << "Ignored packet with wrong size: " << bytes 
+                std::cerr << "Ignored packet with wrong size: " << bytes
                           << " bytes (expected 19)" << std::endl;
             }
         }
@@ -193,10 +193,10 @@ void JoystickServer::NetworkServerThread() {
 void JoystickServer::ParseJoystickCommand(const NetworkJoystickCmd& net_cmd) {
     std::lock_guard<std::mutex> lock(cmd_mutex_);
     joystick_cmd_ = net_cmd;
-    
+
     // SAFETY: Update timestamp for timeout tracking
     last_packet_time_ = std::chrono::steady_clock::now();
-    
+
     // Apply deadzone to analog sticks
     if (fabs(joystick_cmd_.lx) < DEADZONE) joystick_cmd_.lx = 0;
     if (fabs(joystick_cmd_.ly) < DEADZONE) joystick_cmd_.ly = 0;
@@ -208,16 +208,16 @@ void JoystickServer::CheckTimeout() {
     auto now = std::chrono::steady_clock::now();
     auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
         now - last_packet_time_).count();
-    
+
     static bool timeout_printed = false;
-    
+
     if (elapsed > PACKET_TIMEOUT_MS) {
         joystick_cmd_.lx = 0;
         joystick_cmd_.ly = 0;
         joystick_cmd_.rx = 0;
         joystick_cmd_.ry = 0;
         joystick_cmd_.buttons = 0;
-        
+
         if (!timeout_printed) {
             std::cout << "SAFETY: Packet timeout - stopping movement!" << std::endl;
             timeout_printed = true;
@@ -241,7 +241,7 @@ void JoystickServer::UDPSend() {
 
 void JoystickServer::RobotControl() {
     udp.GetRecv(state);
-    
+
     // SAFETY: Check for packet timeout
     NetworkJoystickCmd current_cmd;
     {
@@ -249,7 +249,7 @@ void JoystickServer::RobotControl() {
         CheckTimeout();  // This may zero movement if timeout
         current_cmd = joystick_cmd_;
     }
-    
+
     cmd.mode = 0;
     cmd.gaitType = 0;
     cmd.speedLevel = 0;
@@ -262,35 +262,35 @@ void JoystickServer::RobotControl() {
     cmd.velocity[1] = 0.0f;
     cmd.yawSpeed = 0.0f;
     cmd.reserve = 0;
-    
+
     // Set mode from joystick
     cmd.mode = current_cmd.mode;
-    
+
     // Map joystick to robot control based on mode
     switch (current_cmd.mode) {
         case 0:  // Idle
             // Robot stops
             break;
-            
+
         case 1:  // Force stand with body control
             // Left stick controls body height and yaw
             cmd.bodyHeight = current_cmd.ly * MAX_BODY_HEIGHT;
             cmd.euler[2] = current_cmd.lx * MAX_EULER_ANGLE;
-            
+
             // Right stick controls pitch and roll
             cmd.euler[1] = current_cmd.ry * MAX_EULER_ANGLE;
             cmd.euler[0] = current_cmd.rx * MAX_EULER_ANGLE;
             break;
-            
+
         case 2:  // Walk mode
             cmd.velocity[0] = std::clamp(current_cmd.ly * MAX_FORWARD_SPEED, -MAX_FORWARD_SPEED, MAX_FORWARD_SPEED);
             cmd.yawSpeed = std::clamp(-current_cmd.lx * MAX_YAW_SPEED, -MAX_YAW_SPEED, MAX_YAW_SPEED);
             cmd.velocity[1] = std::clamp(-current_cmd.rx * MAX_SIDE_SPEED, -MAX_SIDE_SPEED, MAX_SIDE_SPEED);
-            
+
             // Check button states for gait type
             if (current_cmd.buttons & 0x0001) {  // Button A
                 cmd.gaitType = 0;  // Trot
-            } else if (current_cmd.buttons & 0x0002) {  // Button B  
+            } else if (current_cmd.buttons & 0x0002) {  // Button B
                 cmd.gaitType = 1;  // Trot running
             } else if (current_cmd.buttons & 0x0004) {  // Button X
                 cmd.gaitType = 2;  // Climb mode
@@ -298,30 +298,30 @@ void JoystickServer::RobotControl() {
                 cmd.gaitType = 3;  // Trot obstacle
             }
             break;
-            
+
         case 5:  // Damping mode
         case 6:  // Recovery stand up
             break;
-            
+
         default:
             cmd.mode = 0;  // Default to idle for safety
             break;
     }
-    
+
     // Debug output
     static int counter = 0;
     if (counter++ % 500 == 0) {  // Print every second
         auto now = std::chrono::steady_clock::now();
         auto elapsed = std::chrono::duration_cast<std::chrono::milliseconds>(
             now - last_packet_time_).count();
-        
-        std::cout << "Mode: " << (int)cmd.mode 
+
+        std::cout << "Mode: " << (int)cmd.mode
                   << " Vel: [" << cmd.velocity[0] << ", " << cmd.velocity[1] << "]"
                   << " Yaw: " << cmd.yawSpeed
                   << " Last packet: " << elapsed << "ms ago"
                   << " IMU: " << state.imu.rpy[2] << std::endl;
     }
-    
+
     udp.SetSend(cmd);
 }
 
@@ -338,11 +338,11 @@ void signal_handler(int sig) {
 
 int main(int argc, char* argv[]) {
     int port = 9090;  // Default port
-    
+
     if (argc > 1) {
         port = atoi(argv[1]);
     }
-    
+
     std::cout << "UDP Unitree B1 Joystick Control Server" << std::endl;
     std::cout << "Communication level: HIGH-level" << std::endl;
     std::cout << "Protocol: UDP (datagram)" << std::endl;
@@ -352,15 +352,15 @@ int main(int argc, char* argv[]) {
     std::cout << "WARNING: Make sure the robot is standing on the ground." << std::endl;
     std::cout << "Press Enter to continue..." << std::endl;
     std::cin.ignore();
-    
+
     JoystickServer server(HIGHLEVEL, port);
     g_server = &server;
-    
+
     // Set up signal handler
     signal(SIGINT, signal_handler);
     signal(SIGTERM, signal_handler);
-    
+
     server.Start();
-    
+
     return 0;
-}
\ No newline at end of file
+}
diff --git a/dimos/simulation/README.md b/dimos/simulation/README.md
index 7304e45bf4..95d8b4cda1 100644
--- a/dimos/simulation/README.md
+++ b/dimos/simulation/README.md
@@ -91,8 +91,8 @@ This will:
 
 ## Viewing the Stream
 
-The camera stream will be available at: 
+The camera stream will be available at:
 
 - RTSP: `rtsp://localhost:8554/stream` or `rtsp://<STATIC_IP>:8554/stream`
 
-You can view it using VLC or any RTSP-capable player.
\ No newline at end of file
+You can view it using VLC or any RTSP-capable player.
diff --git a/dimos/skills/unitree/__init__.py b/dimos/skills/unitree/__init__.py
index 8b13789179..e69de29bb2 100644
--- a/dimos/skills/unitree/__init__.py
+++ b/dimos/skills/unitree/__init__.py
@@ -1 +0,0 @@
-
diff --git a/dimos/web/README.md b/dimos/web/README.md
index 943d7551f9..c7bcd5df20 100644
--- a/dimos/web/README.md
+++ b/dimos/web/README.md
@@ -93,7 +93,7 @@ from dimos.web.robot_web_interface import RobotWebInterface
 robot_ip = os.getenv("ROBOT_IP")
 
 # Initialize robot
-logger.info("Initializing Unitree Robot")        
+logger.info("Initializing Unitree Robot")
 robot = UnitreeGo2(ip=robot_ip,
                     connection_method=connection_method,
                     output_dir=output_dir)
diff --git a/dimos/web/command-center-extension/src/components/LeafletMap.tsx b/dimos/web/command-center-extension/src/components/LeafletMap.tsx
index 79ba4b25da..d0ad2380c4 100644
--- a/dimos/web/command-center-extension/src/components/LeafletMap.tsx
+++ b/dimos/web/command-center-extension/src/components/LeafletMap.tsx
@@ -147,4 +147,4 @@ const leafletCss = `
 }
 `;
 
-export default LeafletMap;
\ No newline at end of file
+export default LeafletMap;
diff --git a/dimos/web/dimos_interface/api/README.md b/dimos/web/dimos_interface/api/README.md
index 38fd275e8a..37cafd6e52 100644
--- a/dimos/web/dimos_interface/api/README.md
+++ b/dimos/web/dimos_interface/api/README.md
@@ -31,7 +31,7 @@ The server will start on `http://0.0.0.0:5555`.
 
 ## Integration with DIMOS Agents
 
-See DimOS Documentation for more info. 
+See DimOS Documentation for more info.
 
 ```python
 from dimos.agents.agent import OpenAIAgent
@@ -42,7 +42,7 @@ from dimos.web.robot_web_interface import RobotWebInterface
 robot_ip = os.getenv("ROBOT_IP")
 
 # Initialize robot
-logger.info("Initializing Unitree Robot")        
+logger.info("Initializing Unitree Robot")
 robot = UnitreeGo2(ip=robot_ip,
                     connection_method=connection_method,
                     output_dir=output_dir)
@@ -83,4 +83,4 @@ The frontend and backend are separate applications:
 3. Vite's development server proxies requests from `/unitree/*` to the FastAPI server
 4. The `unitree` command in the terminal interface sends requests to these endpoints
 
-This architecture allows the frontend and backend to be developed and run independently. 
\ No newline at end of file
+This architecture allows the frontend and backend to be developed and run independently.
diff --git a/dimos/web/dimos_interface/api/requirements.txt b/dimos/web/dimos_interface/api/requirements.txt
index a906146c35..a1ab33e428 100644
--- a/dimos/web/dimos_interface/api/requirements.txt
+++ b/dimos/web/dimos_interface/api/requirements.txt
@@ -4,4 +4,4 @@ reactivex==4.0.4
 numpy<2.0.0  # Specify older NumPy version for cv2 compatibility
 opencv-python==4.8.1.78
 python-multipart==0.0.6
-jinja2==3.1.2 
\ No newline at end of file
+jinja2==3.1.2
diff --git a/dimos/web/dimos_interface/api/templates/index_fastapi.html b/dimos/web/dimos_interface/api/templates/index_fastapi.html
index 406557c04a..4cfe943fc7 100644
--- a/dimos/web/dimos_interface/api/templates/index_fastapi.html
+++ b/dimos/web/dimos_interface/api/templates/index_fastapi.html
@@ -126,13 +126,13 @@
             border-radius: 8px;
             box-shadow: 0 2px 10px rgba(0,0,0,0.1);
         }
-        
+
         .query-form {
             display: flex;
             gap: 10px;
             align-items: center;
         }
-        
+
         .query-input {
             flex-grow: 1;
             padding: 10px;
@@ -140,7 +140,7 @@
             border-radius: 5px;
             font-size: 16px;
         }
-        
+
         .query-button {
             padding: 10px 20px;
             background-color: #28a745;
@@ -151,11 +151,11 @@
             font-size: 16px;
             transition: background-color 0.3s;
         }
-        
+
         .query-button:hover {
             background-color: #218838;
         }
-        
+
         /* Voice button styles */
         .voice-button {
             width: 50px;
@@ -173,17 +173,17 @@
             box-shadow: 0 2px 5px rgba(0,0,0,0.2);
             position: relative;
         }
-        
+
         .voice-button:hover {
             transform: scale(1.1);
             box-shadow: 0 4px 8px rgba(0,0,0,0.3);
         }
-        
+
         .voice-button.recording {
             background-color: #ff0000;
             animation: pulse 1.5s infinite;
         }
-        
+
         .voice-button.recording::after {
             content: '';
             position: absolute;
@@ -195,13 +195,13 @@
             border-radius: 50%;
             animation: ripple 1.5s infinite;
         }
-        
+
         @keyframes pulse {
             0% { transform: scale(1); }
             50% { transform: scale(1.05); }
             100% { transform: scale(1); }
         }
-        
+
         @keyframes ripple {
             0% {
                 transform: scale(1);
@@ -212,7 +212,7 @@
                 opacity: 0;
             }
         }
-        
+
         .voice-status {
             position: absolute;
             top: -25px;
@@ -226,34 +226,34 @@
             white-space: nowrap;
             display: none;
         }
-        
+
         .voice-button.recording .voice-status {
             display: block;
         }
-        
+
         .query-response {
             margin-top: 15px;
             padding: 10px;
             border-radius: 5px;
             display: none;
         }
-        
+
         .success {
             background-color: #d4edda;
             color: #155724;
         }
-        
+
         .error {
             background-color: #f8d7da;
             color: #721c24;
         }
 
-                
+
         .text-streams-container {
             max-width: 800px;
             margin: 30px auto;
         }
-        
+
         .text-stream-container {
             background: white;
             padding: 15px;
@@ -261,12 +261,12 @@
             border-radius: 8px;
             box-shadow: 0 2px 10px rgba(0,0,0,0.1);
         }
-        
+
         .text-stream-container h3 {
             margin-top: 0;
             color: #444;
         }
-        
+
         .text-messages {
             height: 200px;
             overflow-y: auto;
@@ -276,7 +276,7 @@
             margin-bottom: 10px;
             background-color: #f9f9f9;
         }
-        
+
         .text-message {
             padding: 8px;
             margin-bottom: 8px;
@@ -288,7 +288,7 @@
 </head>
 <body>
     <h1>Live Video Streams</h1>
-    
+
     <div class="query-container">
         <h2>Ask a Question</h2>
         <form id="queryForm" class="query-form">
@@ -303,7 +303,7 @@ <h2>Ask a Question</h2>
         </form>
         <div id="queryResponse" class="query-response"></div>
     </div>
-    
+
     <!-- Add text streams section -->
     {% if text_stream_keys %}
     <div class="text-streams-container">
@@ -377,28 +377,28 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                     if (!mediaRecorder) {
                         const stream = await navigator.mediaDevices.getUserMedia({ audio: true });
                         mediaRecorder = new MediaRecorder(stream);
-                        
+
                         mediaRecorder.ondataavailable = e => chunks.push(e.data);
-                        
+
                         mediaRecorder.onstop = async () => {
                             const blob = new Blob(chunks, { type: 'audio/webm' });
                             chunks = [];
-                            
+
                             // Show uploading status
                             queryResponse.textContent = 'Processing voice command...';
                             queryResponse.className = 'query-response';
                             queryResponse.style.display = 'block';
-                            
+
                             const formData = new FormData();
                             formData.append('file', blob, 'recording.webm');
-                            
+
                             try {
-                                const res = await fetch('/upload_audio', { 
-                                    method: 'POST', 
-                                    body: formData 
+                                const res = await fetch('/upload_audio', {
+                                    method: 'POST',
+                                    body: formData
                                 });
                                 const json = await res.json();
-                                
+
                                 if (json.success) {
                                     queryResponse.textContent = 'Voice command received!';
                                     queryResponse.className = 'query-response success';
@@ -415,7 +415,7 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                             }
                         };
                     }
-                    
+
                     mediaRecorder.start();
                     voiceBtn.classList.add('recording');
                 } catch (err) {
@@ -428,24 +428,24 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
         // Handle query form submission
         document.getElementById('queryForm').addEventListener('submit', async function(e) {
             e.preventDefault();
-            
+
             const queryInput = document.getElementById('queryInput');
             const queryResponse = document.getElementById('queryResponse');
             const query = queryInput.value.trim();
-            
+
             if (!query) return;
-            
+
             try {
                 const formData = new FormData();
                 formData.append('query', query);
-                
+
                 const response = await fetch('/submit_query', {
                     method: 'POST',
                     body: formData
                 });
-                
+
                 let result;
-                
+
                 // Better error handling for non-200 responses
                 if (!response.ok) {
                     try {
@@ -463,14 +463,14 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                 } else {
                     result = await response.json();
                 }
-                
+
                 queryResponse.textContent = result.message;
                 queryResponse.className = 'query-response ' + (result.success ? 'success' : 'error');
                 queryResponse.style.display = 'block';
-                
+
                 if (result.success) {
                     queryInput.value = '';
-                    
+
                     // Hide the success message after 3 seconds
                     setTimeout(() => {
                         queryResponse.style.display = 'none';
@@ -483,20 +483,20 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
             }
         });
 
-    
+
         // Text stream event sources
         const textEventSources = {};
-        
+
         function connectTextStream(key) {
             // Close if already open
             if (textEventSources[key]) {
                 textEventSources[key].close();
             }
-            
+
             // Connect to the server-sent events endpoint
             const eventSource = new EventSource(`/text_stream/${key}`);
             textEventSources[key] = eventSource;
-            
+
             // Handle incoming messages
             eventSource.addEventListener('message', function(event) {
                 const messagesContainer = document.getElementById(`text_messages_${key}`);
@@ -504,11 +504,11 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                 messageElement.className = 'text-message';
                 messageElement.textContent = event.data;
                 messagesContainer.appendChild(messageElement);
-                
+
                 // Scroll to the bottom to show latest message
                 messagesContainer.scrollTop = messagesContainer.scrollHeight;
             });
-            
+
             // Handle connection errors
             eventSource.onerror = function() {
                 console.error(`Error in text stream ${key}`);
@@ -516,26 +516,26 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                 delete textEventSources[key];
             };
         }
-        
+
         function disconnectTextStream(key) {
             if (textEventSources[key]) {
                 textEventSources[key].close();
                 delete textEventSources[key];
             }
         }
-        
+
         function clearTextStream(key) {
             const messagesContainer = document.getElementById(`text_messages_${key}`);
             messagesContainer.innerHTML = '';
         }
-        
+
         // Auto-connect text streams on page load
         window.addEventListener('load', function() {
             {% for key in text_stream_keys %}
                 connectTextStream('{{ key }}');
             {% endfor %}
         });
-        
+
     </script>
 </body>
-</html>
\ No newline at end of file
+</html>
diff --git a/dimos/web/dimos_interface/src/App.svelte b/dimos/web/dimos_interface/src/App.svelte
index c249f3e3ea..8ca51f866d 100644
--- a/dimos/web/dimos_interface/src/App.svelte
+++ b/dimos/web/dimos_interface/src/App.svelte
@@ -10,17 +10,17 @@
   const handleVoiceCommand = async (event: CustomEvent) => {
     if (event.detail.success) {
       // Show voice processing message
-      history.update(h => [...h, { 
-        command: '[voice command]', 
-        outputs: ['Processing voice command...'] 
+      history.update(h => [...h, {
+        command: '[voice command]',
+        outputs: ['Processing voice command...']
       }]);
-      
+
       // The actual command will be processed by the agent through the audio pipeline
       // and will appear in the text stream
     } else {
-      history.update(h => [...h, { 
-        command: '[voice command]', 
-        outputs: [`Error: ${event.detail.error}`] 
+      history.update(h => [...h, {
+        command: '[voice command]',
+        outputs: [`Error: ${event.detail.error}`]
       }]);
     }
   };
diff --git a/dimos/web/dimos_interface/src/app.css b/dimos/web/dimos_interface/src/app.css
index d564a656ea..e85299c54f 100644
--- a/dimos/web/dimos_interface/src/app.css
+++ b/dimos/web/dimos_interface/src/app.css
@@ -47,4 +47,4 @@
 
 ::-webkit-scrollbar-thumb:hover {
   background: #555;
-}
\ No newline at end of file
+}
diff --git a/dimos/web/dimos_interface/src/components/StreamViewer.svelte b/dimos/web/dimos_interface/src/components/StreamViewer.svelte
index 08cf937299..43fe4739dd 100644
--- a/dimos/web/dimos_interface/src/components/StreamViewer.svelte
+++ b/dimos/web/dimos_interface/src/components/StreamViewer.svelte
@@ -27,15 +27,15 @@
 
   function retryConnection(streamKey: string) {
     if (!retryCount[streamKey]) retryCount[streamKey] = 0;
-    
+
     if (retryCount[streamKey] < MAX_RETRIES) {
       retryCount[streamKey]++;
       const timeLeft = TOTAL_TIMEOUT - (retryCount[streamKey] * RETRY_INTERVAL);
       errorMessages[streamKey] = `Connection attempt ${retryCount[streamKey]}/${MAX_RETRIES}... (${Math.ceil(timeLeft / 1000)}s remaining)`;
-      
+
       // Update timestamp to force a new connection attempt
       timestamps[streamKey] = Date.now();
-      
+
       clearRetryTimer(streamKey);
       retryTimers[streamKey] = setTimeout(() => retryConnection(streamKey), RETRY_INTERVAL);
     } else {
@@ -193,4 +193,4 @@
     align-items: center;
     justify-content: center;
   }
-</style> 
\ No newline at end of file
+</style>
diff --git a/dimos/web/dimos_interface/src/components/VoiceButton.svelte b/dimos/web/dimos_interface/src/components/VoiceButton.svelte
index 0f9682519a..a316836d2e 100644
--- a/dimos/web/dimos_interface/src/components/VoiceButton.svelte
+++ b/dimos/web/dimos_interface/src/components/VoiceButton.svelte
@@ -44,53 +44,53 @@
         if (!mediaRecorder) {
           const stream = await navigator.mediaDevices.getUserMedia({ audio: true });
           mediaRecorder = new MediaRecorder(stream);
-          
+
           mediaRecorder.ondataavailable = (e) => chunks.push(e.data);
-          
+
           mediaRecorder.onstop = async () => {
             isProcessing = true;
             const blob = new Blob(chunks, { type: 'audio/webm' });
             chunks = [];
-            
+
             // Upload to backend
             const formData = new FormData();
             formData.append('file', blob, 'recording.webm');
-            
+
             try {
               const res = await fetch(`${getServerUrl()}/upload_audio`, {
                 method: 'POST',
                 body: formData
               });
-              
+
               const json = await res.json();
-              
+
               if (json.success) {
                 // Connect to agent_responses stream to see the output
                 connectTextStream('agent_responses');
                 dispatch('voiceCommand', { success: true });
               } else {
-                dispatch('voiceCommand', { 
-                  success: false, 
-                  error: json.message 
+                dispatch('voiceCommand', {
+                  success: false,
+                  error: json.message
                 });
               }
             } catch (err) {
-              dispatch('voiceCommand', { 
-                success: false, 
-                error: err instanceof Error ? err.message : 'Upload failed' 
+              dispatch('voiceCommand', {
+                success: false,
+                error: err instanceof Error ? err.message : 'Upload failed'
               });
             } finally {
               isProcessing = false;
             }
           };
         }
-        
+
         mediaRecorder.start();
         isRecording = true;
       } catch (err) {
-        dispatch('voiceCommand', { 
-          success: false, 
-          error: 'Microphone access denied' 
+        dispatch('voiceCommand', {
+          success: false,
+          error: 'Microphone access denied'
         });
       }
     }
@@ -197,15 +197,15 @@
   }
 
   @keyframes pulse {
-    0% { 
+    0% {
       transform: scale(1);
       box-shadow: 0 4px 12px rgba(255, 0, 0, 0.4);
     }
-    50% { 
+    50% {
       transform: scale(1.05);
       box-shadow: 0 4px 20px rgba(255, 0, 0, 0.6);
     }
-    100% { 
+    100% {
       transform: scale(1);
       box-shadow: 0 4px 12px rgba(255, 0, 0, 0.4);
     }
@@ -259,4 +259,4 @@
       font-size: 44px; /* Increased from 22px to 2x */
     }
   }
-</style> 
\ No newline at end of file
+</style>
diff --git a/dimos/web/dimos_interface/src/stores/stream.ts b/dimos/web/dimos_interface/src/stores/stream.ts
index eee46f84bf..649fd515ce 100644
--- a/dimos/web/dimos_interface/src/stores/stream.ts
+++ b/dimos/web/dimos_interface/src/stores/stream.ts
@@ -95,7 +95,7 @@ fetchAvailableStreams().then(streams => {
 
 export const showStream = async (streamKey?: string) => {
   streamStore.update(state => ({ ...state, isLoading: true, error: null }));
-  
+
   try {
     const streams = await fetchAvailableStreams();
     if (streams.length === 0) {
@@ -178,4 +178,3 @@ export const disconnectTextStream = (key: string): void => {
     delete textEventSources[key];
   }
 };
-
diff --git a/dimos/web/dimos_interface/src/utils/commands.ts b/dimos/web/dimos_interface/src/utils/commands.ts
index 455a0092e0..53755630ac 100644
--- a/dimos/web/dimos_interface/src/utils/commands.ts
+++ b/dimos/web/dimos_interface/src/utils/commands.ts
@@ -182,14 +182,14 @@ export const commands: Record<string, (args: string[]) => Promise<CommandResult>
   },
   banner: () => `
 
-██████╗ ██╗███╗   ███╗███████╗███╗   ██╗███████╗██╗ ██████╗ ███╗   ██╗ █████╗ ██╗     
-██╔══██╗██║████╗ ████║██╔════╝████╗  ██║██╔════╝██║██╔═══██╗████╗  ██║██╔══██╗██║     
-██║  ██║██║██╔████╔██║█████╗  ██╔██╗ ██║███████╗██║██║   ██║██╔██╗ ██║███████║██║     
-██║  ██║██║██║╚██╔╝██║██╔══╝  ██║╚██╗██║╚════██║██║██║   ██║██║╚██╗██║██╔══██║██║     
+██████╗ ██╗███╗   ███╗███████╗███╗   ██╗███████╗██╗ ██████╗ ███╗   ██╗ █████╗ ██╗
+██╔══██╗██║████╗ ████║██╔════╝████╗  ██║██╔════╝██║██╔═══██╗████╗  ██║██╔══██╗██║
+██║  ██║██║██╔████╔██║█████╗  ██╔██╗ ██║███████╗██║██║   ██║██╔██╗ ██║███████║██║
+██║  ██║██║██║╚██╔╝██║██╔══╝  ██║╚██╗██║╚════██║██║██║   ██║██║╚██╗██║██╔══██║██║
 ██████╔╝██║██║ ╚═╝ ██║███████╗██║ ╚████║███████║██║╚██████╔╝██║ ╚████║██║  ██║███████╗
 ╚═════╝ ╚═╝╚═╝     ╚═╝╚══════╝╚═╝  ╚═══╝╚══════╝╚═╝ ╚═════╝ ╚═╝  ╚═══╝╚═╝  ╚═╝╚══════╝v${packageJson.version}
 
-Powering generalist robotics 
+Powering generalist robotics
 
 Type 'help' to see list of available commands.
 `,
@@ -272,7 +272,7 @@ Type 'help' to see list of available commands.
     }
 
     const jointPositions = args.join(' ');
-    
+
     try {
       const jointPositionsArray = jointPositions.split(',').map(x => parseFloat(x.trim()));
       const response = await fetch(`${state.connection.url}/control?t=${Date.now()}`, {
@@ -285,7 +285,7 @@ Type 'help' to see list of available commands.
       });
 
       const data = await response.json();
-      
+
       if (response.ok) {
         return `${data.message} ✓`;
       } else {
@@ -302,7 +302,7 @@ Type 'help' to see list of available commands.
     }
 
     const subcommand = args[0].toLowerCase();
-    
+
     if (subcommand === 'status') {
       try {
         const response = await fetch('/unitree/status');
@@ -331,14 +331,14 @@ Type 'help' to see list of available commands.
       hideStream();
       return 'Stopped Unitree video stream.';
     }
-    
+
     if (subcommand === 'command') {
       if (args.length < 2) {
         return 'Usage: unitree command <text> - Send a command to the Unitree API';
       }
-      
+
       const commandText = args.slice(1).join(' ');
-      
+
       try {
         // Ensure we have the text stream keys
         if (textStreamKeys.length === 0) {
@@ -352,7 +352,7 @@ Type 'help' to see list of available commands.
           },
           body: JSON.stringify({ command: commandText })
         });
-        
+
         if (!response.ok) {
           throw new Error(`Server returned ${response.status}`);
         }
@@ -362,13 +362,13 @@ Type 'help' to see list of available commands.
           streamKey: textStreamKeys[0], // Using the first available text stream
           initialMessage: `Command sent: ${commandText}\nPlanningAgent output...`
         };
-        
+
       } catch (error) {
         const message = error instanceof Error ? error.message : 'Server unreachable';
         return `Failed to send command: ${message}. Make sure the API server is running.`;
       }
     }
-    
+
     return 'Invalid subcommand. Available subcommands: status, start_stream, stop_stream, command';
   },
 };
diff --git a/dimos/web/dimos_interface/src/utils/simulation.ts b/dimos/web/dimos_interface/src/utils/simulation.ts
index 5373bdb8b8..6e71dda358 100644
--- a/dimos/web/dimos_interface/src/utils/simulation.ts
+++ b/dimos/web/dimos_interface/src/utils/simulation.ts
@@ -115,7 +115,7 @@ export class SimulationManager {
 
     async requestSimulation(): Promise<SimulationConnection> {
         simulationStore.update(state => ({ ...state, isConnecting: true, error: null }));
-        
+
         try {
             // Request instance allocation
             const response = await this.fetchWithRetry(this.apiEndpoint, {
@@ -129,7 +129,7 @@ export class SimulationManager {
             });
 
             const instanceInfo = await response.json();
-            
+
             if (import.meta.env.DEV) {
                 console.log('API Response:', instanceInfo);
             }
@@ -175,11 +175,11 @@ export class SimulationManager {
                 isConnecting: false,
                 error: errorMessage
             }));
-            
+
             if (import.meta.env.DEV) {
                 console.error('Simulation request failed:', error);
             }
-            
+
             throw error;
         }
     }
@@ -211,4 +211,4 @@ export class SimulationManager {
     }
 }
 
-export const simulationManager = new SimulationManager();
\ No newline at end of file
+export const simulationManager = new SimulationManager();
diff --git a/dimos/web/templates/index_fastapi.html b/dimos/web/templates/index_fastapi.html
index 9ab54dc170..75b0c1c179 100644
--- a/dimos/web/templates/index_fastapi.html
+++ b/dimos/web/templates/index_fastapi.html
@@ -125,12 +125,12 @@
             border-radius: 8px;
             box-shadow: 0 2px 10px rgba(0,0,0,0.1);
         }
-        
+
         .query-form {
             display: flex;
             gap: 10px;
         }
-        
+
         .query-input {
             flex-grow: 1;
             padding: 10px;
@@ -138,7 +138,7 @@
             border-radius: 5px;
             font-size: 16px;
         }
-        
+
         .query-button {
             padding: 10px 20px;
             background-color: #28a745;
@@ -149,33 +149,33 @@
             font-size: 16px;
             transition: background-color 0.3s;
         }
-        
+
         .query-button:hover {
             background-color: #218838;
         }
-        
+
         .query-response {
             margin-top: 15px;
             padding: 10px;
             border-radius: 5px;
             display: none;
         }
-        
+
         .success {
             background-color: #d4edda;
             color: #155724;
         }
-        
+
         .error {
             background-color: #f8d7da;
             color: #721c24;
         }
-        
+
         .text-streams-container {
             max-width: 800px;
             margin: 30px auto;
         }
-        
+
         .text-stream-container {
             background: white;
             padding: 15px;
@@ -183,12 +183,12 @@
             border-radius: 8px;
             box-shadow: 0 2px 10px rgba(0,0,0,0.1);
         }
-        
+
         .text-stream-container h3 {
             margin-top: 0;
             color: #444;
         }
-        
+
         .text-messages {
             height: 200px;
             overflow-y: auto;
@@ -198,7 +198,7 @@
             margin-bottom: 10px;
             background-color: #f9f9f9;
         }
-        
+
         .text-message {
             padding: 8px;
             margin-bottom: 8px;
@@ -210,7 +210,7 @@
 </head>
 <body>
     <h1>Live Video Streams</h1>
-    
+
     <div class="query-container">
         <h2>Ask a Question</h2>
         <form id="queryForm" class="query-form">
@@ -219,7 +219,7 @@ <h2>Ask a Question</h2>
         </form>
         <div id="queryResponse" class="query-response"></div>
     </div>
-    
+
     <!-- Add text streams section -->
     {% if text_stream_keys %}
     <div class="text-streams-container">
@@ -237,7 +237,7 @@ <h3>{{ key.replace('_', ' ').title() }}</h3>
         {% endfor %}
     </div>
     {% endif %}
-    
+
     <div class="stream-grid">
         {% for key in stream_keys %}
             <div class="stream-container">
@@ -278,24 +278,24 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
         // Handle query form submission
         document.getElementById('queryForm').addEventListener('submit', async function(e) {
             e.preventDefault();
-            
+
             const queryInput = document.getElementById('queryInput');
             const queryResponse = document.getElementById('queryResponse');
             const query = queryInput.value.trim();
-            
+
             if (!query) return;
-            
+
             try {
                 const formData = new FormData();
                 formData.append('query', query);
-                
+
                 const response = await fetch('/submit_query', {
                     method: 'POST',
                     body: formData
                 });
-                
+
                 let result;
-                
+
                 // Better error handling for non-200 responses
                 if (!response.ok) {
                     try {
@@ -313,14 +313,14 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                 } else {
                     result = await response.json();
                 }
-                
+
                 queryResponse.textContent = result.message;
                 queryResponse.className = 'query-response ' + (result.success ? 'success' : 'error');
                 queryResponse.style.display = 'block';
-                
+
                 if (result.success) {
                     queryInput.value = '';
-                    
+
                     // Hide the success message after 3 seconds
                     setTimeout(() => {
                         queryResponse.style.display = 'none';
@@ -335,17 +335,17 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
 
         // Text stream event sources
         const textEventSources = {};
-        
+
         function connectTextStream(key) {
             // Close if already open
             if (textEventSources[key]) {
                 textEventSources[key].close();
             }
-            
+
             // Connect to the server-sent events endpoint
             const eventSource = new EventSource(`/text_stream/${key}`);
             textEventSources[key] = eventSource;
-            
+
             // Handle incoming messages
             eventSource.addEventListener('message', function(event) {
                 const messagesContainer = document.getElementById(`text_messages_${key}`);
@@ -353,11 +353,11 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                 messageElement.className = 'text-message';
                 messageElement.textContent = event.data;
                 messagesContainer.appendChild(messageElement);
-                
+
                 // Scroll to the bottom to show latest message
                 messagesContainer.scrollTop = messagesContainer.scrollHeight;
             });
-            
+
             // Handle connection errors
             eventSource.onerror = function() {
                 console.error(`Error in text stream ${key}`);
@@ -365,19 +365,19 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
                 delete textEventSources[key];
             };
         }
-        
+
         function disconnectTextStream(key) {
             if (textEventSources[key]) {
                 textEventSources[key].close();
                 delete textEventSources[key];
             }
         }
-        
+
         function clearTextStream(key) {
             const messagesContainer = document.getElementById(`text_messages_${key}`);
             messagesContainer.innerHTML = '';
         }
-        
+
         // Auto-connect text streams on page load
         window.addEventListener('load', function() {
             {% for key in text_stream_keys %}
@@ -386,4 +386,4 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
         });
     </script>
 </body>
-</html>
\ No newline at end of file
+</html>
diff --git a/dimos/web/templates/index_flask.html b/dimos/web/templates/index_flask.html
index 4717553d95..e41665e588 100644
--- a/dimos/web/templates/index_flask.html
+++ b/dimos/web/templates/index_flask.html
@@ -98,7 +98,7 @@
 </head>
 <body>
     <h1>Live Video Streams</h1>
-    
+
     <div class="stream-grid">
         {% for key in stream_keys %}
             <div class="stream-container">
@@ -115,4 +115,4 @@ <h2>{{ key.replace('_', ' ').title() }}</h2>
         }
     </script>
 </body>
-</html>
\ No newline at end of file
+</html>
diff --git a/docker/dev/bash.sh b/docker/dev/bash.sh
index 878faa23c5..c5248841d9 100755
--- a/docker/dev/bash.sh
+++ b/docker/dev/bash.sh
@@ -60,7 +60,7 @@ function tmpUmask
 {
     oldUmask=$(umask)
     newUmask=$1
-    
+
     shift
     umask $newUmask
     echo umask $(umask -S)
@@ -68,7 +68,7 @@ function tmpUmask
     eval $@
     umask $oldUmask
     echo umask $(umask -S)
-    
+
 }
 
 function newloginuser
diff --git a/docker/dev/tmux.conf b/docker/dev/tmux.conf
index aad055fe5a..ecf6b22ced 100644
--- a/docker/dev/tmux.conf
+++ b/docker/dev/tmux.conf
@@ -35,7 +35,7 @@ bind  c new-window -c "#{pane_current_path}"
 #bind -n C-M-right swap-window -t +1
 #set -g default-terminal "screen-256color"
 #set -g default-terminal "xterm"
-    
+
 bind-key u capture-pane \; save-buffer /tmp/tmux-buffer \; run-shell "urxvtc --geometry 51x20 --title 'floatme' -e bash -c \"cat /tmp/tmux-buffer | urlview\" "
 bind-key r source-file ~/.tmux.conf
 
@@ -79,6 +79,6 @@ setw -g window-status-separator "#[bg=colour235]"
 setw -g window-status-style "fg=colour253,bg=black,none"
 set -g status-left ""
 set -g status-right "#[bg=black]#[fg=colour244]#h#[fg=colour244]#[fg=colour3]/#[fg=colour244]#S"
-    
+
 setw -g window-status-format " #[fg=colour3]#I#[fg=colour244] #W "
 setw -g window-status-current-format " #[fg=color3]#I#[fg=colour254] #W "
diff --git a/docker/navigation/.env.hardware b/docker/navigation/.env.hardware
index 75192623e4..05e08bd375 100644
--- a/docker/navigation/.env.hardware
+++ b/docker/navigation/.env.hardware
@@ -16,7 +16,7 @@ ROS_DOMAIN_ID=42
 # Robot configuration ('mechanum_drive', 'unitree/unitree_g1', 'unitree/unitree_g1', etc)
 ROBOT_CONFIG_PATH=mechanum_drive
 
-# Robot IP address on local network for connection over WebRTC 
+# Robot IP address on local network for connection over WebRTC
 # For Unitree Go2, Unitree G1, if using WebRTCConnection
 # This can be found in the unitree app under Device settings or via network scan
 ROBOT_IP=
diff --git a/docker/navigation/.gitignore b/docker/navigation/.gitignore
index 434f1e37bc..0eaccbc740 100644
--- a/docker/navigation/.gitignore
+++ b/docker/navigation/.gitignore
@@ -17,4 +17,4 @@ config/
 *.tmp
 *.log
 *.swp
-*~
\ No newline at end of file
+*~
diff --git a/docker/navigation/README.md b/docker/navigation/README.md
index c1d1eba40f..87c5b6e788 100644
--- a/docker/navigation/README.md
+++ b/docker/navigation/README.md
@@ -115,7 +115,7 @@ LIDAR_INTERFACE=eth0              # Your ethernet interface (find with: ip link
 LIDAR_COMPUTER_IP=192.168.1.5    # Computer IP on the lidar subnet
 LIDAR_GATEWAY=192.168.1.1        # Gateway IP address for the lidar subnet
 LIDAR_IP=192.168.1.116           # Full IP address of your Mid-360 lidar
-ROBOT_IP=                        # IP addres of robot on local network (if using WebRTC connection) 
+ROBOT_IP=                        # IP addres of robot on local network (if using WebRTC connection)
 
 # Motor Controller
 MOTOR_SERIAL_DEVICE=/dev/ttyACM0  # Serial device (check with: ls /dev/ttyACM*)
@@ -141,18 +141,17 @@ In the container to run the full navigation stack you must run both the dimensio
 
 #### Dimensional Python + Connection Module
 
-For the Unitree G1 
+For the Unitree G1
 ```bash
 dimos run unitree-g1
-ROBOT_IP=XX.X.X.XXX dimos run unitree-g1 # If ROBOT_IP env variable is not set in .env  
+ROBOT_IP=XX.X.X.XXX dimos run unitree-g1 # If ROBOT_IP env variable is not set in .env
 ```
 
-#### Navigation Stack 
+#### Navigation Stack
 
 ```bash
 cd /ros2_ws/src/ros-navigation-autonomy-stack
 ./system_real_robot_with_route_planner.sh
 ```
 
-Now you can place goal points/poses in RVIZ by clicking the "Goalpoint" button. The robot will navigate to the point, running both local and global planners for dynamic obstacle avoidance. 
-
+Now you can place goal points/poses in RVIZ by clicking the "Goalpoint" button. The robot will navigate to the point, running both local and global planners for dynamic obstacle avoidance.
diff --git a/docker/navigation/run_both.sh b/docker/navigation/run_both.sh
index a433cf5b01..24c480eaea 100755
--- a/docker/navigation/run_both.sh
+++ b/docker/navigation/run_both.sh
@@ -144,4 +144,4 @@ if [ -n "$DIMOS_PID" ]; then
     wait $ROS_PID $DIMOS_PID 2>/dev/null || true
 else
     wait $ROS_PID 2>/dev/null || true
-fi
\ No newline at end of file
+fi
diff --git a/docker/python/Dockerfile b/docker/python/Dockerfile
index 8acd7a52af..6fbd5545e5 100644
--- a/docker/python/Dockerfile
+++ b/docker/python/Dockerfile
@@ -49,4 +49,4 @@ COPY . /app/
 
 # Install dependencies with UV (10-100x faster than pip)
 RUN uv pip install --upgrade 'pip>=24' 'setuptools>=70' 'wheel' 'packaging>=24' && \
-    uv pip install '.[cpu]'
\ No newline at end of file
+    uv pip install '.[cpu]'
diff --git a/docker/ros/Dockerfile b/docker/ros/Dockerfile
index 22bb3ed547..2dc2b5dbb7 100644
--- a/docker/ros/Dockerfile
+++ b/docker/ros/Dockerfile
@@ -83,7 +83,7 @@ RUN apt-get update && apt-get install -y \
 
 # Initialize rosdep
 RUN rosdep init
-RUN rosdep update 
+RUN rosdep update
 
 # Source ROS2 and workspace in bashrc
 RUN echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> /root/.bashrc
diff --git a/docs/ci.md b/docs/ci.md
index a041ab08cc..ac9b11115a 100644
--- a/docs/ci.md
+++ b/docs/ci.md
@@ -50,7 +50,7 @@ pytest      # run tests
 
 ### Current hierarchy
 
-    
+
 ```
     ┌──────┐
     │ubuntu│
@@ -64,7 +64,7 @@ pytest      # run tests
     ┌▽──────┐
     │ros-dev│
     └───────┘
-```   
+```
 
 * ghcr.io/dimensionalos/ros:dev
 * ghcr.io/dimensionalos/python:dev
@@ -74,7 +74,7 @@ pytest      # run tests
 
 > **Note**: The diagram shows only currently active images; the system is extensible—new combinations are possible, builds can be run per branch and as parallel as possible
 
-   
+
 ```
     ┌──────┐
     │ubuntu│
@@ -135,7 +135,7 @@ Ideally a child job (e.g. **ros-python**) should depend on both:
 GitHub Actions can’t express “run only if *both* conditions are true *and* the parent job wasn’t skipped”.
 
 We are using `needs: [check-changes, ros]` to ensure the job runs after the ros build, but if ros build has been skipped we need `if: always()` to ensure that the build runs anyway.
-Adding `always` for some reason completely breaks the conditional check, we cannot have OR, AND operators, it just makes the job _always_ run, which means we build python even if we don't need to. 
+Adding `always` for some reason completely breaks the conditional check, we cannot have OR, AND operators, it just makes the job _always_ run, which means we build python even if we don't need to.
 
 This is unfortunate as the build takes ~30 min first time (a few minutes afterwards thanks to caching) and I've spent a lot of time on this, lots of viable seeming options didn't pan out and probably we need to completely rewrite and own the actions runner and not depend on github structure at all. Single job called `CI` or something, within our custom docker image.
 
diff --git a/docs/development.md b/docs/development.md
index 8718144642..838bae6fdb 100644
--- a/docs/development.md
+++ b/docs/development.md
@@ -22,7 +22,7 @@ Install the *Dev Containers* plug-in for VS Code, Cursor, or your IDE of choice
 
 ### Shell only quick start
 
-Terminal within your IDE should use devcontainer transparently given you installed the plugin, but in case you want to run our shell without an IDE, you can use `./bin/dev` 
+Terminal within your IDE should use devcontainer transparently given you installed the plugin, but in case you want to run our shell without an IDE, you can use `./bin/dev`
 (it depends on npm/node being installed)
 
 ```sh
@@ -37,16 +37,16 @@ found 0 vulnerabilities
 [5299 ms] f0355b6574d9bd277d6eb613e1dc32e3bc18e7493e5b170e335d0e403578bcdb
 {"outcome":"success","containerId":"f0355b6574d9bd277d6eb613e1dc32e3bc18e7493e5b170e335d0e403578bcdb","remoteUser":"root","remoteWorkspaceFolder":"/workspaces/dimos"}
 
-  ██████╗ ██╗███╗   ███╗███████╗███╗   ██╗███████╗██╗ ██████╗ ███╗   ██╗ █████╗ ██╗     
-  ██╔══██╗██║████╗ ████║██╔════╝████╗  ██║██╔════╝██║██╔═══██╗████╗  ██║██╔══██╗██║     
-  ██║  ██║██║██╔████╔██║█████╗  ██╔██╗ ██║███████╗██║██║   ██║██╔██╗ ██║███████║██║     
-  ██║  ██║██║██║╚██╔╝██║██╔══╝  ██║╚██╗██║╚════██║██║██║   ██║██║╚██╗██║██╔══██║██║     
+  ██████╗ ██╗███╗   ███╗███████╗███╗   ██╗███████╗██╗ ██████╗ ███╗   ██╗ █████╗ ██╗
+  ██╔══██╗██║████╗ ████║██╔════╝████╗  ██║██╔════╝██║██╔═══██╗████╗  ██║██╔══██╗██║
+  ██║  ██║██║██╔████╔██║█████╗  ██╔██╗ ██║███████╗██║██║   ██║██╔██╗ ██║███████║██║
+  ██║  ██║██║██║╚██╔╝██║██╔══╝  ██║╚██╗██║╚════██║██║██║   ██║██║╚██╗██║██╔══██║██║
   ██████╔╝██║██║ ╚═╝ ██║███████╗██║ ╚████║███████║██║╚██████╔╝██║ ╚████║██║  ██║███████╗
   ╚═════╝ ╚═╝╚═╝     ╚═╝╚══════╝╚═╝  ╚═══╝╚══════╝╚═╝ ╚═════╝ ╚═╝  ╚═══╝╚═╝  ╚═╝╚══════╝
 
   v_unknown:unknown | Wed May 28 09:23:33 PM UTC 2025
 
-root@dimos:/workspaces/dimos # 
+root@dimos:/workspaces/dimos #
 ```
 
 The script will:
@@ -58,7 +58,7 @@ You’ll land in the workspace as **root** with all project tooling available.
 
 ## Pre-Commit Hooks
 
-We use [pre-commit](https://pre-commit.com) (config in `.pre-commit-config.yaml`) to enforce formatting, licence headers, EOLs, LFS checks, etc. Hooks run in **milliseconds**. 
+We use [pre-commit](https://pre-commit.com) (config in `.pre-commit-config.yaml`) to enforce formatting, licence headers, EOLs, LFS checks, etc. Hooks run in **milliseconds**.
 Hooks also run in CI; any auto-fixes are committed back to your PR, so local installation is optional — but gives faster feedback.
 
 ```sh
@@ -74,11 +74,11 @@ format json..............................................................Passed
 LFS data.................................................................Passed
 
 ```
-Given your editor uses ruff via devcontainers (which it should) actual auto-commit hook won't ever reformat your code - IDE will have already done this. 
+Given your editor uses ruff via devcontainers (which it should) actual auto-commit hook won't ever reformat your code - IDE will have already done this.
 
 ### Running hooks manually
 
-Given your editor uses git via devcontainers (which it should) auto-commit hooks will run automatically, this is in case you want to run them manually. 
+Given your editor uses git via devcontainers (which it should) auto-commit hooks will run automatically, this is in case you want to run them manually.
 
 Inside the dev container (Your IDE will likely run this transparently for each commit if using devcontainer plugin):
 
@@ -140,7 +140,7 @@ Classic development run within a subtree:
 
 root@dimos:/workspaces/dimos # cd dimos/robot/unitree_webrtc/
 root@dimos:/workspaces/dimos/dimos/robot/unitree_webrtc # pytest
-collected 27 items / 22 deselected / 5 selected                                                                                                                                               
+collected 27 items / 22 deselected / 5 selected
 
 type/test_map.py::test_robot_mapping PASSED
 type/test_timeseries.py::test_repr PASSED
@@ -155,13 +155,13 @@ Showing prints:
 ```sh
 root@dimos:/workspaces/dimos/dimos/robot/unitree_webrtc/type # pytest -s test_odometry.py
 test_odometry.py::test_odometry_conversion_and_count Odom ts(2025-05-30 13:52:03) pos(→ Vector Vector([0.432199 0.108042 0.316589])), rot(↑ Vector Vector([ 7.7200000e-04 -9.1280000e-03  3.006
-8621e+00])) yaw(172.3°)                                                                                                                                                                        
-Odom ts(2025-05-30 13:52:03) pos(→ Vector Vector([0.433629 0.105965 0.316143])), rot(↑ Vector Vector([ 0.003814   -0.006436    2.99591235])) yaw(171.7°)             
-Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.434459 0.104739 0.314794])), rot(↗ Vector Vector([ 0.005558   -0.004183    3.00068456])) yaw(171.9°)  
-Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.435621 0.101699 0.315852])), rot(↑ Vector Vector([ 0.005391   -0.006002    3.00246893])) yaw(172.0°)  
-Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.436457 0.09857  0.315254])), rot(↑ Vector Vector([ 0.003358   -0.006916    3.00347172])) yaw(172.1°)             
+8621e+00])) yaw(172.3°)
+Odom ts(2025-05-30 13:52:03) pos(→ Vector Vector([0.433629 0.105965 0.316143])), rot(↑ Vector Vector([ 0.003814   -0.006436    2.99591235])) yaw(171.7°)
+Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.434459 0.104739 0.314794])), rot(↗ Vector Vector([ 0.005558   -0.004183    3.00068456])) yaw(171.9°)
+Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.435621 0.101699 0.315852])), rot(↑ Vector Vector([ 0.005391   -0.006002    3.00246893])) yaw(172.0°)
+Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.436457 0.09857  0.315254])), rot(↑ Vector Vector([ 0.003358   -0.006916    3.00347172])) yaw(172.1°)
 Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.435535 0.097022 0.314399])), rot(↑ Vector Vector([ 1.88300000e-03 -8.17800000e-03  3.00573432e+00])) yaw(172.2°)
-Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.433739 0.097553 0.313479])), rot(↑ Vector Vector([ 8.10000000e-05 -8.71700000e-03  3.00729616e+00])) yaw(172.3°) 
+Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.433739 0.097553 0.313479])), rot(↑ Vector Vector([ 8.10000000e-05 -8.71700000e-03  3.00729616e+00])) yaw(172.3°)
 Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.430924 0.09859  0.31322 ])), rot(↑ Vector Vector([ 1.84000000e-04 -9.68700000e-03  3.00945623e+00])) yaw(172.4°)
 ... etc
 ```
@@ -178,5 +178,3 @@ Odom ts(2025-05-30 13:52:04) pos(→ Vector Vector([0.430924 0.09859  0.31322 ])
 | Filter tests by name        | `pytest -k "<pattern>"`      |
 | Enable stdout in tests      | `pytest -s`                  |
 | Run tagged tests            | `pytest -m <tag>`            |
-
-
diff --git a/docs/jetson.MD b/docs/jetson.MD
index 31da4225d9..a4d06e3255 100644
--- a/docs/jetson.MD
+++ b/docs/jetson.MD
@@ -1,8 +1,8 @@
-# DimOS Jetson Setup Instructions 
-Tested on Jetpack 6.2, CUDA 12.6 
+# DimOS Jetson Setup Instructions
+Tested on Jetpack 6.2, CUDA 12.6
 
-## Required system dependencies 
-`sudo apt install portaudio19-dev python3-pyaudio` 
+## Required system dependencies
+`sudo apt install portaudio19-dev python3-pyaudio`
 
 ## Installing cuSPARSELt
 https://ninjalabo.ai/blogs/jetson_pytorch.html
@@ -17,7 +17,7 @@ ldconfig
 ```
 ## Install Torch and Torchvision wheels
 
-Enter virtualenv 
+Enter virtualenv
 ```bash
 python3 -m venv venv
 source venv/bin/activate
@@ -26,19 +26,19 @@ source venv/bin/activate
 Wheels for jp6/cu126
 https://pypi.jetson-ai-lab.io/jp6/cu126
 
-Check compatibility: 
+Check compatibility:
 https://docs.nvidia.com/deeplearning/frameworks/install-pytorch-jetson-platform-release-notes/pytorch-jetson-rel.html
 
 ### Working torch wheel tested on Jetpack 6.2, CUDA 12.6
 `pip install --no-cache https://developer.download.nvidia.com/compute/redist/jp/v61/pytorch/torch-2.5.0a0+872d972e41.nv24.08.17622132-cp310-cp310-linux_aarch64.whl`
 
-### Install torchvision from source: 
+### Install torchvision from source:
 ```bash
-# Set version by checking above torchvision<-->torch compatibility 
+# Set version by checking above torchvision<-->torch compatibility
 
 # We use 0.20.0
 export VERSION=20
- 
+
 sudo apt-get install libjpeg-dev zlib1g-dev libpython3-dev libopenblas-dev libavcodec-dev libavformat-dev libswscale-dev
 git clone --branch release/0.$VERSION https://github.com/pytorch/vision torchvision
 cd torchvision
@@ -46,7 +46,7 @@ export BUILD_VERSION=0.$VERSION.0
 python3 setup.py install --user # remove --user if installing in virtualenv
 ```
 
-### Verify success: 
+### Verify success:
 ```bash
 $ python3
 import torch
@@ -65,8 +65,8 @@ import torchvision
 print(torchvision.__version__)
 ```
 
-## Install Onnxruntime-gpu 
+## Install Onnxruntime-gpu
 
 Find pre-build wheels here for your specific JP/CUDA version: https://pypi.jetson-ai-lab.io/jp6
 
-`pip install https://pypi.jetson-ai-lab.io/jp6/cu126/+f/4eb/e6a8902dc7708/onnxruntime_gpu-1.23.0-cp310-cp310-linux_aarch64.whl#sha256=4ebe6a8902dc7708434b2e1541b3fe629ebf434e16ab5537d1d6a622b42c622b` 
+`pip install https://pypi.jetson-ai-lab.io/jp6/cu126/+f/4eb/e6a8902dc7708/onnxruntime_gpu-1.23.0-cp310-cp310-linux_aarch64.whl#sha256=4ebe6a8902dc7708434b2e1541b3fe629ebf434e16ab5537d1d6a622b42c622b`
diff --git a/docs/modules.md b/docs/modules.md
index 8ce6d0f5f8..9cdbf586ac 100644
--- a/docs/modules.md
+++ b/docs/modules.md
@@ -13,7 +13,7 @@ from dimos.msgs.geometry_msgs import Vector3
 
 class MyModule(Module):
     # Declare inputs/outputs as class attributes initialized to None
-    data_in: In[Vector3] = None  
+    data_in: In[Vector3] = None
     data_out: Out[Vector3] = None
 
     def __init__():
@@ -60,7 +60,7 @@ stream.subscribe(lambda msg: print(f"Received: {msg}"))
 # Start modules to begin processing
 module.start()  # Calls the @rpc start() method if defined
 
-# Inspect module I/O configuration  
+# Inspect module I/O configuration
 print(module.io().result())  # Shows inputs, outputs, and RPC methods
 
 # Clean shutdown
@@ -107,7 +107,7 @@ pubsub.lcm.autoconf()
 
 This architecture enables building complex robotic systems as composable, distributed modules that communicate efficiently via streams and RPC, scaling from single machines to clusters.
 
-# Dimensional Install 
+# Dimensional Install
 ## Python Installation (Ubuntu 22.04)
 
 ```bash
@@ -140,8 +140,8 @@ pip install .[cuda,dev]
 cp default.env .env
 ```
 
-### Test install 
-```bash 
+### Test install
+```bash
 # Run standard tests
 pytest -s dimos/
 
@@ -163,5 +163,3 @@ export ROBOT_IP=<your_robot_ip>
 # Run the multiprocess Unitree Go2 example
 python dimos/robot/unitree_webrtc/multiprocess/unitree_go2.py
 ```
-
-
diff --git a/docs/modules_CN.md b/docs/modules_CN.md
index d8f088ef59..89e16c7112 100644
--- a/docs/modules_CN.md
+++ b/docs/modules_CN.md
@@ -60,7 +60,7 @@ stream.subscribe(lambda msg: print(f"接收到: {msg}"))
 # 启动模块以开始处理
 module.start()  # 如果定义了 @rpc start() 方法，则调用它
 
-# 检查模块 I/O 配置  
+# 检查模块 I/O 配置
 print(module.io().result())  # 显示输入、输出和 RPC 方法
 
 # 优雅关闭
@@ -141,7 +141,7 @@ cp default.env .env
 ```
 
 ### 测试安装
-```bash 
+```bash
 # 运行标准测试
 pytest -s dimos/
 
@@ -185,4 +185,4 @@ LCM 传输针对机器人应用进行了优化：
 
 - **零拷贝**：大型消息的高效内存使用
 - **低延迟**：微秒级的消息传递
-- **多播支持**：一对多的高效通信 
\ No newline at end of file
+- **多播支持**：一对多的高效通信
diff --git a/docs/testing_stream_reply.md b/docs/testing_stream_reply.md
index f6b76d3ed9..e3189bb5e8 100644
--- a/docs/testing_stream_reply.md
+++ b/docs/testing_stream_reply.md
@@ -24,7 +24,7 @@ A lightweight framework for **recording, storing, and replaying binary data stre
 * **No repo bloat** – binaries live in Git LFS; the working tree stays trim.
 * **Symmetric API** – `SensorReplay` ↔︎ `SensorStorage`; same name, different direction.
 * **Format agnostic** – replay *anything* you can pickle (protobuf, numpy, JPEG, …).
-* **Data type agnostic** – with testData("raw_odometry_rotate_walk") you get a Path object back, can be a raw video file, whole codebase, ML model etc 
+* **Data type agnostic** – with testData("raw_odometry_rotate_walk") you get a Path object back, can be a raw video file, whole codebase, ML model etc
 
 
 ---
@@ -172,4 +172,3 @@ Either delete or run ./bin/lfs_push
 
 * `dimos/robot/unitree_webrtc/type/test_odometry.py`
 * `dimos/robot/unitree_webrtc/type/test_map.py`
-
diff --git a/flake.nix b/flake.nix
index 0061153089..0e8dbe60a1 100644
--- a/flake.nix
+++ b/flake.nix
@@ -36,7 +36,7 @@
 
           ### GTK / OpenCV helpers
           glib gtk3 gdk-pixbuf gobject-introspection
-          
+
           ### GStreamer
           gst_all_1.gstreamer gst_all_1.gst-plugins-base gst_all_1.gst-plugins-good
           gst_all_1.gst-plugins-bad gst_all_1.gst-plugins-ugly
@@ -44,7 +44,7 @@
 
           ### Open3D & build-time
           eigen cmake ninja jsoncpp libjpeg libpng
-          
+
           ### LCM (Lightweight Communications and Marshalling)
           lcm
         ];
diff --git a/pyproject.toml b/pyproject.toml
index 4f2d866ffa..dae854c0f7 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -46,25 +46,25 @@ dependencies = [
     "asyncio==3.4.3",
     "go2-webrtc-connect @ git+https://github.com/dimensionalOS/go2_webrtc_connect.git",
     "tensorzero==2025.7.5",
-    
+
     # Web Extensions
     "fastapi>=0.115.6",
     "sse-starlette>=2.2.1",
     "uvicorn>=0.34.0",
-    
+
     # Agents
     "langchain>=0.3.27",
     "langchain-chroma>=0.2.5",
     "langchain-core>=0.3.72",
     "langchain-openai>=0.3.28",
-    "langchain-text-splitters>=0.3.9",  
-    
+    "langchain-text-splitters>=0.3.9",
+
     # Class Extraction
     "pydantic",
-    
+
     # Developer Specific
     "ipykernel",
-    
+
     # Unitree webrtc streaming
     "aiortc==1.9.0",
     "pycryptodome",
@@ -75,17 +75,17 @@ dependencies = [
 
     # Image
     "PyTurboJPEG==1.8.2",
-    
+
     # Audio
     "openai-whisper",
     "soundfile",
-    
+
     # Hugging Face
     "transformers[torch]==4.49.0",
-    
+
     # Vector Embedding
-    "sentence_transformers",    
-    
+    "sentence_transformers",
+
     # Perception Dependencies
     "ultralytics>=8.3.70",
     "filterpy>=1.4.5",
@@ -104,7 +104,7 @@ dependencies = [
     # Inference
     "onnx",
 
-    # Multiprocess 
+    # Multiprocess
     "dask[complete]==2025.5.1",
 
     # LCM / DimOS utilities
@@ -163,7 +163,7 @@ cuda = [
     "mmcv>=2.1.0",
     "xformers>=0.0.20",
 
-    # Detic GPU stack 
+    # Detic GPU stack
     "mss",
     "dataclasses",
     "ftfy",
@@ -292,6 +292,3 @@ env = [
 addopts = "-v -p no:warnings -ra --color=yes -m 'not vis and not benchmark and not exclude and not tool and not needsdata and not lcm and not ros and not heavy and not gpu and not module and not tofix'"
 asyncio_mode = "auto"
 asyncio_default_fixture_loop_scope = "function"
-
-
-
diff --git a/requirements.txt b/requirements.txt
index 5faa7c8874..808a539624 100644
--- a/requirements.txt
+++ b/requirements.txt
@@ -30,7 +30,7 @@ fastapi>=0.115.6
 sse-starlette>=2.2.1
 uvicorn>=0.34.0
 
-# Agent Memory 
+# Agent Memory
 langchain-chroma>=0.1.4
 langchain-openai>=0.2.14
 
@@ -64,7 +64,7 @@ Pillow
 mmengine>=0.10.3
 mmcv>=2.1.0
 timm>=1.0.15
-lap>=0.5.12 
+lap>=0.5.12
 xformers==0.0.20
 
 # Detic
@@ -91,6 +91,6 @@ onnx
 # Terminal colors
 rich==14.0.0
 
-# multiprocess 
+# multiprocess
 dask[complete]==2025.5.1
 git+https://github.com/dimensionalOS/python_lcm_msgs@main#egg=lcm_msgs
diff --git a/tests/__init__.py b/tests/__init__.py
index 8b13789179..e69de29bb2 100644
--- a/tests/__init__.py
+++ b/tests/__init__.py
@@ -1 +0,0 @@
-
diff --git a/tests/isaacsim/run-isaacsim-docker.sh b/tests/isaacsim/run-isaacsim-docker.sh
index a9ab642236..2019695960 100644
--- a/tests/isaacsim/run-isaacsim-docker.sh
+++ b/tests/isaacsim/run-isaacsim-docker.sh
@@ -17,4 +17,4 @@ sudo docker run --network rtsp_net --name isaac-sim --entrypoint bash -it --runt
 /isaac-sim/python.sh -m pip install -r /dimos/tests/isaacsim/requirements.txt
 apt-get update
 apt-get install -y ffmpeg
-/isaac-sim/python.sh /dimos/tests/isaacsim/stream_camera.py
\ No newline at end of file
+/isaac-sim/python.sh /dimos/tests/isaacsim/stream_camera.py
diff --git a/tests/isaacsim/setup_ec2.sh b/tests/isaacsim/setup_ec2.sh
index 379891e334..f9d33bb3cc 100644
--- a/tests/isaacsim/setup_ec2.sh
+++ b/tests/isaacsim/setup_ec2.sh
@@ -38,6 +38,5 @@ sudo systemctl restart docker
 # Verify NVIDIA Container Toolkit
 sudo docker run --rm --runtime=nvidia --gpus all ubuntu nvidia-smi
 
-# Full isaac sim container 
+# Full isaac sim container
 sudo docker pull nvcr.io/nvidia/isaac-sim:4.2.0
-
diff --git a/tests/isaacsim/setup_isaacsim_python.sh b/tests/isaacsim/setup_isaacsim_python.sh
index 3ed5d8e627..27744482e4 100644
--- a/tests/isaacsim/setup_isaacsim_python.sh
+++ b/tests/isaacsim/setup_isaacsim_python.sh
@@ -4,11 +4,10 @@ sudo apt install python3.10-venv
 python3.10 -m venv env_isaacsim
 source env_isaacsim/bin/activate
 
-# Install pip packages 
+# Install pip packages
 pip install isaacsim==4.2.0.2 --extra-index-url https://pypi.nvidia.com
 pip install isaacsim-extscache-physics==4.2.0.2
 pip install isaacsim-extscache-kit==4.2.0.2
 pip install isaacsim-extscache-kit-sdk==4.2.0.2 --extra-index-url https://pypi.nvidia.com
 
 export OMNI_KIT_ACCEPT_EULA=YES
-