diff --git a/.github/workflows/code_checks.yml b/.github/workflows/code_checks.yml
index 04f767ba..b5cf6a55 100644
--- a/.github/workflows/code_checks.yml
+++ b/.github/workflows/code_checks.yml
@@ -12,17 +12,17 @@ permissions:
 
 jobs:
   code-checks:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
 
     steps:
       - uses: actions/checkout@v4
-      - name: Set up Python 3.12
+      - name: Set up Python 3.13
         uses: actions/setup-python@v5
         with:
-          python-version: '3.12.4'
-      - uses: prefix-dev/setup-pixi@v0.8.1
+          python-version: '3.13'
+      - uses: prefix-dev/setup-pixi@v0.8.8
         with:
-          pixi-version: v0.26.1
+          pixi-version: v0.48.1
           cache: true
       - uses: actions/cache@v4
         with:
@@ -30,7 +30,7 @@ jobs:
           key: ${{ env.pythonLocation }}-${{ hashFiles('pixi.toml') }}
       - name: Set Up Development Environment
         run: |
-          source setup.sh --recommended --leap
+          source setup.sh --obk-aliases --leap
           docker compose -f $GITHUB_WORKSPACE/docker/docker-compose-ci.yml up -d
       - name: Build Obelisk ROS2 messages
         run: |
diff --git a/.github/workflows/docs.yml b/.github/workflows/docs.yml
index e96bd04b..a164f868 100644
--- a/.github/workflows/docs.yml
+++ b/.github/workflows/docs.yml
@@ -6,7 +6,7 @@ on:
 
 jobs:
   pages:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     environment:
       name: github-pages
       url: ${{ steps.deployment.outputs.page_url }}
@@ -26,5 +26,5 @@ jobs:
     - id: deployment
       uses: sphinx-notes/pages@v3
       with:
-        python_version: 3.11
+        python_version: 3.13
         documentation_path: ./docs/source
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 97c1aaef..a6477d39 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -2,12 +2,12 @@ default_language_version:
     python: python3
 repos:
 -   repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.5.0
+    rev: v5.0.0
     hooks:
     -   id: trailing-whitespace
     -   id: end-of-file-fixer
 -   repo: https://github.com/charliermarsh/ruff-pre-commit
-    rev: v0.4.9
+    rev: v0.11.13
     hooks:
     -   id: ruff
         types_or: [ python, pyi, jupyter ]
@@ -15,7 +15,7 @@ repos:
     -   id: ruff-format
         types_or: [ python, pyi, jupyter ]
 -   repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v18.1.5
+    rev: v20.1.5
     hooks:
         - id: clang-format
           args: ['--style=file']
diff --git a/README.md b/README.md
index e1416292..61871bb6 100644
--- a/README.md
+++ b/README.md
@@ -3,13 +3,47 @@ This repository hosts generic interfaces for controlling robots with ROS2.
 
 [Docs](https://caltech-amber.github.io/obelisk/)
 
-## Setup
+# Quickstart
+
+This section contains Quickstart information for members of the AMBER Lab.
+
+## FR3
+Initial setup in the repo root. For AMBER lab members, get the FR3 credentials from Albert or Gary.
+```bash
+source setup.sh \
+    --cyclone-perf \
+    --obk-aliases \
+    --pixi \
+    --fr3 \
+    --config-groups \
+    --fr3-username=<YOUR_FR3_USERNAME> \
+    --fr3-password=<YOUR_FR3_PASSWORD>
+```
+
+Enter Docker container + setup in the container:
+```bash
+cd docker
+docker compose -f docker-compose.yml run --build obelisk
+```
+
+Inside the Docker container:
+```
+# build and enter the pixi shell
+pixi shell -e dev
+
+# activate obelisk, clean, and rebuild
+obk
+obk-clean
+obk-build
+```
+
+# Setup
 Obelisk should be used as a dependency for external robot control code that is written in other downstream projects. There are a few options:
 1. Use Obelisk in Docker (this is mainly for developing in Obelisk).
 2. Use Obelisk on your local filesystem.
 3. Use Obelisk in a project that uses `pixi`.
 
-### Initial Setup
+## Initial Setup
 Initial setup proceeds by running the `setup.sh` script in the repository root. This script has the ability to make changes to your local dependencies - all such changes are opt-in. **It is very important that you run `setup.sh` using the `source` command, and not `bash`, because there are environment variables that will be sourced!**
 
 This script has the ability to do 4 things:
@@ -23,13 +57,12 @@ The options are as follows:
 source setup.sh [OPTIONS]
 
 Options:
-  --recommended                Apply recommended system-level changes
-                               (cyclone performance optimizations, pixi, obelisk aliases)
-
   --basic                      Enables basic dependencies necessary for Obelisk locally
   --cyclone-perf               Enables cyclone performance optimizations
   --leap                       Enables LEAP hand dependencies
   --zed                        Enables ZED SDK
+  --unitree                    Enables Unitree dependencies
+  --fr3                        Enables FR3 dependencies
 
   --docker-install             Install Docker and nvidia-container-toolkit
   --install-sys-deps-docker    Installs system dependencies in Docker
@@ -78,7 +111,7 @@ If you're installing `docker` for the first time using this script, you also nee
 newgrp docker
 ```
 
-### Building Obelisk ROS Packages
+## Building Obelisk ROS Packages
 Next, since Obelisk acts as a dependency for a downstream ROS2 project, you have to build it. You can either build it on your local filesystem or in a virtual environment that we manage using `pixi`.
 
 * If you are building it on your local filesystem, you need some minimal set of local dependencies. These should have been installed in the previous step.
@@ -102,7 +135,7 @@ Next, since Obelisk acts as a dependency for a downstream ROS2 project, you have
     obk-build
     ```
 
-### Using Obelisk
+## Using Obelisk
 Once Obelisk has been built, you can use it. If you have set up Obelisk using the `--obk-aliases` flag, we provide a very useful command:
 ```
 obk
@@ -115,5 +148,5 @@ obk-clean
 ```
 This will delete cached build files associated with Obelisk. If you have tried building the Obelisk source code multiple times or from different environments/local filesystems, it may be corrupted, and cleaning the installation can help fix issues.
 
-## Building Docs
+# Building Docs
 In the repository root, to build the docs locally, run `sphinx-build -M html docs/source/ docs/build/`.
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 2bf6fc5f..a09f650b 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -1,7 +1,7 @@
 # syntax=docker/dockerfile:1
 
 # base image
-FROM ubuntu:22.04 as base
+FROM ubuntu:24.04 as base
 SHELL ["/bin/bash", "-c"]
 
 # build args
@@ -14,6 +14,7 @@ ARG OBELISK_DOCKER_BASIC=false
 ARG OBELISK_DOCKER_CYCLONE_PERF=false
 ARG OBELISK_DOCKER_LEAP=false
 ARG OBELISK_DOCKER_ZED=false
+ARG OBELISK_DOCKER_FR3=false
 ARG OBELISK_DOCKER_PIXI=false
 
 ARG OBELISK_DOCKER_GROUP_LEAP=false
@@ -29,10 +30,12 @@ ENV OBELISK_DOCKER_BASIC=$OBELISK_DOCKER_BASIC
 ENV OBELISK_DOCKER_CYCLONE_PERF=$OBELISK_DOCKER_CYCLONE_PERF
 ENV OBELISK_DOCKER_LEAP=$OBELISK_DOCKER_LEAP
 ENV OBELISK_DOCKER_ZED=$OBELISK_DOCKER_ZED
+ENV OBELISK_DOCKER_FR3=$OBELISK_DOCKER_FR3
 ENV OBELISK_DOCKER_PIXI=$OBELISK_DOCKER_PIXI
 
 ENV OBELISK_DOCKER_GROUP_LEAP=$OBELISK_DOCKER_GROUP_LEAP
 ENV OBELISK_DOCKER_GROUP_ZED=$OBELISK_DOCKER_GROUP_ZED
+ENV OBELISK_DOCKER_GROUP_FR3=$OBELISK_DOCKER_FR3
 
 ENV XDG_RUNTIME_DIR=/run/user/${UID}
 
@@ -53,11 +56,20 @@ RUN apt-get update && apt-get install -y \
     locale-gen en_US.UTF-8
 
 # create non-root user with sudo privileges
-RUN groupadd --gid $GID $USER && \
-    useradd --uid $UID --gid $GID -m $USER -d /home/${USER} --shell /usr/bin/bash && \
-    echo "${USER}:password" | chpasswd && \
-    usermod -aG sudo ${USER} && \
-    echo "%${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
+# if the UID/GID in the container conflict with the host, then change the user/group to that of the host
+RUN if id -u ${UID} &>/dev/null; then \
+        existing_user=$(getent passwd ${UID} | cut -d: -f1); \
+        usermod -l ${USER} ${existing_user} && \
+        usermod -d /home/${USER} -m ${USER}; \
+        existing_group=$(getent group ${GID} | cut -d: -f1); \
+        if [ "${existing_group}" != "${USER}" ]; then \
+            groupmod -n ${USER} ${existing_group}; \
+        fi; \
+    else \
+        groupadd --gid ${GID} ${USER}; \
+        useradd --uid ${UID} --gid ${GID} -m ${USER} -d /home/${USER} --shell /usr/bin/bash; \
+    fi && \
+    echo "${USER} ALL=(ALL) NOPASSWD:ALL" >> /etc/sudoers
 
 # conditionally install dependencies based on build args
 # source base ROS if basic deps are installed and you are not using pixi
@@ -68,6 +80,7 @@ RUN FLAGS=""; \
     [ "$OBELISK_DOCKER_BASIC" = "true" ] && [ "$OBELISK_DOCKER_PIXI" = "false" ] && FLAGS="$FLAGS --source-ros"; \
     [ "$OBELISK_DOCKER_LEAP" = "true" ] && FLAGS="$FLAGS --leap"; \
     [ "$OBELISK_DOCKER_ZED" = "true" ] && FLAGS="$FLAGS --zed"; \
+    [ "$OBELISK_DOCKER_FR3" = "true" ] && FLAGS="$FLAGS --fr3"; \
     [ "$OBELISK_DOCKER_UNITREE" = "true" ] && FLAGS="$FLAGS --unitree"; \
     bash /tmp/install_sys_deps.sh $FLAGS && \
     sudo rm /tmp/install_sys_deps.sh
@@ -77,6 +90,7 @@ COPY config_groups.sh /tmp/config_groups.sh
 RUN FLAGS=""; \
     [ "$OBELISK_DOCKER_GROUP_LEAP" = "true" ] && FLAGS="$FLAGS --leap"; \
     [ "$OBELISK_DOCKER_GROUP_ZED" = "true" ] && FLAGS="$FLAGS --zed"; \
+    [ "$OBELISK_DOCKER_GROUP_FR3" = "true" ] && FLAGS="$FLAGS --fr3"; \
     bash /tmp/config_groups.sh $FLAGS && \
     sudo rm /tmp/config_groups.sh
 
diff --git a/docker/config_groups.sh b/docker/config_groups.sh
index 9042e90d..1e7d2ae1 100644
--- a/docker/config_groups.sh
+++ b/docker/config_groups.sh
@@ -3,6 +3,7 @@
 # --- script flags --- #
 leap=false
 zed=false
+fr3=false
 
 for arg in "$@"; do
     case $arg in
@@ -15,6 +16,10 @@ for arg in "$@"; do
             zed=true
             shift  # Enables ZED SDK
             ;;
+        --fr3)
+            fr3=true
+            shift  # Enables FR3 dependencies
+            ;;
 
         # help
         --help)
@@ -23,6 +28,7 @@ for arg in "$@"; do
 Options:
   --leap    Adds user to the dialout group
   --zed     Adds user to the video group
+  --fr3     Adds user to the realtime group
   --help    Display this help message and exit
 "
             shift
@@ -43,3 +49,8 @@ fi
 if [ "$zed" = true ]; then
     sudo usermod -a -G video $USER
 fi
+
+if [ "$fr3" = true ]; then
+    sudo addgroup realtime
+    sudo usermod -a -G realtime $USER
+fi
diff --git a/docker/docker-compose-ci.yml b/docker/docker-compose-ci.yml
index b7f53992..e32c11b6 100644
--- a/docker/docker-compose-ci.yml
+++ b/docker/docker-compose-ci.yml
@@ -10,6 +10,7 @@ services:
         OBELISK_ROOT: $OBELISK_ROOT
         OBELISK_DOCKER_PIXI: true
       dockerfile: Dockerfile
+      network: host
     network_mode: host
     ipc: host
     environment:
diff --git a/docker/docker-compose-no-gpu.yml b/docker/docker-compose-no-gpu.yml
index aca7cd77..cf5c7e7a 100644
--- a/docker/docker-compose-no-gpu.yml
+++ b/docker/docker-compose-no-gpu.yml
@@ -11,9 +11,12 @@ services:
         OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
         OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
         OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+        OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
         OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
         OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
+        OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
       dockerfile: Dockerfile
+      network: host
     network_mode: host
     ipc: host
     environment:
@@ -25,13 +28,22 @@ services:
       OBELISK_DOCKER_BASIC: $OBELISK_DOCKER_BASIC
       OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
       OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
+      OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
       OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
+      OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
+      FR3_USERNAME: $OBELISK_DOCKER_FR3_USERNAME
+      FR3_PASSWORD: $OBELISK_DOCKER_FR3_PASSWORD
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined
     cap_add:
+      - SYS_NICE
       - NET_ADMIN
+    ulimits:
+      rtprio: 99
+      rttime: -1
+      memlock: 8428281856
     volumes:
       - $OBELISK_ROOT:$OBELISK_ROOT
       - /tmp/.X11-unix:/tmp/.X11-unix
diff --git a/docker/docker-compose.yml b/docker/docker-compose.yml
index a9254fdd..f4567fc7 100644
--- a/docker/docker-compose.yml
+++ b/docker/docker-compose.yml
@@ -12,10 +12,13 @@ services:
         OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
         OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
         OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED
+        OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
         OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
         OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
         OBELISK_DOCKER_GROUP_ZED: $OBELISK_DOCKER_GROUP_ZED
+        OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
       dockerfile: Dockerfile
+      network: host
     network_mode: host
     ipc: host
     environment:
@@ -29,14 +32,23 @@ services:
       OBELISK_DOCKER_CYCLONE_PERF: $OBELISK_DOCKER_CYCLONE_PERF
       OBELISK_DOCKER_LEAP: $OBELISK_DOCKER_LEAP
       OBELISK_DOCKER_ZED: $OBELISK_DOCKER_ZED
+      OBELISK_DOCKER_FR3: $OBELISK_DOCKER_FR3
       OBELISK_DOCKER_PIXI: $OBELISK_DOCKER_PIXI
       OBELISK_DOCKER_GROUP_LEAP: $OBELISK_DOCKER_GROUP_LEAP
       OBELISK_DOCKER_GROUP_ZED: $OBELISK_DOCKER_GROUP_ZED
+      OBELISK_DOCKER_GROUP_FR3: $OBELISK_DOCKER_GROUP_FR3
+      FR3_USERNAME: $OBELISK_DOCKER_FR3_USERNAME
+      FR3_PASSWORD: $OBELISK_DOCKER_FR3_PASSWORD
       QT_X11_NO_MITSHM: 1
     security_opt:
       - seccomp=unconfined
     cap_add:
+      - SYS_NICE
       - NET_ADMIN
+    ulimits:
+      rtprio: 99
+      rttime: -1
+      memlock: 8428281856
     volumes:
       - $OBELISK_ROOT:$OBELISK_ROOT
       - /tmp/.X11-unix:/tmp/.X11-unix
diff --git a/docs/source/development.md b/docs/source/development.md
index 87e7f90e..fc84716e 100644
--- a/docs/source/development.md
+++ b/docs/source/development.md
@@ -47,7 +47,7 @@ docker compose -f docker/docker-compose-no-gpu.yml run --build obelisk
 
 Either way, your repository root will be mounted into the container at the exact same file location, your username, user ID, and group ID will be shared with the container, and you can freely run `sudo` without supplying a password for any command.
 
-<!-- 
+<!--
 Once ready for development, you should start the `pixi` shell, which is like activating a `conda` environment (but `pixi` environments are project/directory-specific, not shell-wide). To do this, run in the repo root:
 ```
 # if your machine has a gpu
diff --git a/docs/source/getting_started.md b/docs/source/getting_started.md
index 46ee5baa..9ff4cf61 100644
--- a/docs/source/getting_started.md
+++ b/docs/source/getting_started.md
@@ -83,9 +83,6 @@ is critical as this runs the Obelisk setup script within the docker container. I
 The flag options are:
 ```
 Options:
-  --recommended                Apply recommended system-level changes
-                               (cyclone performance optimizations, pixi, obelisk aliases)
-
   --basic                      Enables basic dependencies necessary for Obelisk locally
   --cyclone-perf               Enables cyclone performance optimizations
   --leap                       Enables LEAP hand dependencies
@@ -131,4 +128,4 @@ obk-launch config_file_path=dummy_cpp.yaml device_name=onboard
 ```
 At this point you should see a Mujoco simulation running.
 
-`obk-launch` is an important alias that calls the obelisk launch file. Assuming your code conforms to Obelisk standards (discussing in a later section), an `obk-launch` command should be all you need to bring the full stack, including simulation/hardware.
\ No newline at end of file
+`obk-launch` is an important alias that calls the obelisk launch file. Assuming your code conforms to Obelisk standards (discussing in a later section), an `obk-launch` command should be all you need to bring the full stack, including simulation/hardware.
diff --git a/obelisk/cpp/obelisk_cpp/CMakeLists.txt b/obelisk/cpp/obelisk_cpp/CMakeLists.txt
index 62a79e10..45e94c24 100644
--- a/obelisk/cpp/obelisk_cpp/CMakeLists.txt
+++ b/obelisk/cpp/obelisk_cpp/CMakeLists.txt
@@ -24,7 +24,7 @@ find_package(visualization_msgs REQUIRED)
 
 # ------- Mujoco ------- #
 include(FetchContent)
-set(MUJOCO_VERSION "3.1.6" CACHE STRING "mujoco version")
+set(MUJOCO_VERSION "3.3.2" CACHE STRING "mujoco version")
 set(COMP_ARCH "x86_64" CACHE STRING "computer architecture")
 
 FetchContent_Declare(
diff --git a/obelisk/cpp/obelisk_cpp/include/obelisk_mujoco_sim_robot.h b/obelisk/cpp/obelisk_cpp/include/obelisk_mujoco_sim_robot.h
index e5e91d74..ae21b49f 100644
--- a/obelisk/cpp/obelisk_cpp/include/obelisk_mujoco_sim_robot.h
+++ b/obelisk/cpp/obelisk_cpp/include/obelisk_mujoco_sim_robot.h
@@ -8,10 +8,10 @@
 #include <GLFW/glfw3.h>
 #include <mujoco/mujoco.h>
 
-#include <visualization_msgs/msg/marker_array.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>
-#include <nav_msgs/msg/odometry.hpp>
 #include <nav_msgs/msg/grid_cells.hpp>
+#include <nav_msgs/msg/odometry.hpp>
+#include <visualization_msgs/msg/marker_array.hpp>
 
 #include "ament_index_cpp/get_package_share_directory.hpp"
 
@@ -69,13 +69,13 @@ namespace obelisk {
             num_steps_per_viz_ = GetNumStepsPerViz(mujoco_config_map);
 
             configuration_complete_ = true;
-            
+
             this->declare_parameter("height_map_geom_group", std::vector<long>{0});
             this->declare_parameter("height_map_grid_size", std::vector<double>{0.});
             this->declare_parameter("height_map_grid_spacing", 0.0);
-            height_map_grid_size_ = this->get_parameter("height_map_grid_size").as_double_array();
+            height_map_grid_size_    = this->get_parameter("height_map_grid_size").as_double_array();
             height_map_grid_spacing_ = this->get_parameter("height_map_grid_spacing").as_double();
-            height_map_geom_group_ = this->get_parameter("height_map_geom_group").as_integer_array();
+            height_map_geom_group_   = this->get_parameter("height_map_geom_group").as_integer_array();
 
             ParseSensorString(mujoco_config_map.at("sensor_settings"));
 
@@ -268,10 +268,10 @@ namespace obelisk {
             // Check if the user specified a custom camera
             this->template declare_parameter<std::string>("camera_name", "");
             const std::string camera_name = this->get_parameter("camera_name").as_string();
-            int cam_id = mj_name2id(model_, mjOBJ_CAMERA, camera_name.c_str());
+            int cam_id                    = mj_name2id(model_, mjOBJ_CAMERA, camera_name.c_str());
             if (cam_id != -1) {
                 RCLCPP_INFO_STREAM(this->get_logger(), "camera name: " << camera_name);
-                cam.type = mjCAMERA_FIXED;
+                cam.type       = mjCAMERA_FIXED;
                 cam.fixedcamid = cam_id;
             }
 
@@ -587,12 +587,12 @@ namespace obelisk {
                         std::make_shared<internal::ObeliskPublisher<nav_msgs::msg::Odometry>>(pub);
 
                     // Add the timer to the list
-                    this->timers_[sensor_key] = this->create_wall_timer(
-                        std::chrono::milliseconds(static_cast<uint>(1e3 * dt)),
-                        CreateTimerCallback<nav_msgs::msg::Odometry>(
-                            sensor_names, mj_sensor_types,
-                            this->template GetPublisher<nav_msgs::msg::Odometry>(sensor_key)),
-                        callback_group_);
+                    this->timers_[sensor_key] =
+                        this->create_wall_timer(std::chrono::milliseconds(static_cast<uint>(1e3 * dt)),
+                                                CreateTimerCallback<nav_msgs::msg::Odometry>(
+                                                    sensor_names, mj_sensor_types,
+                                                    this->template GetPublisher<nav_msgs::msg::Odometry>(sensor_key)),
+                                                callback_group_);
                 } else if (sensor_type == "GridCells") {
                     // Make a publisher and add it to the list
                     auto pub = ObeliskNode::create_publisher<nav_msgs::msg::GridCells>(topic, depth);
@@ -600,12 +600,12 @@ namespace obelisk {
                         std::make_shared<internal::ObeliskPublisher<nav_msgs::msg::GridCells>>(pub);
 
                     // Add the timer to the list
-                    this->timers_[sensor_key] = this->create_wall_timer(
-                        std::chrono::milliseconds(static_cast<uint>(1e3 * dt)),
-                        CreateTimerCallback<nav_msgs::msg::GridCells>(
-                            sensor_names, mj_sensor_types,
-                            this->template GetPublisher<nav_msgs::msg::GridCells>(sensor_key)),
-                        callback_group_);
+                    this->timers_[sensor_key] =
+                        this->create_wall_timer(std::chrono::milliseconds(static_cast<uint>(1e3 * dt)),
+                                                CreateTimerCallback<nav_msgs::msg::GridCells>(
+                                                    sensor_names, mj_sensor_types,
+                                                    this->template GetPublisher<nav_msgs::msg::GridCells>(sensor_key)),
+                                                callback_group_);
                 } else {
                     throw std::runtime_error("Sensor type not supported!");
                 }
@@ -1033,7 +1033,7 @@ namespace obelisk {
                                 msg.pose.orientation.x = this->data_->sensordata[sensor_addr + 1];
                                 msg.pose.orientation.y = this->data_->sensordata[sensor_addr + 2];
                                 msg.pose.orientation.z = this->data_->sensordata[sensor_addr + 3];
-                                has_framequat     = true;
+                                has_framequat          = true;
                             } else {
                                 RCLCPP_ERROR_STREAM(this->get_logger(),
                                                     "There are two framequats associated with this FramePose! Ignoring "
@@ -1064,20 +1064,22 @@ namespace obelisk {
                     //  - Framequat
                     //  - velocimeter
                     //  - gyro
-                    // NOTE: For now the velocities are in the local frame, we should add an option to make this sensor with the global ones
+                    // NOTE: For now the velocities are in the local frame, we should add an option to make this sensor
+                    // with the global ones
 
                     nav_msgs::msg::Odometry msg;
 
-                    bool has_framepos  = false;
-                    bool has_framequat = false;
+                    bool has_framepos    = false;
+                    bool has_framequat   = false;
                     bool has_velocimeter = false;
-                    bool has_gyro = false;
+                    bool has_gyro        = false;
 
                     std::lock_guard<std::mutex> lock(sensor_data_mut_);
                     for (size_t i = 0; i < sensor_names.size(); i++) {
                         int sensor_id = mj_name2id(this->model_, mjOBJ_SENSOR, sensor_names.at(i).c_str());
                         if (sensor_id == -1) {
-                            throw std::runtime_error("Sensor not found in Mujoco! Make sure your XML has the sensor: " + sensor_names.at(i));
+                            throw std::runtime_error("Sensor not found in Mujoco! Make sure your XML has the sensor: " +
+                                                     sensor_names.at(i));
                         }
 
                         // *** Note *** We only use the frame name and relative frame for the framepos. Be sure that
@@ -1128,7 +1130,7 @@ namespace obelisk {
                                 msg.pose.pose.orientation.x = this->data_->sensordata[sensor_addr + 1];
                                 msg.pose.pose.orientation.y = this->data_->sensordata[sensor_addr + 2];
                                 msg.pose.pose.orientation.z = this->data_->sensordata[sensor_addr + 3];
-                                has_framequat     = true;
+                                has_framequat               = true;
                             } else {
                                 RCLCPP_ERROR_STREAM(this->get_logger(),
                                                     "There are two framequats associated with this FramePose! Ignoring "
@@ -1175,21 +1177,22 @@ namespace obelisk {
 
                     nav_msgs::msg::GridCells msg;
 
-                    bool has_framepos  = false;
-                    
+                    bool has_framepos = false;
+
                     // Verify that the proper parameters have been passed
                     if (this->height_map_grid_size_.size() != 2) {
-                        throw std::runtime_error("Attempted to use a scan dots sensor without providing a valid grid size!");
+                        throw std::runtime_error(
+                            "Attempted to use a scan dots sensor without providing a valid grid size!");
                     }
                     int x_rays = this->height_map_grid_size_[0] / this->height_map_grid_spacing_ + 1;
                     int y_rays = this->height_map_grid_size_[1] / this->height_map_grid_spacing_ + 1;
                     msg.cells.resize(x_rays * y_rays);
 
                     if (this->height_map_grid_spacing_ == 0) {
-                        throw std::runtime_error("Attempted to use a scan dots sensor without providing a valid grid spacing!");
+                        throw std::runtime_error(
+                            "Attempted to use a scan dots sensor without providing a valid grid spacing!");
                     }
 
-
                     std::array<int, 2> x_y_num_rays = {x_rays, y_rays};
 
                     msg.cell_width = this->height_map_grid_spacing_;
@@ -1198,7 +1201,8 @@ namespace obelisk {
                     for (size_t i = 0; i < sensor_names.size(); i++) {
                         int sensor_id = mj_name2id(this->model_, mjOBJ_SENSOR, sensor_names.at(i).c_str());
                         if (sensor_id == -1) {
-                            throw std::runtime_error("Sensor not found in Mujoco! Make sure your XML has the sensor: " + sensor_names.at(i));
+                            throw std::runtime_error("Sensor not found in Mujoco! Make sure your XML has the sensor: " +
+                                                     sensor_names.at(i));
                         }
                         // Get the sensor id
                         int sensor_addr = this->model_->sensor_adr[sensor_id];
@@ -1206,47 +1210,46 @@ namespace obelisk {
                         if (mj_sensor_types.at(i) == "framepos") {
                             if (!has_framepos) {
                                 // Starting ray origin position (top-left corner of scan)
-                                std::array<double, 3> sensor_pos = {this->data_->sensordata[sensor_addr],
-                                    this->data_->sensordata[sensor_addr + 1],
-                                    this->data_->sensordata[sensor_addr + 2] + 10.0 };  // shift upward
-
-                                int site_id = model_->sensor_objid[sensor_id];
-                                std::array<double, 3> site_pos_global = {this->data_->site_xpos[3*site_id],
-                                    this->data_->site_xpos[3*site_id + 1],
-                                    this->data_->site_xpos[3*site_id + 2],
+                                std::array<double, 3> sensor_pos = {
+                                    this->data_->sensordata[sensor_addr], this->data_->sensordata[sensor_addr + 1],
+                                    this->data_->sensordata[sensor_addr + 2] + 10.0}; // shift upward
+
+                                int site_id                           = model_->sensor_objid[sensor_id];
+                                std::array<double, 3> site_pos_global = {
+                                    this->data_->site_xpos[3 * site_id],
+                                    this->data_->site_xpos[3 * site_id + 1],
+                                    this->data_->site_xpos[3 * site_id + 2],
                                 };
 
                                 sensor_pos[0] += site_pos_global[0];
                                 sensor_pos[1] += site_pos_global[1];
 
                                 // Get the yaw from the quat
-                                double w = this->data_->qpos[3], x = this->data_->qpos[4], y = this->data_->qpos[5], z = this->data_->qpos[6];
+                                double w = this->data_->qpos[3], x = this->data_->qpos[4], y = this->data_->qpos[5],
+                                       z = this->data_->qpos[6];
 
                                 // Yaw (Z-axis rotation)
                                 double siny_cosp = 2.0 * (w * z + x * y);
                                 double cosy_cosp = 1.0 - 2.0 * (y * y + z * z);
-                                double base_yaw = std::atan2(siny_cosp, cosy_cosp);
+                                double base_yaw  = std::atan2(siny_cosp, cosy_cosp);
 
                                 // Make the rotation matrix
-                                double cos_yaw = std::cos(base_yaw);
-                                double sin_yaw = std::sin(base_yaw);
-                                double R_2d[2][2] = {
-                                    { cos_yaw, -sin_yaw },
-                                    { sin_yaw,  cos_yaw }
-                                };
+                                double cos_yaw    = std::cos(base_yaw);
+                                double sin_yaw    = std::sin(base_yaw);
+                                double R_2d[2][2] = {{cos_yaw, -sin_yaw}, {sin_yaw, cos_yaw}};
 
                                 // Adjust X and Y to go to bottom-left corner
-                                std::array<double, 2> offset = { -this->height_map_grid_size_[0] / 2.0, -this->height_map_grid_size_[1] / 2.0 };
+                                std::array<double, 2> offset = {-this->height_map_grid_size_[0] / 2.0,
+                                                                -this->height_map_grid_size_[1] / 2.0};
                                 // Rotate offset: R_2d x offset
-                                std::array<double, 2> rotated_offset = {
-                                    R_2d[0][0] * offset[0] + R_2d[0][1] * offset[1],
-                                    R_2d[1][0] * offset[0] + R_2d[1][1] * offset[1]
-                                };
+                                std::array<double, 2> rotated_offset = {R_2d[0][0] * offset[0] + R_2d[0][1] * offset[1],
+                                                                        R_2d[1][0] * offset[0] +
+                                                                            R_2d[1][1] * offset[1]};
                                 sensor_pos[0] += rotated_offset[0];
                                 sensor_pos[1] += rotated_offset[1];
 
                                 // Ray direction: straight down
-                                const std::array<double, 3> direction = { 0.0, 0.0, -1.0 };
+                                const std::array<double, 3> direction = {0.0, 0.0, -1.0};
 
                                 // Geom groups active for ray collisions
                                 mjtByte geom_group[mjNGROUP] = {0, 0, 0, 0, 0, 0};
@@ -1255,40 +1258,37 @@ namespace obelisk {
                                 }
 
                                 // Temp storage for geom id output
-                                int geom_id[1] = { -1 };
+                                int geom_id[1] = {-1};
 
                                 int ii = 0;
                                 for (int x = 0; x < x_y_num_rays[0]; ++x) {
                                     for (int y = 0; y < x_y_num_rays[1]; ++y) {
                                         // Compute origin for this ray
-                                        offset = { this->height_map_grid_spacing_ * x, this->height_map_grid_spacing_ * y};
+                                        offset = {this->height_map_grid_spacing_ * x,
+                                                  this->height_map_grid_spacing_ * y};
 
                                         // Rotate offset: R_2d x offset
-                                        rotated_offset = {
-                                            R_2d[0][0] * offset[0] + R_2d[0][1] * offset[1],
-                                            R_2d[1][0] * offset[0] + R_2d[1][1] * offset[1]
-                                        };
+                                        rotated_offset = {R_2d[0][0] * offset[0] + R_2d[0][1] * offset[1],
+                                                          R_2d[1][0] * offset[0] + R_2d[1][1] * offset[1]};
 
                                         std::array<double, 3> ray_origin = {
-                                            sensor_pos[0] + rotated_offset[0],
-                                            sensor_pos[1] + rotated_offset[1],
-                                            sensor_pos[2]               // z already offset upward
+                                            sensor_pos[0] + rotated_offset[0], sensor_pos[1] + rotated_offset[1],
+                                            sensor_pos[2] // z already offset upward
                                         };
 
                                         // Perform ray cast
-                                        double dist = mj_ray(this->model_, this->data_, ray_origin.data(), direction.data(), geom_group, 1, -1, geom_id);
+                                        double dist = mj_ray(this->model_, this->data_, ray_origin.data(),
+                                                             direction.data(), geom_group, 1, -1, geom_id);
 
                                         // Compute hit point
-                                        std::array<double, 3> hit_point = {
-                                            ray_origin[0] + direction[0] * dist,
-                                            ray_origin[1] + direction[1] * dist,
-                                            ray_origin[2] + direction[2] * dist
-                                        };
+                                        std::array<double, 3> hit_point = {ray_origin[0] + direction[0] * dist,
+                                                                           ray_origin[1] + direction[1] * dist,
+                                                                           ray_origin[2] + direction[2] * dist};
                                         geometry_msgs::msg::Point ros_pt;
                                         // Making it relative to the base link
-                                        ros_pt.x = hit_point[0] - site_pos_global[0];
-                                        ros_pt.y = hit_point[1] - site_pos_global[1];
-                                        ros_pt.z = hit_point[2];
+                                        ros_pt.x      = hit_point[0] - site_pos_global[0];
+                                        ros_pt.y      = hit_point[1] - site_pos_global[1];
+                                        ros_pt.z      = hit_point[2];
                                         msg.cells[ii] = ros_pt;
                                         ii++;
                                     }
diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/CMakeLists.txt b/obelisk/cpp/zoo/hardware/robots/unitree/CMakeLists.txt
index 204aed9d..a7d0c21a 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/CMakeLists.txt
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/CMakeLists.txt
@@ -10,7 +10,7 @@ FetchContent_Declare(
     unitree_sdk
     GIT_REPOSITORY https://github.com/unitreerobotics/unitree_sdk2.git
     GIT_TAG 3a4680ae9b00df59e60f7e63cfb0fcc432a9d08d) # main # TODO: Fix the issue here
- 
+
 set(UNITREE_SDK_BUILD_EXAMPLES OFF CACHE BOOL "Disable building examples")
 set(BUILD_EXAMPLES OFF CACHE BOOL "Disable building examples")
 
@@ -32,4 +32,4 @@ ament_target_dependencies(UnitreeInterface INTERFACE
 
 # TODO:
 # - Run without Pixi
-# - Install Eigen and Ping
\ No newline at end of file
+# - Install Eigen and Ping
diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/g1_interface.h b/obelisk/cpp/zoo/hardware/robots/unitree/g1_interface.h
index 16601dab..6f2313c3 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/g1_interface.h
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/g1_interface.h
@@ -9,17 +9,16 @@
 #include <unitree/idl/hg/LowCmd_.hpp>
 #include <unitree/idl/hg/LowState_.hpp>
 #include <unitree/idl/hg/MainBoardState_.hpp>
-#include <unitree/idl/hg/IMUState_.hpp>
-
 
 namespace obelisk {
 
     using namespace unitree_hg::msg::dds_;
-    
+
     class G1Interface : public ObeliskUnitreeInterface {
-    public:
+      public:
         G1Interface(const std::string& node_name)
-            : ObeliskUnitreeInterface(node_name), use_hands_(false), fixed_waist_(true), mode_pr_(AnkleMode::PR), mode_machine_(0) {
+            : ObeliskUnitreeInterface(node_name), use_hands_(false), fixed_waist_(true), mode_pr_(AnkleMode::PR),
+              mode_machine_(0) {
 
             this->declare_parameter<bool>("use_hands", false);
             use_hands_ = this->get_parameter("use_hands").as_bool();
@@ -31,7 +30,7 @@ namespace obelisk {
             num_motors_ = G1_27DOF;
             if (use_hands_) {
                 num_motors_ += G1_HAND_MOTOR_NUM;
-            } 
+            }
 
             if (!fixed_waist_) {
                 num_motors_ += G1_EXTRA_WAIST;
@@ -53,12 +52,9 @@ namespace obelisk {
             start_user_pose_.resize(G1_27DOF + G1_EXTRA_WAIST);
             user_pose_.resize(G1_27DOF + G1_EXTRA_WAIST);
 
-            this->declare_parameter<std::vector<double>>("user_pose", user_pose_);
-            user_pose_ = this->get_parameter("user_pose").as_double_array();
-            
-            CMD_TOPIC_ = "rt/lowcmd";
-            STATE_TOPIC_ = "rt/lowstate";
-            ODOM_TOPIC_ = "rt/odommodestate";
+            CMD_TOPIC_              = "rt/lowcmd";
+            STATE_TOPIC_            = "rt/lowstate";
+            ODOM_TOPIC_             = "rt/odommodestate";
             MAIN_BOARD_STATE_TOPIC_ = "rt/lf/mainboardstate";
 
             // TODO: Add support for rt/lowstate_doubleimu
@@ -67,7 +63,9 @@ namespace obelisk {
 
             // TODO: Deal with hands
 
-            RCLCPP_INFO_STREAM(this->get_logger(), "G1 configured as: \n" << "\tHands: " << use_hands_ << "\n\tFixed waist: " << fixed_waist_);
+            RCLCPP_INFO_STREAM(this->get_logger(), "G1 configured as: \n"
+                                                       << "\tHands: " << use_hands_
+                                                       << "\n\tFixed waist: " << fixed_waist_);
 
             VerifyParameters();
             CreateUnitreePublishers();
@@ -75,7 +73,8 @@ namespace obelisk {
             loco_client_.SetTimeout(10.0f);
             loco_client_.Init();
         }
-    protected:
+
+      protected:
         void CreateUnitreePublishers() override {
             // create publisher
             lowcmd_publisher_.reset(new ChannelPublisher<LowCmd_>(CMD_TOPIC_));
@@ -88,16 +87,20 @@ namespace obelisk {
             // create subscriber
             // Need to create after the publishers have been activated
             lowstate_subscriber_.reset(new ChannelSubscriber<LowState_>(STATE_TOPIC_));
-            lowstate_subscriber_->InitChannel(std::bind(&G1Interface::LowStateHandler, this, std::placeholders::_1), 10);
+            lowstate_subscriber_->InitChannel(std::bind(&G1Interface::LowStateHandler, this, std::placeholders::_1),
+                                              10);
 
             // odom_subscriber_.reset(new ChannelSubscriber<IMUState_>(HG_ODOM_TOPIC));
-            // odom_subscriber_->InitChannel(std::bind(&ObeliskUnitreeInterface::OdomHandler, this, std::placeholders::_1), 10);
+            // odom_subscriber_->InitChannel(std::bind(&ObeliskUnitreeInterface::OdomHandler, this,
+            // std::placeholders::_1), 10);
 
             main_board_subscriber_.reset(new ChannelSubscriber<MainBoardState_>(MAIN_BOARD_STATE_TOPIC_));
-            main_board_subscriber_->InitChannel(std::bind(&G1Interface::MainboardHandler, this, std::placeholders::_1), 10);
+            main_board_subscriber_->InitChannel(std::bind(&G1Interface::MainboardHandler, this, std::placeholders::_1),
+                                                10);
         }
 
-        // TODO: Adjust this function so that we can go to a user pose even when no low level control functions are being sent
+        // TODO: Adjust this function so that we can go to a user pose even when no low level control functions are
+        // being sent
         void ApplyControl(const unitree_control_msg& msg) override {
             // Only execute of in Low Level Control or Home modes
             if (exec_fsm_state_ != ExecFSMState::LOW_LEVEL_CTRL && exec_fsm_state_ != ExecFSMState::USER_POSE) {
@@ -107,13 +110,15 @@ namespace obelisk {
 
             // ---------- Create Packet ---------- //
             LowCmd_ dds_low_command;
-            dds_low_command.mode_pr() = static_cast<uint8_t>(mode_pr_);
+            dds_low_command.mode_pr()      = static_cast<uint8_t>(mode_pr_);
             dds_low_command.mode_machine() = mode_machine_;
 
             // ------------------------ Execution FSM: Low Level Control ------------------------ //
             if (exec_fsm_state_ == ExecFSMState::LOW_LEVEL_CTRL) {
                 // ---------- Verify message ---------- //
-                if (msg.joint_names.size() != msg.pos_target.size() || msg.joint_names.size() != msg.vel_target.size() || msg.joint_names.size() != msg.feed_forward.size()) {
+                if (msg.joint_names.size() != msg.pos_target.size() ||
+                    msg.joint_names.size() != msg.vel_target.size() ||
+                    msg.joint_names.size() != msg.feed_forward.size()) {
                     RCLCPP_ERROR_STREAM(this->get_logger(), "joint name size: " << msg.joint_names.size());
                     RCLCPP_ERROR_STREAM(this->get_logger(), "position size: " << msg.pos_target.size());
                     RCLCPP_ERROR_STREAM(this->get_logger(), "velocity size: " << msg.vel_target.size());
@@ -128,14 +133,16 @@ namespace obelisk {
                 // Check that every joint name is in the list and that they are all there
                 std::vector<bool> joint_used(num_motors_, false);
                 if (msg.joint_names.size() != joint_names_.size()) {
-                    throw std::runtime_error("[UnitreeRobotInterface] Control message joint name size does not match robot joint name size!");
+                    throw std::runtime_error("[UnitreeRobotInterface] Control message joint name size does not match "
+                                             "robot joint name size!");
                 }
 
                 for (size_t j = 0; j < num_motors_; j++) {
                     for (size_t i = 0; i < num_motors_; i++) {
                         if (msg.joint_names[j] == joint_names_[i]) {
                             if (joint_used[i]) {
-                                throw std::runtime_error("[UnitreeRobotInterface] Control message uses the same joint name twice!");
+                                throw std::runtime_error(
+                                    "[UnitreeRobotInterface] Control message uses the same joint name twice!");
                             }
 
                             joint_used[i] = true;
@@ -152,44 +159,47 @@ namespace obelisk {
                 bool use_default_gains = true;
                 if (msg.joint_names.size() == msg.kp.size()) {
                     if (msg.kp.size() != num_motors_) {
-                        throw std::runtime_error("[UnitreeRobotInterface] Control message gains are not of the right size!");
+                        throw std::runtime_error(
+                            "[UnitreeRobotInterface] Control message gains are not of the right size!");
                     }
                     use_default_gains = false;
                 }
 
-                for (size_t j = 0; j < G1_27DOF; j++) {     // Only go through the non-hand motors
-                    int i = G1_JOINT_MAPPINGS.at(msg.joint_names[j]);
-                    dds_low_command.motor_cmd().at(i).mode() = 1;  // 1:Enable, 0:Disable
-                    dds_low_command.motor_cmd().at(i).tau() = msg.feed_forward[j];
-                    dds_low_command.motor_cmd().at(i).q() = msg.pos_target[j];
-                    dds_low_command.motor_cmd().at(i).dq() = msg.vel_target[j];
-                    dds_low_command.motor_cmd().at(i).kp() = use_default_gains ? kp_[i] : msg.kp[j];
-                    dds_low_command.motor_cmd().at(i).kd() = use_default_gains ? kd_[i] : msg.kd[j];
+                for (size_t j = 0; j < G1_27DOF; j++) {           // Only go through the non-hand motors
+                    int i                                    = G1_JOINT_MAPPINGS.at(msg.joint_names[j]);
+                    dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable
+                    dds_low_command.motor_cmd().at(i).tau()  = msg.feed_forward[j];
+                    dds_low_command.motor_cmd().at(i).q()    = msg.pos_target[j];
+                    dds_low_command.motor_cmd().at(i).dq()   = msg.vel_target[j];
+                    dds_low_command.motor_cmd().at(i).kp()   = use_default_gains ? kp_[i] : msg.kp[j];
+                    dds_low_command.motor_cmd().at(i).kd()   = use_default_gains ? kd_[i] : msg.kd[j];
                 }
                 if (fixed_waist_) {
                     for (size_t j = 0; j < G1_EXTRA_WAIST; j++) {
-                        int i = G1_JOINT_MAPPINGS.at(G1_EXTRA_WAIST_JOINT_NAMES[j]);
-                        dds_low_command.motor_cmd().at(i).mode() = 0;  // 1:Enable, 0:Disable
-                        dds_low_command.motor_cmd().at(i).tau() = 0;
-                        dds_low_command.motor_cmd().at(i).q() = 0;
-                        dds_low_command.motor_cmd().at(i).dq() = 0;
-                        dds_low_command.motor_cmd().at(i).kp() = 0;
-                        dds_low_command.motor_cmd().at(i).kd() = 0;
+                        int i                                    = G1_JOINT_MAPPINGS.at(G1_EXTRA_WAIST_JOINT_NAMES[j]);
+                        dds_low_command.motor_cmd().at(i).mode() = 0; // 1:Enable, 0:Disable
+                        dds_low_command.motor_cmd().at(i).tau()  = 0;
+                        dds_low_command.motor_cmd().at(i).q()    = 0;
+                        dds_low_command.motor_cmd().at(i).dq()   = 0;
+                        dds_low_command.motor_cmd().at(i).kp()   = 0;
+                        dds_low_command.motor_cmd().at(i).kd()   = 0;
                     }
                 }
-            // ------------------------ Execution FSM: Home ------------------------ //
+                // ------------------------ Execution FSM: Home ------------------------ //
             } else if (exec_fsm_state_ == ExecFSMState::USER_POSE) {
                 // Compute time that robot has been in HOME
                 // float t = std::chrono::duration<double>(
-                    // std::chrono::steady_clock::now() - user_pose_transition_start_time_).count();
-                // Compute proportion of time relative to transition duration 
+                // std::chrono::steady_clock::now() - user_pose_transition_start_time_).count();
+                // Compute proportion of time relative to transition duration
                 // TODO this is not working
-                //float proportion = std::min(t / user_pose_transition_duration_, 1.0f);
+                // float proportion = std::min(t / user_pose_transition_duration_, 1.0f);
                 // Write message
-                for (size_t i = 0; i < G1_27DOF + G1_EXTRA_WAIST; i++) {    // Sending the extra waist commands while in fixed waist should have no effect
-                    dds_low_command.motor_cmd().at(i).mode() = 1;  // 1:Enable, 0:Disable
-                    dds_low_command.motor_cmd().at(i).tau() = 0.;
-                    dds_low_command.motor_cmd().at(i).q() = user_pose_[i];//(1 - proportion) * start_user_pose_[i] + proportion * user_pose_[i];
+                for (size_t i = 0; i < G1_27DOF + G1_EXTRA_WAIST;
+                     i++) { // Sending the extra waist commands while in fixed waist should have no effect
+                    dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable
+                    dds_low_command.motor_cmd().at(i).tau()  = 0.;
+                    dds_low_command.motor_cmd().at(i).q() =
+                        user_pose_[i]; //(1 - proportion) * start_user_pose_[i] + proportion * user_pose_[i];
                     dds_low_command.motor_cmd().at(i).dq() = 0.;
                     dds_low_command.motor_cmd().at(i).kp() = kp_[i];
                     dds_low_command.motor_cmd().at(i).kd() = kd_[i];
@@ -199,16 +209,16 @@ namespace obelisk {
             }
 
             // Write command to the robot
-            dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
+            dds_low_command.crc() = Crc32Core((uint32_t*)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
             lowcmd_publisher_->Write(dds_low_command);
-            
+
             // TODO: Deal with the hands
         }
 
-        void LowStateHandler(const void *message) {
-            LowState_ low_state = *(const LowState_ *)message;
+        void LowStateHandler(const void* message) {
+            LowState_ low_state = *(const LowState_*)message;
             // TODO: Right now we always report the full state (minus the hands for now) regardless of the joint mode
-            if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) {
+            if (low_state.crc() != Crc32Core((uint32_t*)&low_state, (sizeof(LowState_) >> 2) - 1)) {
                 RCLCPP_ERROR_STREAM(this->get_logger(), "[UnitreeRobotInterface] CRC Error");
                 return;
             }
@@ -222,18 +232,19 @@ namespace obelisk {
 
             for (size_t i = 0; i < G1_27DOF + G1_EXTRA_WAIST; ++i) {
                 joint_state.joint_names.at(i) = G1_FULL_JOINT_NAMES[i];
-                joint_state.joint_pos.at(i) = low_state.motor_state()[i].q();
-                joint_state.joint_vel.at(i) = low_state.motor_state()[i].dq();
-                // RCLCPP_INFO_STREAM(this->get_logger(), "Joint: " << joint_state.joint_names.at(i) << " motor state: " << low_state.motor_state()[i].motorstate());
-                // if (low_state.motor_state()[i].motorstate() && i <= RightAnkleRoll) // TODO: What is this?
-                // std::cout << "[ERROR] motor " << i << " with code " << low_state.motor_state()[i].motorstate() << "\n";
+                joint_state.joint_pos.at(i)   = low_state.motor_state()[i].q();
+                joint_state.joint_vel.at(i)   = low_state.motor_state()[i].dq();
+                // RCLCPP_INFO_STREAM(this->get_logger(), "Joint: " << joint_state.joint_names.at(i) << " motor state: "
+                // << low_state.motor_state()[i].motorstate()); if (low_state.motor_state()[i].motorstate() && i <=
+                // RightAnkleRoll) // TODO: What is this? std::cout << "[ERROR] motor " << i << " with code " <<
+                // low_state.motor_state()[i].motorstate() << "\n";
             }
 
             this->GetPublisher<obelisk_sensor_msgs::msg::ObkJointEncoders>(pub_joint_state_key_)->publish(joint_state);
 
             // IMU
             obelisk_sensor_msgs::msg::ObkImu imu_state;
-            imu_state.header.stamp = this->now();
+            imu_state.header.stamp       = this->now();
             imu_state.angular_velocity.x = low_state.imu_state().gyroscope()[0];
             imu_state.angular_velocity.y = low_state.imu_state().gyroscope()[1];
             imu_state.angular_velocity.z = low_state.imu_state().gyroscope()[2];
@@ -244,29 +255,38 @@ namespace obelisk {
             imu_state.orientation.z = low_state.imu_state().quaternion()[3];
 
             imu_state.linear_acceleration.x = low_state.imu_state().accelerometer()[0];
-            imu_state.linear_acceleration.y= low_state.imu_state().accelerometer()[1];
+            imu_state.linear_acceleration.y = low_state.imu_state().accelerometer()[1];
             imu_state.linear_acceleration.z = low_state.imu_state().accelerometer()[2];
 
             this->GetPublisher<obelisk_sensor_msgs::msg::ObkImu>(pub_imu_state_key_)->publish(imu_state);
 
             // update mode machine
             if (mode_machine_ != low_state.mode_machine()) {
-                if (mode_machine_ == 0) std::cout << "G1 type: " << unsigned(low_state.mode_machine()) << std::endl;
+                if (mode_machine_ == 0)
+                    std::cout << "G1 type: " << unsigned(low_state.mode_machine()) << std::endl;
                 mode_machine_ = low_state.mode_machine();
             }
         }
 
-        void MainboardHandler(const void *message) {
-            MainBoardState_ board_state = *(const MainBoardState_ *)message;
+        void MainboardHandler(const void* message) {
+            MainBoardState_ board_state = *(const MainBoardState_*)message;
 
             // if (board_state.crc() != Crc32Core((uint32_t *)&board_state, (sizeof(MainBoardState_) >> 2) - 1)) {
             //     RCLCPP_ERROR_STREAM(this->get_logger(), "[UnitreeRobotInterface] MainBoardState CRC Error");
             //     return;
             // }
 
-            RCLCPP_INFO_STREAM_ONCE(this->get_logger(), "Main board state: " << board_state.state()[0] << ", " << board_state.state()[1] << ", " << board_state.state()[2] << ", " << board_state.state()[3] << ", " << board_state.state()[4] << ", " << board_state.state()[5] );
-
-            RCLCPP_INFO_STREAM_ONCE(this->get_logger(), "Main board value: " << board_state.value()[0] << ", " << board_state.value()[1] << ", " << board_state.value()[2] << ", " << board_state.value()[3] << ", " << board_state.value()[4] << ", " << board_state.value()[5] );
+            RCLCPP_INFO_STREAM_ONCE(this->get_logger(),
+                                    "Main board state: " << board_state.state()[0] << ", " << board_state.state()[1]
+                                                         << ", " << board_state.state()[2] << ", "
+                                                         << board_state.state()[3] << ", " << board_state.state()[4]
+                                                         << ", " << board_state.state()[5]);
+
+            RCLCPP_INFO_STREAM_ONCE(this->get_logger(),
+                                    "Main board value: " << board_state.value()[0] << ", " << board_state.value()[1]
+                                                         << ", " << board_state.value()[2] << ", "
+                                                         << board_state.value()[3] << ", " << board_state.value()[4]
+                                                         << ", " << board_state.value()[5]);
         }
 
         void ApplyHighLevelControl(const unitree_high_level_ctrl_msg& msg) override {
@@ -282,18 +302,16 @@ namespace obelisk {
             return false;
         }
 
-        void TransitionToUserPose() override{
+        void TransitionToUserPose() override {
             // First, save current position
             {
                 std::lock_guard<std::mutex> lock(joint_pos_mutex_);
                 joint_pos_ = start_user_pose_;
             }
-            user_pose_transition_start_time_ = std::chrono::steady_clock::now();  // Save start time
+            user_pose_transition_start_time_ = std::chrono::steady_clock::now(); // Save start time
         }
 
-        void TransitionToUnitreeHome() override{
-            loco_client_.BalanceStand();
-        }
+        void TransitionToUnitreeHome() override { loco_client_.BalanceStand(); }
 
         // void OdomHandler(const void *message) {
         //     RCLCPP_INFO_STREAM(this->get_logger(), "IN ODOM");
@@ -333,10 +351,9 @@ namespace obelisk {
         ChannelSubscriberPtr<MainBoardState_> main_board_subscriber_;
         // ChannelSubscriberPtr<IMUState_> odom_subscriber_;
 
-
         enum class AnkleMode {
-            PR = 0,  // Series Control for Ptich/Roll Joints
-            AB = 1   // Parallel Control for A/B Joints
+            PR = 0, // Series Control for Ptich/Roll Joints
+            AB = 1  // Parallel Control for A/B Joints
         };
 
         AnkleMode mode_pr_;
@@ -345,133 +362,76 @@ namespace obelisk {
         // Locomotion Client
         g1::LocoClient loco_client_;
 
-    private:
+      private:
         // ---------- Robot Specific ---------- //
         // G1
-        static constexpr int G1_27DOF = 27;
-        static constexpr int G1_EXTRA_WAIST = 2;
+        static constexpr int G1_27DOF          = 27;
+        static constexpr int G1_EXTRA_WAIST    = 2;
         static constexpr int G1_HAND_MOTOR_NUM = 14;
 
-        float user_pose_transition_duration_;                     // Duration of the transition to home position
+        float user_pose_transition_duration_; // Duration of the transition to home position
 
-        std::vector<double> joint_pos_; // Local copy of joint positions
-        std::vector<double> joint_vel_; // Local copy of joint positions
+        std::vector<double> joint_pos_;       // Local copy of joint positions
+        std::vector<double> joint_vel_;       // Local copy of joint positions
         std::vector<double> start_user_pose_; // For transitioning to home position
-        std::vector<double> user_pose_; // home position
-        // float joint_pos_[G1_MOTOR_NUM + G1_HAND_MOTOR_NUM];  
+        std::vector<double> user_pose_;       // home position
+        // float joint_pos_[G1_MOTOR_NUM + G1_HAND_MOTOR_NUM];
         // float joint_vel_[G1_MOTOR_NUM + G1_HAND_MOTOR_NUM];  // Local copy of joint velocities
         // float start_user_pose_[G1_MOTOR_NUM + G1_HAND_MOTOR_NUM];     // For transitioning to home position
         // float user_pose_[G1_MOTOR_NUM + G1_HAND_MOTOR_NUM];           // home position
 
-        std::mutex joint_pos_mutex_;              // mutex for copying joint positions and velocities
-        std::chrono::steady_clock::time_point user_pose_transition_start_time_;             // Timing variable for transition to stand
+        std::mutex joint_pos_mutex_;          // mutex for copying joint positions and velocities
+        std::chrono::steady_clock::time_point
+            user_pose_transition_start_time_; // Timing variable for transition to stand
         std::vector<double> default_user_pose_ = {
-            0.3, 0, 0, 0.52, -0.23, 0,   // Left Leg
-            -0.3, 0, 0, 0.52, -0.23, 0,  // Right Leg
-            0, 0, 0.03,                  // Waist
-            0, 0, 0, 0.2, 0, 0, 0,       // Left arm
-            0, 0, 0, 0.2, 0, 0, 0,       // Right arm
-            0, 0, 0, 0, 0, 0, 0,         // Left hand
-            0, 0, 0, 0, 0, 0, 0          // Right hand
-        };   // Default home position
-            
+            0.3,  0, 0,    0.52, -0.23, 0,    // Left Leg
+            -0.3, 0, 0,    0.52, -0.23, 0,    // Right Leg
+            0,    0, 0.03,                    // Waist
+            0,    0, 0,    0.2,  0,     0, 0, // Left arm
+            0,    0, 0,    0.2,  0,     0, 0, // Right arm
+            0,    0, 0,    0,    0,     0, 0, // Left hand
+            0,    0, 0,    0,    0,     0, 0  // Right hand
+        }; // Default home position
+
         const std::array<std::string, G1_27DOF + G1_EXTRA_WAIST + G1_HAND_MOTOR_NUM> G1_FULL_JOINT_NAMES = {
-            "left_hip_pitch_joint",
-            "left_hip_roll_joint",
-            "left_hip_yaw_joint",
-            "left_knee_joint",
-            "left_ankle_pitch_joint",
-            "left_ankle_roll_joint",
-            "right_hip_pitch_joint",
-            "right_hip_roll_joint",
-            "right_hip_yaw_joint",
-            "right_knee_joint",
-            "right_ankle_pitch_joint",
-            "right_ankle_roll_joint",
-            "waist_yaw_joint",
-            "waist_roll_joint",
-            "waist_pitch_joint",
-            "left_shoulder_pitch_joint",
-            "left_shoulder_roll_joint",
-            "left_shoulder_yaw_joint",
-            "left_elbow_joint",
-            "left_wrist_roll_joint",
-            "left_wrist_pitch_joint",
-            "left_wrist_yaw_joint",
-            "right_shoulder_pitch_joint",
-            "right_shoulder_roll_joint",
-            "right_shoulder_yaw_joint",
-            "right_elbow_joint",
-            "right_wrist_roll_joint",
-            "right_wrist_pitch_joint",
-            "right_wrist_yaw_joint",
-            "left_hand_thumb_0_joint",      // ----- Hand Start ----- //
-            "left_hand_thumb_1_joint",
-            "left_hand_thumb_2_joint",
-            "left_hand_middle_0_joint",
-            "left_hand_middle_1_joint",
-            "left_hand_index_0_joint",
-            "left_hand_index_1_joint",
-            "right_hand_thumb_0_joint",      
-            "right_hand_thumb_1_joint",
-            "right_hand_thumb_2_joint",
-            "right_hand_middle_0_joint",
-            "right_hand_middle_1_joint",
-            "right_hand_index_0_joint",
-            "right_hand_index_1_joint"
-        };
+            "left_hip_pitch_joint",      "left_hip_roll_joint",        "left_hip_yaw_joint",
+            "left_knee_joint",           "left_ankle_pitch_joint",     "left_ankle_roll_joint",
+            "right_hip_pitch_joint",     "right_hip_roll_joint",       "right_hip_yaw_joint",
+            "right_knee_joint",          "right_ankle_pitch_joint",    "right_ankle_roll_joint",
+            "waist_yaw_joint",           "waist_roll_joint",           "waist_pitch_joint",
+            "left_shoulder_pitch_joint", "left_shoulder_roll_joint",   "left_shoulder_yaw_joint",
+            "left_elbow_joint",          "left_wrist_roll_joint",      "left_wrist_pitch_joint",
+            "left_wrist_yaw_joint",      "right_shoulder_pitch_joint", "right_shoulder_roll_joint",
+            "right_shoulder_yaw_joint",  "right_elbow_joint",          "right_wrist_roll_joint",
+            "right_wrist_pitch_joint",   "right_wrist_yaw_joint",
+            "left_hand_thumb_0_joint", // ----- Hand Start ----- //
+            "left_hand_thumb_1_joint",   "left_hand_thumb_2_joint",    "left_hand_middle_0_joint",
+            "left_hand_middle_1_joint",  "left_hand_index_0_joint",    "left_hand_index_1_joint",
+            "right_hand_thumb_0_joint",  "right_hand_thumb_1_joint",   "right_hand_thumb_2_joint",
+            "right_hand_middle_0_joint", "right_hand_middle_1_joint",  "right_hand_index_0_joint",
+            "right_hand_index_1_joint"};
 
         const std::array<std::string, G1_27DOF> G1_27DOF_JOINT_NAMES = {
-            "left_hip_pitch_joint",
-            "left_hip_roll_joint",
-            "left_hip_yaw_joint",
-            "left_knee_joint",
-            "left_ankle_pitch_joint",
-            "left_ankle_roll_joint",
-            "right_hip_pitch_joint",
-            "right_hip_roll_joint",
-            "right_hip_yaw_joint",
-            "right_knee_joint",
-            "right_ankle_pitch_joint",
-            "right_ankle_roll_joint",
-            "waist_yaw_joint",
-            "left_shoulder_pitch_joint",
-            "left_shoulder_roll_joint",
-            "left_shoulder_yaw_joint",
-            "left_elbow_joint",
-            "left_wrist_roll_joint",
-            "left_wrist_pitch_joint",
-            "left_wrist_yaw_joint",
-            "right_shoulder_pitch_joint",
-            "right_shoulder_roll_joint",
-            "right_shoulder_yaw_joint",
-            "right_elbow_joint",
-            "right_wrist_roll_joint",
-            "right_wrist_pitch_joint",
-            "right_wrist_yaw_joint",
+            "left_hip_pitch_joint",      "left_hip_roll_joint",       "left_hip_yaw_joint",
+            "left_knee_joint",           "left_ankle_pitch_joint",    "left_ankle_roll_joint",
+            "right_hip_pitch_joint",     "right_hip_roll_joint",      "right_hip_yaw_joint",
+            "right_knee_joint",          "right_ankle_pitch_joint",   "right_ankle_roll_joint",
+            "waist_yaw_joint",           "left_shoulder_pitch_joint", "left_shoulder_roll_joint",
+            "left_shoulder_yaw_joint",   "left_elbow_joint",          "left_wrist_roll_joint",
+            "left_wrist_pitch_joint",    "left_wrist_yaw_joint",      "right_shoulder_pitch_joint",
+            "right_shoulder_roll_joint", "right_shoulder_yaw_joint",  "right_elbow_joint",
+            "right_wrist_roll_joint",    "right_wrist_pitch_joint",   "right_wrist_yaw_joint",
         };
 
-        const std::array<std::string, G1_EXTRA_WAIST> G1_EXTRA_WAIST_JOINT_NAMES = {
-            "waist_roll_joint",
-            "waist_pitch_joint"
-        };
+        const std::array<std::string, G1_EXTRA_WAIST> G1_EXTRA_WAIST_JOINT_NAMES = {"waist_roll_joint",
+                                                                                    "waist_pitch_joint"};
 
         const std::array<std::string, G1_HAND_MOTOR_NUM> G1_HAND_JOINT_NAMES = {
-            "left_hand_thumb_0_joint",
-            "left_hand_thumb_1_joint",
-            "left_hand_thumb_2_joint",
-            "left_hand_middle_0_joint",
-            "left_hand_middle_1_joint",
-            "left_hand_index_0_joint",
-            "left_hand_index_1_joint",
-            "right_hand_thumb_0_joint",      
-            "right_hand_thumb_1_joint",
-            "right_hand_thumb_2_joint",
-            "right_hand_middle_0_joint",
-            "right_hand_middle_1_joint",
-            "right_hand_index_0_joint",
-            "right_hand_index_1_joint"
-        };
+            "left_hand_thumb_0_joint",  "left_hand_thumb_1_joint",   "left_hand_thumb_2_joint",
+            "left_hand_middle_0_joint", "left_hand_middle_1_joint",  "left_hand_index_0_joint",
+            "left_hand_index_1_joint",  "right_hand_thumb_0_joint",  "right_hand_thumb_1_joint",
+            "right_hand_thumb_2_joint", "right_hand_middle_0_joint", "right_hand_middle_1_joint",
+            "right_hand_index_0_joint", "right_hand_index_1_joint"};
 
         // enum G1JointIndex {
         //     LeftHipPitch = 0,
@@ -511,36 +471,34 @@ namespace obelisk {
         //     RightWristYaw = 28     // NOTE INVALID for g1 23dof
         // };
 
-        const std::map<std::string, int> G1_JOINT_MAPPINGS = {
-            {"left_hip_pitch_joint", 0},
-            {"left_hip_roll_joint", 1},
-            {"left_hip_yaw_joint", 2},
-            {"left_knee_joint", 3},
-            {"left_ankle_pitch_joint", 4},
-            {"left_ankle_roll_joint", 5},
-            {"right_hip_pitch_joint", 6},
-            {"right_hip_roll_joint", 7},
-            {"right_hip_yaw_joint", 8},
-            {"right_knee_joint", 9},
-            {"right_ankle_pitch_joint", 10},
-            {"right_ankle_roll_joint", 11},
-            {"waist_yaw_joint", 12},
-            {"waist_roll_joint", 13},
-            {"waist_pitch_joint", 14},
-            {"left_shoulder_pitch_joint", 15},
-            {"left_shoulder_roll_joint", 16},
-            {"left_shoulder_yaw_joint", 17},
-            {"left_elbow_joint", 18},
-            {"left_wrist_roll_joint", 19},
-            {"left_wrist_pitch_joint", 20},
-            {"left_wrist_yaw_joint", 21},
-            {"right_shoulder_pitch_joint", 22},
-            {"right_shoulder_roll_joint", 23},
-            {"right_shoulder_yaw_joint", 24},
-            {"right_elbow_joint", 25},
-            {"right_wrist_roll_joint", 26},
-            {"right_wrist_pitch_joint", 27},
-            {"right_wrist_yaw_joint", 28}
-        };
+        const std::map<std::string, int> G1_JOINT_MAPPINGS = {{"left_hip_pitch_joint", 0},
+                                                              {"left_hip_roll_joint", 1},
+                                                              {"left_hip_yaw_joint", 2},
+                                                              {"left_knee_joint", 3},
+                                                              {"left_ankle_pitch_joint", 4},
+                                                              {"left_ankle_roll_joint", 5},
+                                                              {"right_hip_pitch_joint", 6},
+                                                              {"right_hip_roll_joint", 7},
+                                                              {"right_hip_yaw_joint", 8},
+                                                              {"right_knee_joint", 9},
+                                                              {"right_ankle_pitch_joint", 10},
+                                                              {"right_ankle_roll_joint", 11},
+                                                              {"waist_yaw_joint", 12},
+                                                              {"waist_roll_joint", 13},
+                                                              {"waist_pitch_joint", 14},
+                                                              {"left_shoulder_pitch_joint", 15},
+                                                              {"left_shoulder_roll_joint", 16},
+                                                              {"left_shoulder_yaw_joint", 17},
+                                                              {"left_elbow_joint", 18},
+                                                              {"left_wrist_roll_joint", 19},
+                                                              {"left_wrist_pitch_joint", 20},
+                                                              {"left_wrist_yaw_joint", 21},
+                                                              {"right_shoulder_pitch_joint", 22},
+                                                              {"right_shoulder_roll_joint", 23},
+                                                              {"right_shoulder_yaw_joint", 24},
+                                                              {"right_elbow_joint", 25},
+                                                              {"right_wrist_roll_joint", 26},
+                                                              {"right_wrist_pitch_joint", 27},
+                                                              {"right_wrist_yaw_joint", 28}};
     };
-}   // namespace obelisk
\ No newline at end of file
+} // namespace obelisk
diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h b/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h
index 3a107ded..45db3cd3 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/go2_interface.h
@@ -6,20 +6,20 @@
 #include <unitree/robot/go2/sport/sport_client.hpp>
 
 // IDL
-#include <unitree/idl/go2/LowState_.hpp>
 #include <unitree/idl/go2/LowCmd_.hpp>
+#include <unitree/idl/go2/LowState_.hpp>
 
 namespace obelisk {
 
     using namespace unitree_go::msg::dds_;
 
     class Go2Interface : public ObeliskUnitreeInterface {
-    public:
-        Go2Interface(const std::string& node_name)
-            : ObeliskUnitreeInterface(node_name) {
+      public:
+        Go2Interface(const std::string& node_name) : ObeliskUnitreeInterface(node_name) {
 
             // Additional Publishers
-            this->RegisterObkPublisher<obelisk_sensor_msgs::msg::ObkForceSensor>("pub_force_sensor_setting", "force_sensor_key");
+            this->RegisterObkPublisher<obelisk_sensor_msgs::msg::ObkForceSensor>("pub_force_sensor_setting",
+                                                                                 "force_sensor_key");
 
             // Expose duration of transition to home position as ros parameter
             this->declare_parameter<float>("user_pose_transition_duration", 1.);
@@ -38,10 +38,10 @@ namespace obelisk {
             num_motors_ = GO2_MOTOR_NUM;
             for (size_t i = 0; i < num_motors_; i++) {
                 joint_names_.push_back(GO2_JOINT_NAMES[i]);
-            } 
+            }
 
-            // Define topic names 
-            CMD_TOPIC_ = "rt/lowcmd";
+            // Define topic names
+            CMD_TOPIC_   = "rt/lowcmd";
             STATE_TOPIC_ = "rt/lowstate";
             // TODO: Look for ODOM topic
 
@@ -53,7 +53,8 @@ namespace obelisk {
             sport_client_.SetTimeout(10.0f);
             sport_client_.Init();
         }
-    protected:
+
+      protected:
         void CreateUnitreePublishers() override {
             // create low level command publisher
             lowcmd_publisher_.reset(new ChannelPublisher<LowCmd_>(CMD_TOPIC_));
@@ -66,7 +67,8 @@ namespace obelisk {
             // Dreate unitree subscriber
             // Need to create after the publishers have been activated
             lowstate_subscriber_.reset(new ChannelSubscriber<LowState_>(STATE_TOPIC_));
-            lowstate_subscriber_->InitChannel(std::bind(&Go2Interface::LowStateHandler, this, std::placeholders::_1), 1);
+            lowstate_subscriber_->InitChannel(std::bind(&Go2Interface::LowStateHandler, this, std::placeholders::_1),
+                                              1);
 
             // Odom state?
         }
@@ -84,7 +86,9 @@ namespace obelisk {
             // ------------------------ Execution FSM: Low Level Control ------------------------ //
             if (exec_fsm_state_ == ExecFSMState::LOW_LEVEL_CTRL) {
                 // ---------- Verify message ---------- //
-                if (msg.joint_names.size() != msg.pos_target.size() || msg.joint_names.size() != msg.vel_target.size() || msg.joint_names.size() != msg.feed_forward.size()) {
+                if (msg.joint_names.size() != msg.pos_target.size() ||
+                    msg.joint_names.size() != msg.vel_target.size() ||
+                    msg.joint_names.size() != msg.feed_forward.size()) {
                     RCLCPP_ERROR_STREAM(this->get_logger(), "joint name size: " << msg.joint_names.size());
                     RCLCPP_ERROR_STREAM(this->get_logger(), "position size: " << msg.pos_target.size());
                     RCLCPP_ERROR_STREAM(this->get_logger(), "velocity size: " << msg.vel_target.size());
@@ -97,19 +101,21 @@ namespace obelisk {
 
                 // Check that every joint name is in the list and that they are all there
                 std::vector<bool> joint_used(num_motors_, false);
-                std::vector<int> joint_mapping(num_motors_, -1);    // Maps the j'th input joint to the i'th output joint
+                std::vector<int> joint_mapping(num_motors_, -1); // Maps the j'th input joint to the i'th output joint
                 if (msg.joint_names.size() != joint_names_.size()) {
-                    throw std::runtime_error("[UnitreeRobotInterface] Control message joint name size does not match robot joint name size!");
+                    throw std::runtime_error("[UnitreeRobotInterface] Control message joint name size does not match "
+                                             "robot joint name size!");
                 }
 
                 for (size_t j = 0; j < num_motors_; j++) {
                     for (size_t i = 0; i < num_motors_; i++) {
                         if (msg.joint_names[j] == joint_names_[i]) {
                             if (joint_used[i]) {
-                                throw std::runtime_error("[UnitreeRobotInterface] Control message uses the same joint name twice!");
+                                throw std::runtime_error(
+                                    "[UnitreeRobotInterface] Control message uses the same joint name twice!");
                             }
 
-                            joint_used[i] = true;
+                            joint_used[i]    = true;
                             joint_mapping[j] = i;
                         }
                     }
@@ -120,38 +126,41 @@ namespace obelisk {
                     }
                 }
 
-                // Setup gains 
+                // Setup gains
                 bool use_default_gains = true;
                 if (msg.joint_names.size() == msg.kp.size()) {
                     if (msg.kp.size() != num_motors_) {
-                        throw std::runtime_error("[UnitreeRobotInterface] Control message gains are not of the right size!");
+                        throw std::runtime_error(
+                            "[UnitreeRobotInterface] Control message gains are not of the right size!");
                     }
                     use_default_gains = false;
                 }
 
                 // Write message
-                for (size_t j = 0; j < num_motors_; j++) {     // Only go through the non-hand motors
-                    int i = joint_mapping[j];
-                    dds_low_command.motor_cmd().at(i).mode() = 1;  // 1:Enable, 0:Disable
-                    dds_low_command.motor_cmd().at(i).tau() = msg.feed_forward[j];
-                    dds_low_command.motor_cmd().at(i).q() = msg.pos_target[j];
-                    dds_low_command.motor_cmd().at(i).dq() = msg.vel_target[j];
-                    dds_low_command.motor_cmd().at(i).kp() = use_default_gains ? kp_[i] : msg.kp[j];
-                    dds_low_command.motor_cmd().at(i).kd() = use_default_gains ? kd_[i] : msg.kd[j];
+                for (size_t j = 0; j < num_motors_; j++) {        // Only go through the non-hand motors
+                    int i                                    = joint_mapping[j];
+                    dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable
+                    dds_low_command.motor_cmd().at(i).tau()  = msg.feed_forward[j];
+                    dds_low_command.motor_cmd().at(i).q()    = msg.pos_target[j];
+                    dds_low_command.motor_cmd().at(i).dq()   = msg.vel_target[j];
+                    dds_low_command.motor_cmd().at(i).kp()   = use_default_gains ? kp_[i] : msg.kp[j];
+                    dds_low_command.motor_cmd().at(i).kd()   = use_default_gains ? kd_[i] : msg.kd[j];
                 }
 
-            // ------------------------ Execution FSM: user_pose ------------------------ //
+                // ------------------------ Execution FSM: user_pose ------------------------ //
             } else if (exec_fsm_state_ == ExecFSMState::USER_POSE) {
                 // Compute time that robot has been in HOME
-                float t = std::chrono::duration<double>(
-                    std::chrono::steady_clock::now() - user_pose_transition_start_time_).count();
+                float t =
+                    std::chrono::duration<double>(std::chrono::steady_clock::now() - user_pose_transition_start_time_)
+                        .count();
                 // Compute proportion of time relative to transition duration
                 float proportion = std::min(t / user_pose_transition_duration_, 1.0f);
                 // Write message
                 for (size_t i = 0; i < num_motors_; i++) {
-                    dds_low_command.motor_cmd().at(i).mode() = 1;  // 1:Enable, 0:Disable
-                    dds_low_command.motor_cmd().at(i).tau() = 0.;
-                    dds_low_command.motor_cmd().at(i).q() = (1 - proportion) * start_user_pose_[i] + proportion * user_pose_[i];
+                    dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable
+                    dds_low_command.motor_cmd().at(i).tau()  = 0.;
+                    dds_low_command.motor_cmd().at(i).q() =
+                        (1 - proportion) * start_user_pose_[i] + proportion * user_pose_[i];
                     dds_low_command.motor_cmd().at(i).dq() = 0.;
                     dds_low_command.motor_cmd().at(i).kp() = kp_[i];
                     dds_low_command.motor_cmd().at(i).kd() = kd_[i];
@@ -159,15 +168,15 @@ namespace obelisk {
             } else {
                 RCLCPP_ERROR_STREAM(this->get_logger(), "Execution FSM state not recognized in ApplyControl!");
             }
-            
+
             // Write command to the robot
-            dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
+            dds_low_command.crc() = Crc32Core((uint32_t*)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
             lowcmd_publisher_->Write(dds_low_command);
         }
 
-        void LowStateHandler(const void *message) {
-            LowState_ low_state = *(const LowState_ *)message;
-            if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) {
+        void LowStateHandler(const void* message) {
+            LowState_ low_state = *(const LowState_*)message;
+            if (low_state.crc() != Crc32Core((uint32_t*)&low_state, (sizeof(LowState_) >> 2) - 1)) {
                 RCLCPP_ERROR_STREAM(this->get_logger(), "[UnitreeRobotInterface] CRC Error");
                 return;
             }
@@ -181,17 +190,19 @@ namespace obelisk {
 
             for (size_t i = 0; i < num_motors_; ++i) {
                 joint_state.joint_names.at(i) = joint_names_[i];
-                joint_state.joint_pos.at(i) = low_state.motor_state()[i].q();
-                joint_state.joint_vel.at(i) = low_state.motor_state()[i].dq();
+                joint_state.joint_pos.at(i)   = low_state.motor_state()[i].q();
+                joint_state.joint_vel.at(i)   = low_state.motor_state()[i].dq();
                 {
                     std::lock_guard<std::mutex> lock(joint_pos_mutex_);
                     joint_pos_[i] = low_state.motor_state()[i].q();
                     joint_vel_[i] = low_state.motor_state()[i].dq();
                 }
                 if (low_state.motor_state()[i].lost() > 0) {
-                    static std::array<unsigned int, GO2_MOTOR_NUM> last_loss = {0,0,0, 0,0,0, 0,0,0, 0,0,0};
+                    static std::array<unsigned int, GO2_MOTOR_NUM> last_loss = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
                     if (low_state.motor_state()[i].lost() != last_loss[i]) {
-                        RCLCPP_ERROR_STREAM(this->get_logger(), "Motor " << joint_names_[i] << " lost: " << low_state.motor_state()[i].lost() << " packets!");
+                        RCLCPP_ERROR_STREAM(this->get_logger(),
+                                            "Motor " << joint_names_[i]
+                                                     << " lost: " << low_state.motor_state()[i].lost() << " packets!");
                     }
                     last_loss[i] = low_state.motor_state()[i].lost();
                 }
@@ -201,7 +212,7 @@ namespace obelisk {
 
             // IMU
             obelisk_sensor_msgs::msg::ObkImu imu_state;
-            imu_state.header.stamp = this->now();
+            imu_state.header.stamp       = this->now();
             imu_state.angular_velocity.x = low_state.imu_state().gyroscope()[0];
             imu_state.angular_velocity.y = low_state.imu_state().gyroscope()[1];
             imu_state.angular_velocity.z = low_state.imu_state().gyroscope()[2];
@@ -212,7 +223,7 @@ namespace obelisk {
             imu_state.orientation.z = low_state.imu_state().quaternion()[3];
 
             imu_state.linear_acceleration.x = low_state.imu_state().accelerometer()[0];
-            imu_state.linear_acceleration.y= low_state.imu_state().accelerometer()[1];
+            imu_state.linear_acceleration.y = low_state.imu_state().accelerometer()[1];
             imu_state.linear_acceleration.z = low_state.imu_state().accelerometer()[2];
 
             this->GetPublisher<obelisk_sensor_msgs::msg::ObkImu>(pub_imu_state_key_)->publish(imu_state);
@@ -238,13 +249,13 @@ namespace obelisk {
             static bool standing = false;
             if (msg.v_x * msg.v_x + msg.v_y * msg.v_y + msg.w_z * msg.w_z > vel_deadzone_) {
                 if (standing) {
-                    sport_client_.SwitchGait(1);                    // Set gait to trot
+                    sport_client_.SwitchGait(1); // Set gait to trot
                     standing = false;
                 }
-                sport_client_.Move(msg.v_x, msg.v_y, msg.w_z);      // Command velocity
+                sport_client_.Move(msg.v_x, msg.v_y, msg.w_z); // Command velocity
             } else {
                 if (!standing) {
-                    sport_client_.SwitchGait(0);                    // Set gait to stand
+                    sport_client_.SwitchGait(0); // Set gait to stand
                     standing = true;
                 }
             }
@@ -252,8 +263,7 @@ namespace obelisk {
 
         bool CheckDampingToUnitreeHomeTransition() {
             // Define prone joint angles
-            const float prone[12] = {0., 1.26, -2.8, 0.0, 1.26, -2.8,
-                                     -0.35, 1.3, -2.82, 0.35, 1.3, -2.82};
+            const float prone[12] = {0., 1.26, -2.8, 0.0, 1.26, -2.8, -0.35, 1.3, -2.82, 0.35, 1.3, -2.82};
             // Check for low velocities and joint angles near prone
             for (size_t i = 0; i < num_motors_; i++) {
                 if (abs(joint_vel_[i]) > 0.1 or abs(joint_pos_[i] - prone[i]) > 0.1) {
@@ -263,19 +273,17 @@ namespace obelisk {
             return true;
         }
 
-        void TransitionToUserPose() override{
+        void TransitionToUserPose() override {
             RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM TRANSTION TO user_pose!");
             // First, save current position
             {
                 std::lock_guard<std::mutex> lock(joint_pos_mutex_);
                 std::copy(std::begin(joint_pos_), std::end(joint_pos_), start_user_pose_);
             }
-            user_pose_transition_start_time_ = std::chrono::steady_clock::now();  // Save start time
+            user_pose_transition_start_time_ = std::chrono::steady_clock::now(); // Save start time
         }
 
-        void TransitionToUnitreeHome() override{
-            sport_client_.BalanceStand();
-        }
+        void TransitionToUnitreeHome() override { sport_client_.BalanceStand(); }
 
         // void OdomHandler(const void *message) {
         //     RCLCPP_INFO_STREAM(this->get_logger(), "IN ODOM");
@@ -310,33 +318,24 @@ namespace obelisk {
         ChannelSubscriberPtr<LowState_> lowstate_subscriber_;
         // ChannelSubscriberPtr<IMUState_> odom_subscriber_;
 
-    private:
-        static constexpr int GO2_MOTOR_NUM = 12;  // Number of motors
+      private:
+        static constexpr int GO2_MOTOR_NUM = 12; // Number of motors
 
-        float joint_pos_[GO2_MOTOR_NUM];          // Local copy of joint positions
-        float joint_vel_[GO2_MOTOR_NUM];          // Local copy of joint velocities
-        float start_user_pose_[GO2_MOTOR_NUM];     // For transitioning to home position
-        float user_pose_transition_duration_;                     // Duration of the transition to home position
-        float vel_deadzone_;                      // Deadzone for high level velocity commands
+        float joint_pos_[GO2_MOTOR_NUM];         // Local copy of joint positions
+        float joint_vel_[GO2_MOTOR_NUM];         // Local copy of joint velocities
+        float start_user_pose_[GO2_MOTOR_NUM];   // For transitioning to home position
+        float user_pose_transition_duration_;    // Duration of the transition to home position
+        float vel_deadzone_;                     // Deadzone for high level velocity commands
         std::vector<double> default_user_pose_ = {0.0, 0.9, -1.8, 0.0, 0.9, -1.8,
-                                                  0.0, 0.9, -1.8, 0.0, 0.9, -1.8};   // Default home position
-        float user_pose_[GO2_MOTOR_NUM];           // home position
-        std::mutex joint_pos_mutex_;              // mutex for copying joint positions and velocities
-        go2::SportClient sport_client_;           // Sports client for high level control
-        std::chrono::steady_clock::time_point user_pose_transition_start_time_;             // Timing variable for transition to stand
-        const std::array<std::string, GO2_MOTOR_NUM> GO2_JOINT_NAMES = {    // Names of joints, in order for hardware
-            "FR_hip_joint",
-            "FR_thigh_joint",
-            "FR_calf_joint",
-            "FL_hip_joint",
-            "FL_thigh_joint",
-            "FL_calf_joint",
-            "RR_hip_joint",
-            "RR_thigh_joint",
-            "RR_calf_joint",
-            "RL_hip_joint",
-            "RL_thigh_joint",
-            "RL_calf_joint"
-        };
+                                                  0.0, 0.9, -1.8, 0.0, 0.9, -1.8}; // Default home position
+        float user_pose_[GO2_MOTOR_NUM];                                           // home position
+        std::mutex joint_pos_mutex_;          // mutex for copying joint positions and velocities
+        go2::SportClient sport_client_;       // Sports client for high level control
+        std::chrono::steady_clock::time_point
+            user_pose_transition_start_time_; // Timing variable for transition to stand
+        const std::array<std::string, GO2_MOTOR_NUM> GO2_JOINT_NAMES = {
+            // Names of joints, in order for hardware
+            "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint", "FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
+            "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint", "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint"};
     };
-}   // namespace obelisk
\ No newline at end of file
+} // namespace obelisk
diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h b/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h
index b1ad785d..c53861b1 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/unitree_interface.h
@@ -1,12 +1,11 @@
-# pragma once
+#pragma once
+#include "obelisk_control_msgs/msg/execution_fsm.hpp"
+#include "obelisk_control_msgs/msg/pd_feed_forward.h"
+#include "obelisk_control_msgs/msg/velocity_command.hpp"
 #include "obelisk_robot.h"
 #include "obelisk_ros_utils.h"
-#include "obelisk_sensor_msgs/msg/obk_joint_encoders.h"
 #include "obelisk_sensor_msgs/msg/obk_imu.h"
-#include "obelisk_control_msgs/msg/pd_feed_forward.h"
-#include "obelisk_control_msgs/msg/execution_fsm.hpp"
-#include "obelisk_control_msgs/msg/velocity_command.hpp"
-
+#include "obelisk_sensor_msgs/msg/obk_joint_encoders.h"
 
 // DDS
 #include <unitree/robot/channel/channel_publisher.hpp>
@@ -16,8 +15,8 @@
 #include <unitree/robot/b2/motion_switcher/motion_switcher_client.hpp>
 
 namespace obelisk {
-    using unitree_control_msg = obelisk_control_msgs::msg::PDFeedForward;
-    using unitree_fsm_msg = obelisk_control_msgs::msg::ExecutionFSM;
+    using unitree_control_msg         = obelisk_control_msgs::msg::PDFeedForward;
+    using unitree_fsm_msg             = obelisk_control_msgs::msg::ExecutionFSM;
     using unitree_high_level_ctrl_msg = obelisk_control_msgs::msg::VelocityCommand;
 
     using namespace unitree::common;
@@ -28,9 +27,8 @@ namespace obelisk {
      */
     class ObeliskUnitreeInterface : public ObeliskRobot<unitree_control_msg> {
 
-    public:
-        ObeliskUnitreeInterface(const std::string& node_name)
-            : ObeliskRobot<unitree_control_msg>(node_name) {
+      public:
+        ObeliskUnitreeInterface(const std::string& node_name) : ObeliskRobot<unitree_control_msg>(node_name) {
 
             // Get network interface name as a parameter
             this->declare_parameter<std::string>("network_interface_name", "");
@@ -41,15 +39,18 @@ namespace obelisk {
             exec_fsm_state_ = ExecFSMState::INIT;
 
             // Additional Publishers
-            this->RegisterObkPublisher<obelisk_sensor_msgs::msg::ObkJointEncoders>("pub_sensor_setting", pub_joint_state_key_);
+            this->RegisterObkPublisher<obelisk_sensor_msgs::msg::ObkJointEncoders>("pub_sensor_setting",
+                                                                                   pub_joint_state_key_);
             this->RegisterObkPublisher<obelisk_sensor_msgs::msg::ObkImu>("pub_imu_setting", pub_imu_state_key_);
 
             // Register Execution FSM Subscriber
             this->RegisterObkSubscription<unitree_fsm_msg>(
-                "sub_fsm_setting", sub_fsm_key_, std::bind(&ObeliskUnitreeInterface::TransitionFSM, this, std::placeholders::_1));
+                "sub_fsm_setting", sub_fsm_key_,
+                std::bind(&ObeliskUnitreeInterface::TransitionFSM, this, std::placeholders::_1));
             // Register High Level Control Subscriber
             this->RegisterObkSubscription<unitree_high_level_ctrl_msg>(
-                "sub_high_level_ctrl_setting", sub_high_level_ctrl_key_, std::bind(&ObeliskUnitreeInterface::ApplyHighLevelControl, this, std::placeholders::_1));
+                "sub_high_level_ctrl_setting", sub_high_level_ctrl_key_,
+                std::bind(&ObeliskUnitreeInterface::ApplyHighLevelControl, this, std::placeholders::_1));
 
             // ---------- Default PD gains ---------- //
             this->declare_parameter<std::vector<double>>("default_kp");
@@ -58,7 +59,7 @@ namespace obelisk {
             kd_ = this->get_parameter("default_kd").as_double_array();
 
             // TODO: User defined safety maybe
-            
+
             ChannelFactory::Instance()->Init(0, network_interface_name_);
 
             // Try to shutdown motion control-related service
@@ -77,12 +78,12 @@ namespace obelisk {
         }
 
         enum class ExecFSMState : uint8_t {
-            INIT = 0,
-            UNITREE_HOME = 1,
-            USER_POSE = 2,
-            LOW_LEVEL_CTRL = 3,
+            INIT            = 0,
+            UNITREE_HOME    = 1,
+            USER_POSE       = 2,
+            LOW_LEVEL_CTRL  = 3,
             HIGH_LEVEL_CTRL = 4,
-            DAMPING = 5
+            DAMPING         = 5
         };
 
         const std::unordered_map<ExecFSMState, std::string> TRANSITION_STRINGS = {
@@ -91,51 +92,58 @@ namespace obelisk {
             {ExecFSMState::USER_POSE, "USER_POSE"},
             {ExecFSMState::LOW_LEVEL_CTRL, "LOW_LEVEL_CONTROL"},
             {ExecFSMState::HIGH_LEVEL_CTRL, "HIGH_LEVEL_CONTROL"},
-            {ExecFSMState::DAMPING, "DAMPING"}
-        };
+            {ExecFSMState::DAMPING, "DAMPING"}};
 
         // Set of legal transitions for the execution FSM
         const std::unordered_map<ExecFSMState, std::vector<ExecFSMState>> TRANSITIONS = {
-            {ExecFSMState::INIT, {ExecFSMState::UNITREE_HOME, ExecFSMState::DAMPING}},                                                                    // Init -> Home, Init -> Damp
-            {ExecFSMState::UNITREE_HOME, {ExecFSMState::USER_POSE, ExecFSMState::LOW_LEVEL_CTRL, ExecFSMState::HIGH_LEVEL_CTRL, ExecFSMState::DAMPING}},  // Home -> Pose, Home -> Low,  Home -> High, Home -> Damp
-            {ExecFSMState::USER_POSE, {ExecFSMState::UNITREE_HOME, ExecFSMState::LOW_LEVEL_CTRL, ExecFSMState::DAMPING}},                                 // Pose -> Home, Pose -> Low,  Pose -> Damp
-            {ExecFSMState::LOW_LEVEL_CTRL, {ExecFSMState::UNITREE_HOME, ExecFSMState::USER_POSE, ExecFSMState::DAMPING}},                                 // Low  -> Home, Low  -> Pose, Low  -> Damp
-            {ExecFSMState::HIGH_LEVEL_CTRL, {ExecFSMState::UNITREE_HOME, ExecFSMState::DAMPING}},                                                         // High -> Home, High -> Damp
-            {ExecFSMState::DAMPING, {ExecFSMState::UNITREE_HOME, ExecFSMState::USER_POSE}}                                                                // Damp -> Home, Damp -> Pose
+            {ExecFSMState::INIT, {ExecFSMState::UNITREE_HOME, ExecFSMState::DAMPING}}, // Init -> Home, Init -> Damp
+            {ExecFSMState::UNITREE_HOME,
+             {ExecFSMState::USER_POSE, ExecFSMState::LOW_LEVEL_CTRL, ExecFSMState::HIGH_LEVEL_CTRL,
+              ExecFSMState::DAMPING}}, // Home -> Pose, Home -> Low,  Home -> High, Home -> Damp
+            {ExecFSMState::USER_POSE,
+             {ExecFSMState::UNITREE_HOME, ExecFSMState::LOW_LEVEL_CTRL,
+              ExecFSMState::DAMPING}}, // Pose -> Home, Pose -> Low,  Pose -> Damp
+            {ExecFSMState::LOW_LEVEL_CTRL,
+             {ExecFSMState::UNITREE_HOME, ExecFSMState::USER_POSE,
+              ExecFSMState::DAMPING}},                             // Low  -> Home, Low  -> Pose, Low  -> Damp
+            {ExecFSMState::HIGH_LEVEL_CTRL,
+             {ExecFSMState::UNITREE_HOME, ExecFSMState::DAMPING}}, // High -> Home, High -> Damp
+            {ExecFSMState::DAMPING, {ExecFSMState::UNITREE_HOME, ExecFSMState::USER_POSE}} // Damp -> Home, Damp -> Pose
         };
 
         // Set of transitions on which motion control must be released
-        const std::vector<ExecFSMState> RELEASE_MC_STATES = {
-            ExecFSMState::USER_POSE, ExecFSMState::LOW_LEVEL_CTRL, ExecFSMState::DAMPING
-        };
+        const std::vector<ExecFSMState> RELEASE_MC_STATES = {ExecFSMState::USER_POSE, ExecFSMState::LOW_LEVEL_CTRL,
+                                                             ExecFSMState::DAMPING};
 
         // Set of transitions on which motion control must be engaged
-        const std::vector<ExecFSMState> ENGAGE_MC_STATES = {
-            ExecFSMState::UNITREE_HOME, ExecFSMState::HIGH_LEVEL_CTRL
-        };
+        const std::vector<ExecFSMState> ENGAGE_MC_STATES = {ExecFSMState::UNITREE_HOME, ExecFSMState::HIGH_LEVEL_CTRL};
 
-    protected:
-        virtual void CreateUnitreeSubscribers() = 0;
-        virtual void CreateUnitreePublishers() = 0;
+      protected:
+        virtual void CreateUnitreeSubscribers()                                    = 0;
+        virtual void CreateUnitreePublishers()                                     = 0;
         virtual void ApplyHighLevelControl(const unitree_high_level_ctrl_msg& msg) = 0;
-        virtual bool CheckDampingToUnitreeHomeTransition() = 0;
-        virtual void TransitionToUnitreeHome() = 0;
-        virtual void TransitionToUserPose() = 0;
+        virtual bool CheckDampingToUnitreeHomeTransition()                         = 0;
+        virtual void TransitionToUnitreeHome()                                     = 0;
+        virtual void TransitionToUserPose()                                        = 0;
 
         void TransitionFSM(const unitree_fsm_msg& msg) {
             // Extract commanded FSM state from the message
             ExecFSMState cmd_exec_fsm_state = static_cast<ExecFSMState>(msg.cmd_exec_fsm_state);
-            
+
             // Check if transition is legal
             if (ContainsTransition(TRANSITIONS, exec_fsm_state_, cmd_exec_fsm_state)) {
                 // Check if robot is in OK state to transition from Damping to Home
-                if (exec_fsm_state_ == ExecFSMState::DAMPING && cmd_exec_fsm_state == ExecFSMState::UNITREE_HOME && !CheckDampingToUnitreeHomeTransition()) {
-                    RCLCPP_ERROR_STREAM(this->get_logger(), "ROBOT NOT IN VALID STATE TO TRANSITION EXECUTION FSM FROM DAMPING TO UNITREE_HOME!");
+                if (exec_fsm_state_ == ExecFSMState::DAMPING && cmd_exec_fsm_state == ExecFSMState::UNITREE_HOME &&
+                    !CheckDampingToUnitreeHomeTransition()) {
+                    RCLCPP_ERROR_STREAM(
+                        this->get_logger(),
+                        "ROBOT NOT IN VALID STATE TO TRANSITION EXECUTION FSM FROM DAMPING TO UNITREE_HOME!");
                     return;
                 }
 
                 // Under some transitions, need to release the motion control
-                if (std::find(RELEASE_MC_STATES.begin(), RELEASE_MC_STATES.end(), cmd_exec_fsm_state) != RELEASE_MC_STATES.end()) {
+                if (std::find(RELEASE_MC_STATES.begin(), RELEASE_MC_STATES.end(), cmd_exec_fsm_state) !=
+                    RELEASE_MC_STATES.end()) {
                     bool success = ReleaseMotionControl();
                     if (!success) {
                         RCLCPP_ERROR_STREAM(this->get_logger(), "RELEASING MOTION CONTROL FAILED!");
@@ -145,7 +153,8 @@ namespace obelisk {
                 }
 
                 // Under some transitions, need to re-engage the motion control
-                if (std::find(ENGAGE_MC_STATES.begin(), ENGAGE_MC_STATES.end(), cmd_exec_fsm_state) != ENGAGE_MC_STATES.end()) {
+                if (std::find(ENGAGE_MC_STATES.begin(), ENGAGE_MC_STATES.end(), cmd_exec_fsm_state) !=
+                    ENGAGE_MC_STATES.end()) {
                     bool success = EngageMotionControl();
                     if (!success) {
                         RCLCPP_ERROR_STREAM(this->get_logger(), "ENGAGING MOTION CONTROL FAILED!");
@@ -153,11 +162,12 @@ namespace obelisk {
                     }
                     RCLCPP_INFO_STREAM(this->get_logger(), "ENGAGED MOTION CONTROL!");
                 }
-  
+
                 // Transition the FSM
                 exec_fsm_state_ = cmd_exec_fsm_state;
-                RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM STATE TRANSITIONED TO " << TRANSITION_STRINGS.at(exec_fsm_state_));
-                
+                RCLCPP_INFO_STREAM(this->get_logger(),
+                                   "EXECUTION FSM STATE TRANSITIONED TO " << TRANSITION_STRINGS.at(exec_fsm_state_));
+
                 if (exec_fsm_state_ == ExecFSMState::UNITREE_HOME) {
                     TransitionToUnitreeHome();
                 } else if (exec_fsm_state_ == ExecFSMState::USER_POSE) {
@@ -165,14 +175,16 @@ namespace obelisk {
                 }
             } else {
                 if (exec_fsm_state_ == cmd_exec_fsm_state) {
-                    RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM AREADY IN COMMANDED STATE " <<  TRANSITION_STRINGS.at(exec_fsm_state_));
+                    RCLCPP_INFO_STREAM(this->get_logger(), "EXECUTION FSM AREADY IN COMMANDED STATE "
+                                                               << TRANSITION_STRINGS.at(exec_fsm_state_));
                 } else {
-                    RCLCPP_ERROR_STREAM(this->get_logger(), "EXECUTION FSM COMMAND INVALID: " <<  TRANSITION_STRINGS.at(exec_fsm_state_) << " -> " <<  TRANSITION_STRINGS.at(cmd_exec_fsm_state));
+                    RCLCPP_ERROR_STREAM(this->get_logger(), "EXECUTION FSM COMMAND INVALID: "
+                                                                << TRANSITION_STRINGS.at(exec_fsm_state_) << " -> "
+                                                                << TRANSITION_STRINGS.at(cmd_exec_fsm_state));
                 }
             }
         }
 
-
         void VerifyParameters() {
             // Verify default gains
             if (kp_.empty()) {
@@ -195,24 +207,25 @@ namespace obelisk {
             }
         }
 
-        inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) {
-            uint32_t xbit = 0;
-            uint32_t data = 0;
-            uint32_t CRC32 = 0xFFFFFFFF;
+        inline uint32_t Crc32Core(uint32_t* ptr, uint32_t len) {
+            uint32_t xbit               = 0;
+            uint32_t data               = 0;
+            uint32_t CRC32              = 0xFFFFFFFF;
             const uint32_t dwPolynomial = 0x04c11db7;
 
             for (uint32_t i = 0; i < len; i++) {
                 xbit = 1 << 31;
                 data = ptr[i];
                 for (uint32_t bits = 0; bits < 32; bits++) {
-                if (CRC32 & 0x80000000) {
-                    CRC32 <<= 1;
-                    CRC32 ^= dwPolynomial;
-                } else
-                    CRC32 <<= 1;
-                if (data & xbit) CRC32 ^= dwPolynomial;
-
-                xbit >>= 1;
+                    if (CRC32 & 0x80000000) {
+                        CRC32 <<= 1;
+                        CRC32 ^= dwPolynomial;
+                    } else
+                        CRC32 <<= 1;
+                    if (data & xbit)
+                        CRC32 ^= dwPolynomial;
+
+                    xbit >>= 1;
                 }
             }
 
@@ -220,9 +233,9 @@ namespace obelisk {
         };
 
         bool ContainsTransition(std::unordered_map<ExecFSMState, std::vector<ExecFSMState>> transitions,
-                                ExecFSMState state,
-                                ExecFSMState next_state) {
-            return std::find(transitions[state].begin(), transitions[state].end(), next_state) != transitions[state].end();
+                                ExecFSMState state, ExecFSMState next_state) {
+            return std::find(transitions[state].begin(), transitions[state].end(), next_state) !=
+                   transitions[state].end();
         }
 
         // bool ReleaseMotionControl() {
@@ -236,7 +249,7 @@ namespace obelisk {
             if (ret == 0) {
                 RCLCPP_INFO_STREAM(this->get_logger(), "[UnitreeInterface] Check mode succeeded.");
             } else {
-                RCLCPP_ERROR_STREAM(this->get_logger(), "[UnitreeInterface] Check mode failed. Error code: " << ret );
+                RCLCPP_ERROR_STREAM(this->get_logger(), "[UnitreeInterface] Check mode failed. Error code: " << ret);
                 return false;
             }
 
@@ -248,8 +261,8 @@ namespace obelisk {
 
         // bool EngageMotionControl() {
         //     // TODO: What goes here??
-        //     int32_t ret = mode_switch_manager_->SelectMode("normal");  // Can be "normal", "ai", or "advanced" ?? From reading example code.
-        //     return ret == 0;
+        //     int32_t ret = mode_switch_manager_->SelectMode("normal");  // Can be "normal", "ai", or "advanced" ??
+        //     From reading example code. return ret == 0;
         // }
 
         bool EngageMotionControl() {
@@ -280,11 +293,11 @@ namespace obelisk {
         std::vector<double> kd_;
 
         // Keys
-        const std::string sub_fsm_key_ = "sub_exec_fsm_key";
+        const std::string sub_fsm_key_             = "sub_exec_fsm_key";
         const std::string sub_high_level_ctrl_key_ = "sub_high_level_ctrl_key";
-        const std::string pub_joint_state_key_ = "joint_state_pub";
-        const std::string pub_imu_state_key_ = "imu_state_pub";
-    
-    private:
+        const std::string pub_joint_state_key_     = "joint_state_pub";
+        const std::string pub_imu_state_key_       = "imu_state_pub";
+
+      private:
     };
-} // namespace obelisk
\ No newline at end of file
+} // namespace obelisk
diff --git a/obelisk/cpp/zoo/hardware/robots/unitree/unitree_test.cpp b/obelisk/cpp/zoo/hardware/robots/unitree/unitree_test.cpp
index a2c6b17d..e418aaed 100644
--- a/obelisk/cpp/zoo/hardware/robots/unitree/unitree_test.cpp
+++ b/obelisk/cpp/zoo/hardware/robots/unitree/unitree_test.cpp
@@ -18,357 +18,364 @@
 // #include "obelisk_robot.h"
 // #include "obelisk_ros_utils.h"
 
-static const std::string HG_CMD_TOPIC = "rt/lowcmd";
-static const std::string HG_IMU_TORSO = "rt/secondary_imu";
+static const std::string HG_CMD_TOPIC   = "rt/lowcmd";
+static const std::string HG_IMU_TORSO   = "rt/secondary_imu";
 static const std::string HG_STATE_TOPIC = "rt/lowstate";
 
 using namespace unitree::common;
 using namespace unitree::robot;
 using namespace unitree_hg::msg::dds_;
 
-template <typename T>
-class DataBuffer {
- public:
-  void SetData(const T &newData) {
-    std::unique_lock<std::shared_mutex> lock(mutex);
-    data = std::make_shared<T>(newData);
-  }
-
-  std::shared_ptr<const T> GetData() {
-    std::shared_lock<std::shared_mutex> lock(mutex);
-    return data ? data : nullptr;
-  }
-
-  void Clear() {
-    std::unique_lock<std::shared_mutex> lock(mutex);
-    data = nullptr;
-  }
-
- private:
-  std::shared_ptr<T> data;
-  std::shared_mutex mutex;
+template <typename T> class DataBuffer {
+  public:
+    void SetData(const T& newData) {
+        std::unique_lock<std::shared_mutex> lock(mutex);
+        data = std::make_shared<T>(newData);
+    }
+
+    std::shared_ptr<const T> GetData() {
+        std::shared_lock<std::shared_mutex> lock(mutex);
+        return data ? data : nullptr;
+    }
+
+    void Clear() {
+        std::unique_lock<std::shared_mutex> lock(mutex);
+        data = nullptr;
+    }
+
+  private:
+    std::shared_ptr<T> data;
+    std::shared_mutex mutex;
 };
 
 const int G1_NUM_MOTOR = 29;
 struct ImuState {
-  std::array<float, 3> rpy = {};
-  std::array<float, 3> omega = {};
+    std::array<float, 3> rpy   = {};
+    std::array<float, 3> omega = {};
 };
 struct MotorCommand {
-  std::array<float, G1_NUM_MOTOR> q_target = {};
-  std::array<float, G1_NUM_MOTOR> dq_target = {};
-  std::array<float, G1_NUM_MOTOR> kp = {};
-  std::array<float, G1_NUM_MOTOR> kd = {};
-  std::array<float, G1_NUM_MOTOR> tau_ff = {};
+    std::array<float, G1_NUM_MOTOR> q_target  = {};
+    std::array<float, G1_NUM_MOTOR> dq_target = {};
+    std::array<float, G1_NUM_MOTOR> kp        = {};
+    std::array<float, G1_NUM_MOTOR> kd        = {};
+    std::array<float, G1_NUM_MOTOR> tau_ff    = {};
 };
 struct MotorState {
-  std::array<float, G1_NUM_MOTOR> q = {};
-  std::array<float, G1_NUM_MOTOR> dq = {};
+    std::array<float, G1_NUM_MOTOR> q  = {};
+    std::array<float, G1_NUM_MOTOR> dq = {};
 };
 
 // Stiffness for all G1 Joints
 std::array<float, G1_NUM_MOTOR> Kp{
-    60, 60, 60, 100, 40, 40,      // legs
-    60, 60, 60, 100, 40, 40,      // legs
-    60, 40, 40,                   // waist
-    40, 40, 40, 40,  40, 40, 40,  // arms
-    40, 40, 40, 40,  40, 40, 40   // arms
+    60, 60, 60, 100, 40, 40,     // legs
+    60, 60, 60, 100, 40, 40,     // legs
+    60, 40, 40,                  // waist
+    40, 40, 40, 40,  40, 40, 40, // arms
+    40, 40, 40, 40,  40, 40, 40  // arms
 };
 
 // Damping for all G1 Joints
 std::array<float, G1_NUM_MOTOR> Kd{
-    1, 1, 1, 2, 1, 1,     // legs
-    1, 1, 1, 2, 1, 1,     // legs
-    1, 1, 1,              // waist
-    1, 1, 1, 1, 1, 1, 1,  // arms
-    1, 1, 1, 1, 1, 1, 1   // arms
+    1, 1, 1, 2, 1, 1,    // legs
+    1, 1, 1, 2, 1, 1,    // legs
+    1, 1, 1,             // waist
+    1, 1, 1, 1, 1, 1, 1, // arms
+    1, 1, 1, 1, 1, 1, 1  // arms
 };
 
 enum class Mode {
-  PR = 0,  // Series Control for Ptich/Roll Joints
-  AB = 1   // Parallel Control for A/B Joints
+    PR = 0, // Series Control for Ptich/Roll Joints
+    AB = 1  // Parallel Control for A/B Joints
 };
 
 enum G1JointIndex {
-  LeftHipPitch = 0,
-  LeftHipRoll = 1,
-  LeftHipYaw = 2,
-  LeftKnee = 3,
-  LeftAnklePitch = 4,
-  LeftAnkleB = 4,
-  LeftAnkleRoll = 5,
-  LeftAnkleA = 5,
-  RightHipPitch = 6,
-  RightHipRoll = 7,
-  RightHipYaw = 8,
-  RightKnee = 9,
-  RightAnklePitch = 10,
-  RightAnkleB = 10,
-  RightAnkleRoll = 11,
-  RightAnkleA = 11,
-  WaistYaw = 12,
-  WaistRoll = 13,        // NOTE INVALID for g1 23dof/29dof with waist locked
-  WaistA = 13,           // NOTE INVALID for g1 23dof/29dof with waist locked
-  WaistPitch = 14,       // NOTE INVALID for g1 23dof/29dof with waist locked
-  WaistB = 14,           // NOTE INVALID for g1 23dof/29dof with waist locked
-  LeftShoulderPitch = 15,
-  LeftShoulderRoll = 16,
-  LeftShoulderYaw = 17,
-  LeftElbow = 18,
-  LeftWristRoll = 19,
-  LeftWristPitch = 20,   // NOTE INVALID for g1 23dof
-  LeftWristYaw = 21,     // NOTE INVALID for g1 23dof
-  RightShoulderPitch = 22,
-  RightShoulderRoll = 23,
-  RightShoulderYaw = 24,
-  RightElbow = 25,
-  RightWristRoll = 26,
-  RightWristPitch = 27,  // NOTE INVALID for g1 23dof
-  RightWristYaw = 28     // NOTE INVALID for g1 23dof
+    LeftHipPitch       = 0,
+    LeftHipRoll        = 1,
+    LeftHipYaw         = 2,
+    LeftKnee           = 3,
+    LeftAnklePitch     = 4,
+    LeftAnkleB         = 4,
+    LeftAnkleRoll      = 5,
+    LeftAnkleA         = 5,
+    RightHipPitch      = 6,
+    RightHipRoll       = 7,
+    RightHipYaw        = 8,
+    RightKnee          = 9,
+    RightAnklePitch    = 10,
+    RightAnkleB        = 10,
+    RightAnkleRoll     = 11,
+    RightAnkleA        = 11,
+    WaistYaw           = 12,
+    WaistRoll          = 13, // NOTE INVALID for g1 23dof/29dof with waist locked
+    WaistA             = 13, // NOTE INVALID for g1 23dof/29dof with waist locked
+    WaistPitch         = 14, // NOTE INVALID for g1 23dof/29dof with waist locked
+    WaistB             = 14, // NOTE INVALID for g1 23dof/29dof with waist locked
+    LeftShoulderPitch  = 15,
+    LeftShoulderRoll   = 16,
+    LeftShoulderYaw    = 17,
+    LeftElbow          = 18,
+    LeftWristRoll      = 19,
+    LeftWristPitch     = 20, // NOTE INVALID for g1 23dof
+    LeftWristYaw       = 21, // NOTE INVALID for g1 23dof
+    RightShoulderPitch = 22,
+    RightShoulderRoll  = 23,
+    RightShoulderYaw   = 24,
+    RightElbow         = 25,
+    RightWristRoll     = 26,
+    RightWristPitch    = 27, // NOTE INVALID for g1 23dof
+    RightWristYaw      = 28  // NOTE INVALID for g1 23dof
 };
 
-inline uint32_t Crc32Core(uint32_t *ptr, uint32_t len) {
-  uint32_t xbit = 0;
-  uint32_t data = 0;
-  uint32_t CRC32 = 0xFFFFFFFF;
-  const uint32_t dwPolynomial = 0x04c11db7;
-  for (uint32_t i = 0; i < len; i++) {
-    xbit = 1 << 31;
-    data = ptr[i];
-    for (uint32_t bits = 0; bits < 32; bits++) {
-      if (CRC32 & 0x80000000) {
-        CRC32 <<= 1;
-        CRC32 ^= dwPolynomial;
-      } else
-        CRC32 <<= 1;
-      if (data & xbit) CRC32 ^= dwPolynomial;
-
-      xbit >>= 1;
+inline uint32_t Crc32Core(uint32_t* ptr, uint32_t len) {
+    uint32_t xbit               = 0;
+    uint32_t data               = 0;
+    uint32_t CRC32              = 0xFFFFFFFF;
+    const uint32_t dwPolynomial = 0x04c11db7;
+    for (uint32_t i = 0; i < len; i++) {
+        xbit = 1 << 31;
+        data = ptr[i];
+        for (uint32_t bits = 0; bits < 32; bits++) {
+            if (CRC32 & 0x80000000) {
+                CRC32 <<= 1;
+                CRC32 ^= dwPolynomial;
+            } else
+                CRC32 <<= 1;
+            if (data & xbit)
+                CRC32 ^= dwPolynomial;
+
+            xbit >>= 1;
+        }
     }
-  }
-  return CRC32;
+    return CRC32;
 };
 
 class G1Example {
- private:
-  double time_;
-  double control_dt_;  // [2ms]
-  double duration_;    // [3 s]
-  int counter_;
-  Mode mode_pr_;
-  uint8_t mode_machine_;
-
-//   Gamepad gamepad_;
-//   REMOTE_DATA_RX rx_;
-
-  DataBuffer<MotorState> motor_state_buffer_;
-  DataBuffer<MotorCommand> motor_command_buffer_;
-  DataBuffer<ImuState> imu_state_buffer_;
-
-  ChannelPublisherPtr<LowCmd_> lowcmd_publisher_;
-  ChannelSubscriberPtr<LowState_> lowstate_subscriber_;
-  ChannelSubscriberPtr<IMUState_> imutorso_subscriber_;
-  ThreadPtr command_writer_ptr_, control_thread_ptr_;
-
-  std::shared_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
-
- public:
-  G1Example(std::string networkInterface)
-      : time_(0.0),
-        control_dt_(0.002),
-        duration_(3.0),
-        counter_(0),
-        mode_pr_(Mode::PR),
-        mode_machine_(0) {
-    ChannelFactory::Instance()->Init(0, networkInterface);
-
-    // try to shutdown motion control-related service
-    msc_ = std::make_shared<unitree::robot::b2::MotionSwitcherClient>();
-    msc_->SetTimeout(5.0f);
-    msc_->Init();
-    std::string form, name;
-    while (msc_->CheckMode(form, name), !name.empty()) {
-      if (msc_->ReleaseMode())
-        std::cout << "Failed to switch to Release Mode\n";
-      sleep(5);
-    }
+  private:
+    double time_;
+    double control_dt_; // [2ms]
+    double duration_;   // [3 s]
+    int counter_;
+    Mode mode_pr_;
+    uint8_t mode_machine_;
+
+    //   Gamepad gamepad_;
+    //   REMOTE_DATA_RX rx_;
+
+    DataBuffer<MotorState> motor_state_buffer_;
+    DataBuffer<MotorCommand> motor_command_buffer_;
+    DataBuffer<ImuState> imu_state_buffer_;
+
+    ChannelPublisherPtr<LowCmd_> lowcmd_publisher_;
+    ChannelSubscriberPtr<LowState_> lowstate_subscriber_;
+    ChannelSubscriberPtr<IMUState_> imutorso_subscriber_;
+    ThreadPtr command_writer_ptr_, control_thread_ptr_;
+
+    std::shared_ptr<unitree::robot::b2::MotionSwitcherClient> msc_;
+
+  public:
+    G1Example(std::string networkInterface)
+        : time_(0.0), control_dt_(0.002), duration_(3.0), counter_(0), mode_pr_(Mode::PR), mode_machine_(0) {
+        ChannelFactory::Instance()->Init(0, networkInterface);
+
+        // try to shutdown motion control-related service
+        msc_ = std::make_shared<unitree::robot::b2::MotionSwitcherClient>();
+        msc_->SetTimeout(5.0f);
+        msc_->Init();
+        std::string form, name;
+        while (msc_->CheckMode(form, name), !name.empty()) {
+            if (msc_->ReleaseMode())
+                std::cout << "Failed to switch to Release Mode\n";
+            sleep(5);
+        }
 
-    // create publisher
-    lowcmd_publisher_.reset(new ChannelPublisher<LowCmd_>(HG_CMD_TOPIC));
-    lowcmd_publisher_->InitChannel();
-    // create subscriber
-    lowstate_subscriber_.reset(new ChannelSubscriber<LowState_>(HG_STATE_TOPIC));
-    lowstate_subscriber_->InitChannel(std::bind(&G1Example::LowStateHandler, this, std::placeholders::_1), 1);
-    imutorso_subscriber_.reset(new ChannelSubscriber<IMUState_>(HG_IMU_TORSO));
-    imutorso_subscriber_->InitChannel(std::bind(&G1Example::imuTorsoHandler, this, std::placeholders::_1), 1);
-    // create threads
-    command_writer_ptr_ = CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, &G1Example::LowCommandWriter, this);
-    control_thread_ptr_ = CreateRecurrentThreadEx("control", UT_CPU_ID_NONE, 2000, &G1Example::Control, this);
-  }
-
-  void imuTorsoHandler(const void *message) {
-    IMUState_ imu_torso = *(const IMUState_ *)message;
-    auto &rpy = imu_torso.rpy();
-    if (counter_ % 500 == 0)
-      printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
-  }
-
-  void LowStateHandler(const void *message) {
-    LowState_ low_state = *(const LowState_ *)message;
-    if (low_state.crc() != Crc32Core((uint32_t *)&low_state, (sizeof(LowState_) >> 2) - 1)) {
-      std::cout << "[ERROR] CRC Error" << std::endl;
-      return;
+        // create publisher
+        lowcmd_publisher_.reset(new ChannelPublisher<LowCmd_>(HG_CMD_TOPIC));
+        lowcmd_publisher_->InitChannel();
+        // create subscriber
+        lowstate_subscriber_.reset(new ChannelSubscriber<LowState_>(HG_STATE_TOPIC));
+        lowstate_subscriber_->InitChannel(std::bind(&G1Example::LowStateHandler, this, std::placeholders::_1), 1);
+        imutorso_subscriber_.reset(new ChannelSubscriber<IMUState_>(HG_IMU_TORSO));
+        imutorso_subscriber_->InitChannel(std::bind(&G1Example::imuTorsoHandler, this, std::placeholders::_1), 1);
+        // create threads
+        command_writer_ptr_ =
+            CreateRecurrentThreadEx("command_writer", UT_CPU_ID_NONE, 2000, &G1Example::LowCommandWriter, this);
+        control_thread_ptr_ = CreateRecurrentThreadEx("control", UT_CPU_ID_NONE, 2000, &G1Example::Control, this);
     }
 
-    // get motor state
-    MotorState ms_tmp;
-    for (int i = 0; i < G1_NUM_MOTOR; ++i) {
-      ms_tmp.q.at(i) = low_state.motor_state()[i].q();
-      ms_tmp.dq.at(i) = low_state.motor_state()[i].dq();
-      if (low_state.motor_state()[i].motorstate() && i <= RightAnkleRoll)
-        std::cout << "[ERROR] motor " << i << " with code " << low_state.motor_state()[i].motorstate() << "\n";
-    }
-    motor_state_buffer_.SetData(ms_tmp);
-
-    // get imu state
-    ImuState imu_tmp;
-    imu_tmp.omega = low_state.imu_state().gyroscope();
-    imu_tmp.rpy = low_state.imu_state().rpy();
-    imu_state_buffer_.SetData(imu_tmp);
-
-    // // update gamepad
-    // memcpy(rx_.buff, &low_state.wireless_remote()[0], 40);
-    // gamepad_.update(rx_.RF_RX);
-
-    // update mode machine
-    if (mode_machine_ != low_state.mode_machine()) {
-      if (mode_machine_ == 0) std::cout << "G1 type: " << unsigned(low_state.mode_machine()) << std::endl;
-      mode_machine_ = low_state.mode_machine();
+    void imuTorsoHandler(const void* message) {
+        IMUState_ imu_torso = *(const IMUState_*)message;
+        auto& rpy           = imu_torso.rpy();
+        if (counter_ % 500 == 0)
+            printf("IMU.torso.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
     }
 
-    // report robot status every second
-    if (++counter_ % 500 == 0) {
-      counter_ = 0;
-      // IMU
-      auto &rpy = low_state.imu_state().rpy();
-      printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
-
-    //   // RC
-    //   printf("gamepad_.A.pressed: %d\n", static_cast<int>(gamepad_.A.pressed));
-    //   printf("gamepad_.B.pressed: %d\n", static_cast<int>(gamepad_.B.pressed));
-    //   printf("gamepad_.X.pressed: %d\n", static_cast<int>(gamepad_.X.pressed));
-    //   printf("gamepad_.Y.pressed: %d\n", static_cast<int>(gamepad_.Y.pressed));
-
-      // Motor
-      auto &ms = low_state.motor_state();
-      printf("All %d Motors:", G1_NUM_MOTOR);
-      printf("\nmode: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,", ms[i].mode());
-      printf("\npos: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].q());
-      printf("\nvel: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].dq());
-      printf("\ntau_est: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].tau_est());
-      printf("\ntemperature: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%d,%d;", ms[i].temperature()[0], ms[i].temperature()[1]);
-      printf("\nvol: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%.2f,", ms[i].vol());
-      printf("\nsensor: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,%u;", ms[i].sensor()[0], ms[i].sensor()[1]);
-      printf("\nmotorstate: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,", ms[i].motorstate());
-      printf("\nreserve: ");
-      for (int i = 0; i < G1_NUM_MOTOR; ++i) printf("%u,%u,%u,%u;", ms[i].reserve()[0], ms[i].reserve()[1], ms[i].reserve()[2], ms[i].reserve()[3]);
-      printf("\n");
-    }
-  }
-
-  void LowCommandWriter() {
-    LowCmd_ dds_low_command;
-    dds_low_command.mode_pr() = static_cast<uint8_t>(mode_pr_);
-    dds_low_command.mode_machine() = mode_machine_;
-
-    const std::shared_ptr<const MotorCommand> mc = motor_command_buffer_.GetData();
-    if (mc) {
-      for (size_t i = 0; i < G1_NUM_MOTOR; i++) {
-        dds_low_command.motor_cmd().at(i).mode() = 1;  // 1:Enable, 0:Disable
-        dds_low_command.motor_cmd().at(i).tau() = mc->tau_ff.at(i);
-        dds_low_command.motor_cmd().at(i).q() = mc->q_target.at(i);
-        dds_low_command.motor_cmd().at(i).dq() = mc->dq_target.at(i);
-        dds_low_command.motor_cmd().at(i).kp() = mc->kp.at(i);
-        dds_low_command.motor_cmd().at(i).kd() = mc->kd.at(i);
-      }
-
-      dds_low_command.crc() = Crc32Core((uint32_t *)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
-      lowcmd_publisher_->Write(dds_low_command);
+    void LowStateHandler(const void* message) {
+        LowState_ low_state = *(const LowState_*)message;
+        if (low_state.crc() != Crc32Core((uint32_t*)&low_state, (sizeof(LowState_) >> 2) - 1)) {
+            std::cout << "[ERROR] CRC Error" << std::endl;
+            return;
+        }
+
+        // get motor state
+        MotorState ms_tmp;
+        for (int i = 0; i < G1_NUM_MOTOR; ++i) {
+            ms_tmp.q.at(i)  = low_state.motor_state()[i].q();
+            ms_tmp.dq.at(i) = low_state.motor_state()[i].dq();
+            if (low_state.motor_state()[i].motorstate() && i <= RightAnkleRoll)
+                std::cout << "[ERROR] motor " << i << " with code " << low_state.motor_state()[i].motorstate() << "\n";
+        }
+        motor_state_buffer_.SetData(ms_tmp);
+
+        // get imu state
+        ImuState imu_tmp;
+        imu_tmp.omega = low_state.imu_state().gyroscope();
+        imu_tmp.rpy   = low_state.imu_state().rpy();
+        imu_state_buffer_.SetData(imu_tmp);
+
+        // // update gamepad
+        // memcpy(rx_.buff, &low_state.wireless_remote()[0], 40);
+        // gamepad_.update(rx_.RF_RX);
+
+        // update mode machine
+        if (mode_machine_ != low_state.mode_machine()) {
+            if (mode_machine_ == 0)
+                std::cout << "G1 type: " << unsigned(low_state.mode_machine()) << std::endl;
+            mode_machine_ = low_state.mode_machine();
+        }
+
+        // report robot status every second
+        if (++counter_ % 500 == 0) {
+            counter_ = 0;
+            // IMU
+            auto& rpy = low_state.imu_state().rpy();
+            printf("IMU.pelvis.rpy: %.2f %.2f %.2f\n", rpy[0], rpy[1], rpy[2]);
+
+            //   // RC
+            //   printf("gamepad_.A.pressed: %d\n", static_cast<int>(gamepad_.A.pressed));
+            //   printf("gamepad_.B.pressed: %d\n", static_cast<int>(gamepad_.B.pressed));
+            //   printf("gamepad_.X.pressed: %d\n", static_cast<int>(gamepad_.X.pressed));
+            //   printf("gamepad_.Y.pressed: %d\n", static_cast<int>(gamepad_.Y.pressed));
+
+            // Motor
+            auto& ms = low_state.motor_state();
+            printf("All %d Motors:", G1_NUM_MOTOR);
+            printf("\nmode: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%u,", ms[i].mode());
+            printf("\npos: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%.2f,", ms[i].q());
+            printf("\nvel: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%.2f,", ms[i].dq());
+            printf("\ntau_est: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%.2f,", ms[i].tau_est());
+            printf("\ntemperature: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%d,%d;", ms[i].temperature()[0], ms[i].temperature()[1]);
+            printf("\nvol: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%.2f,", ms[i].vol());
+            printf("\nsensor: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%u,%u;", ms[i].sensor()[0], ms[i].sensor()[1]);
+            printf("\nmotorstate: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%u,", ms[i].motorstate());
+            printf("\nreserve: ");
+            for (int i = 0; i < G1_NUM_MOTOR; ++i)
+                printf("%u,%u,%u,%u;", ms[i].reserve()[0], ms[i].reserve()[1], ms[i].reserve()[2], ms[i].reserve()[3]);
+            printf("\n");
+        }
     }
-  }
-
-  void Control() {
-    MotorCommand motor_command_tmp;
-    const std::shared_ptr<const MotorState> ms = motor_state_buffer_.GetData();
-
-    for (int i = 0; i < G1_NUM_MOTOR; ++i) {
-      motor_command_tmp.tau_ff.at(i) = 0.0;
-      motor_command_tmp.q_target.at(i) = 0.0;
-      motor_command_tmp.dq_target.at(i) = 0.0;
-      motor_command_tmp.kp.at(i) = Kp[i];
-      motor_command_tmp.kd.at(i) = Kd[i];
+
+    void LowCommandWriter() {
+        LowCmd_ dds_low_command;
+        dds_low_command.mode_pr()      = static_cast<uint8_t>(mode_pr_);
+        dds_low_command.mode_machine() = mode_machine_;
+
+        const std::shared_ptr<const MotorCommand> mc = motor_command_buffer_.GetData();
+        if (mc) {
+            for (size_t i = 0; i < G1_NUM_MOTOR; i++) {
+                dds_low_command.motor_cmd().at(i).mode() = 1; // 1:Enable, 0:Disable
+                dds_low_command.motor_cmd().at(i).tau()  = mc->tau_ff.at(i);
+                dds_low_command.motor_cmd().at(i).q()    = mc->q_target.at(i);
+                dds_low_command.motor_cmd().at(i).dq()   = mc->dq_target.at(i);
+                dds_low_command.motor_cmd().at(i).kp()   = mc->kp.at(i);
+                dds_low_command.motor_cmd().at(i).kd()   = mc->kd.at(i);
+            }
+
+            dds_low_command.crc() = Crc32Core((uint32_t*)&dds_low_command, (sizeof(dds_low_command) >> 2) - 1);
+            lowcmd_publisher_->Write(dds_low_command);
+        }
     }
 
-    if (ms) {
-      time_ += control_dt_;
-      if (time_ < duration_) {
-        // [Stage 1]: set robot to zero posture
+    void Control() {
+        MotorCommand motor_command_tmp;
+        const std::shared_ptr<const MotorState> ms = motor_state_buffer_.GetData();
+
         for (int i = 0; i < G1_NUM_MOTOR; ++i) {
-          double ratio = std::clamp(time_ / duration_, 0.0, 1.0);
-          motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i);
+            motor_command_tmp.tau_ff.at(i)    = 0.0;
+            motor_command_tmp.q_target.at(i)  = 0.0;
+            motor_command_tmp.dq_target.at(i) = 0.0;
+            motor_command_tmp.kp.at(i)        = Kp[i];
+            motor_command_tmp.kd.at(i)        = Kd[i];
+        }
+
+        if (ms) {
+            time_ += control_dt_;
+            if (time_ < duration_) {
+                // [Stage 1]: set robot to zero posture
+                for (int i = 0; i < G1_NUM_MOTOR; ++i) {
+                    double ratio                     = std::clamp(time_ / duration_, 0.0, 1.0);
+                    motor_command_tmp.q_target.at(i) = (1.0 - ratio) * ms->q.at(i);
+                }
+            } else if (time_ < duration_ * 2) {
+                // [Stage 2]: swing ankle using PR mode
+                mode_pr_       = Mode::PR;
+                double max_P   = M_PI * 30.0 / 180.0;
+                double max_R   = M_PI * 10.0 / 180.0;
+                double t       = time_ - duration_;
+                double L_P_des = max_P * std::sin(2.0 * M_PI * t);
+                double L_R_des = max_R * std::sin(2.0 * M_PI * t);
+                double R_P_des = max_P * std::sin(2.0 * M_PI * t);
+                double R_R_des = -max_R * std::sin(2.0 * M_PI * t);
+
+                motor_command_tmp.q_target.at(LeftAnklePitch)  = L_P_des;
+                motor_command_tmp.q_target.at(LeftAnkleRoll)   = L_R_des;
+                motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des;
+                motor_command_tmp.q_target.at(RightAnkleRoll)  = R_R_des;
+            } else {
+                // [Stage 3]: swing ankle using AB mode
+                mode_pr_       = Mode::AB;
+                double max_A   = M_PI * 30.0 / 180.0;
+                double max_B   = M_PI * 10.0 / 180.0;
+                double t       = time_ - duration_ * 2;
+                double L_A_des = +max_A * std::sin(M_PI * t);
+                double L_B_des = +max_B * std::sin(M_PI * t + M_PI);
+                double R_A_des = -max_A * std::sin(M_PI * t);
+                double R_B_des = -max_B * std::sin(M_PI * t + M_PI);
+
+                motor_command_tmp.q_target.at(LeftAnkleA)  = L_A_des;
+                motor_command_tmp.q_target.at(LeftAnkleB)  = L_B_des;
+                motor_command_tmp.q_target.at(RightAnkleA) = R_A_des;
+                motor_command_tmp.q_target.at(RightAnkleB) = R_B_des;
+            }
+
+            motor_command_buffer_.SetData(motor_command_tmp);
         }
-      } else if (time_ < duration_ * 2) {
-        // [Stage 2]: swing ankle using PR mode
-        mode_pr_ = Mode::PR;
-        double max_P = M_PI * 30.0 / 180.0;
-        double max_R = M_PI * 10.0 / 180.0;
-        double t = time_ - duration_;
-        double L_P_des = max_P * std::sin(2.0 * M_PI * t);
-        double L_R_des = max_R * std::sin(2.0 * M_PI * t);
-        double R_P_des = max_P * std::sin(2.0 * M_PI * t);
-        double R_R_des = -max_R * std::sin(2.0 * M_PI * t);
-
-        motor_command_tmp.q_target.at(LeftAnklePitch) = L_P_des;
-        motor_command_tmp.q_target.at(LeftAnkleRoll) = L_R_des;
-        motor_command_tmp.q_target.at(RightAnklePitch) = R_P_des;
-        motor_command_tmp.q_target.at(RightAnkleRoll) = R_R_des;
-      } else {
-        // [Stage 3]: swing ankle using AB mode
-        mode_pr_ = Mode::AB;
-        double max_A = M_PI * 30.0 / 180.0;
-        double max_B = M_PI * 10.0 / 180.0;
-        double t = time_ - duration_ * 2;
-        double L_A_des = +max_A * std::sin(M_PI * t);
-        double L_B_des = +max_B * std::sin(M_PI * t + M_PI);
-        double R_A_des = -max_A * std::sin(M_PI * t);
-        double R_B_des = -max_B * std::sin(M_PI * t + M_PI);
-
-        motor_command_tmp.q_target.at(LeftAnkleA) = L_A_des;
-        motor_command_tmp.q_target.at(LeftAnkleB) = L_B_des;
-        motor_command_tmp.q_target.at(RightAnkleA) = R_A_des;
-        motor_command_tmp.q_target.at(RightAnkleB) = R_B_des;
-      }
-
-      motor_command_buffer_.SetData(motor_command_tmp);
     }
-  }
 };
 
-int main(int argc, char const *argv[]) {
-  if (argc < 2) {
-    std::cout << "Usage: g1_ankle_swing_example network_interface" << std::endl;
-    exit(0);
-  }
-  std::string networkInterface = argv[1];
-  G1Example custom(networkInterface);
-  while (true) sleep(10);
-  return 0;
-}
\ No newline at end of file
+int main(int argc, char const* argv[]) {
+    if (argc < 2) {
+        std::cout << "Usage: g1_ankle_swing_example network_interface" << std::endl;
+        exit(0);
+    }
+    std::string networkInterface = argv[1];
+    G1Example custom(networkInterface);
+    while (true)
+        sleep(10);
+    return 0;
+}
diff --git a/obelisk/cpp/zoo/hardware/sensing/zed/CMakeLists.txt b/obelisk/cpp/zoo/hardware/sensing/zed/CMakeLists.txt
index 4c806087..4ee22091 100644
--- a/obelisk/cpp/zoo/hardware/sensing/zed/CMakeLists.txt
+++ b/obelisk/cpp/zoo/hardware/sensing/zed/CMakeLists.txt
@@ -41,7 +41,7 @@ set(YAML_CPP_BUILD_TOOLS OFF)
 FetchContent_Declare(
     yaml-cpp
     GIT_REPOSITORY https://github.com/jbeder/yaml-cpp.git
-    GIT_TAG 0.8.0 # note all other versions are of the form yaml-cpp-x.y.z
+    GIT_TAG master  # [June 10, 2025] The 0.8.0 release needs to have the minimum version raised to 3.5, master fixed
 )
 FetchContent_MakeAvailable(yaml-cpp)
 
diff --git a/obelisk/cpp/zoo/include/unitree_example_controller.h b/obelisk/cpp/zoo/include/unitree_example_controller.h
index 99cfa176..e1931e0b 100644
--- a/obelisk/cpp/zoo/include/unitree_example_controller.h
+++ b/obelisk/cpp/zoo/include/unitree_example_controller.h
@@ -1,5 +1,5 @@
-#include "sensor_msgs/msg/joy.hpp"
 #include "rclcpp/rclcpp.hpp"
+#include "sensor_msgs/msg/joy.hpp"
 
 #include "obelisk_controller.h"
 #include "obelisk_ros_utils.h"
@@ -17,20 +17,21 @@ namespace obelisk {
             std::string robot_str = this->get_parameter("robot_str").as_string();
 
             if (robot_str == "G1") {
-                motor_num_ = G1_MOTOR_NUM;
+                motor_num_   = G1_MOTOR_NUM;
                 joint_names_ = G1_JOINT_NAMES;
             } else if (robot_str == "Go2") {
-                motor_num_ = GO2_MOTOR_NUM;
+                motor_num_   = GO2_MOTOR_NUM;
                 joint_names_ = GO2_JOINT_NAMES;
             } else {
                 throw std::runtime_error("[UnitreeExampleController] robot_str is invalid!");
             }
             // ----- Joystick Subscriber ----- //
             this->RegisterObkSubscription<sensor_msgs::msg::Joy>(
-                        "joystick_sub_setting", "joystick_sub",
-                        std::bind(&UnitreeExampleController::JoystickCallback, this, std::placeholders::_1));
+                "joystick_sub_setting", "joystick_sub",
+                std::bind(&UnitreeExampleController::JoystickCallback, this, std::placeholders::_1));
 
-            RCLCPP_INFO_STREAM(this->get_logger(), "New Joint Index: " << joint_idx_ << ", Expected Joint: " << joint_names_[joint_idx_]);
+            RCLCPP_INFO_STREAM(this->get_logger(),
+                               "New Joint Index: " << joint_idx_ << ", Expected Joint: " << joint_names_[joint_idx_]);
         }
 
       protected:
@@ -71,7 +72,7 @@ namespace obelisk {
                 msg.feed_forward.emplace_back(0);
             }
 
-            for (int i = 0; i < 2*motor_num_; i++) {
+            for (int i = 0; i < 2 * motor_num_; i++) {
                 msg.u_mujoco.emplace_back(0);
             }
 
@@ -117,11 +118,12 @@ namespace obelisk {
             // static rclcpp::Time last_target_update = this->now();
 
             if (msg.buttons[X] && (this->now() - last_X_press).seconds() > 1) {
-                
+
                 joint_idx_++;
                 joint_idx_ = joint_idx_ % motor_num_;
 
-                RCLCPP_INFO_STREAM(this->get_logger(), "New Joint Index: " << joint_idx_ << ", Expected Joint: " << joint_names_[joint_idx_]);
+                RCLCPP_INFO_STREAM(this->get_logger(), "New Joint Index: " << joint_idx_ << ", Expected Joint: "
+                                                                           << joint_names_[joint_idx_]);
 
                 last_X_press = this->now();
             }
@@ -133,7 +135,7 @@ namespace obelisk {
         int motor_num_;
         std::vector<std::string> joint_names_;
 
-        static constexpr int G1_MOTOR_NUM = 27;
+        static constexpr int G1_MOTOR_NUM             = 27;
         const std::vector<std::string> G1_JOINT_NAMES = {
             "left_hip_pitch_joint",
             "left_hip_roll_joint",
@@ -167,20 +169,9 @@ namespace obelisk {
         };
 
         // TODO: identify robot from context?
-        static constexpr int GO2_MOTOR_NUM = 12;
+        static constexpr int GO2_MOTOR_NUM             = 12;
         const std::vector<std::string> GO2_JOINT_NAMES = {
-            "FR_hip_joint",
-            "FR_thigh_joint",
-            "FR_calf_joint",
-            "FL_hip_joint",
-            "FL_thigh_joint",
-            "FL_calf_joint",
-            "RR_hip_joint",
-            "RR_thigh_joint",
-            "RR_calf_joint",
-            "RL_hip_joint",
-            "RL_thigh_joint",
-            "RL_calf_joint"
-        };
+            "FR_hip_joint", "FR_thigh_joint", "FR_calf_joint", "FL_hip_joint", "FL_thigh_joint", "FL_calf_joint",
+            "RR_hip_joint", "RR_thigh_joint", "RR_calf_joint", "RL_hip_joint", "RL_thigh_joint", "RL_calf_joint"};
     };
 } // namespace obelisk
diff --git a/obelisk/cpp/zoo/include/unitree_example_estimator.h b/obelisk/cpp/zoo/include/unitree_example_estimator.h
index 195289b0..05c1734e 100644
--- a/obelisk/cpp/zoo/include/unitree_example_estimator.h
+++ b/obelisk/cpp/zoo/include/unitree_example_estimator.h
@@ -4,9 +4,8 @@
 #include "obelisk_ros_utils.h"
 
 namespace obelisk {
-    class UnitreeExampleEstimator
-        : public obelisk::ObeliskEstimator<obelisk_estimator_msgs::msg::EstimatedState> {
-    public:
+    class UnitreeExampleEstimator : public obelisk::ObeliskEstimator<obelisk_estimator_msgs::msg::EstimatedState> {
+      public:
         UnitreeExampleEstimator(const std::string& name)
             : obelisk::ObeliskEstimator<obelisk_estimator_msgs::msg::EstimatedState>(name) {
 
@@ -15,20 +14,20 @@ namespace obelisk {
                 std::bind(&UnitreeExampleEstimator::JointEncoderCallback, this, std::placeholders::_1));
         }
 
-    protected:
+      protected:
         void JointEncoderCallback(const obelisk_sensor_msgs::msg::ObkJointEncoders& msg) {
             joint_encoders_ = msg.joint_pos;
-            joint_vels_ = msg.joint_vel;
-            joint_names_ = msg.joint_names;
+            joint_vels_     = msg.joint_vel;
+            joint_names_    = msg.joint_names;
         }
 
         obelisk_estimator_msgs::msg::EstimatedState ComputeStateEstimate() override {
             obelisk_estimator_msgs::msg::EstimatedState msg;
 
             msg.header.stamp = this->now();
-            msg.q_joints       = joint_encoders_;   // Joint Positions
-            msg.v_joints       = joint_vels_;        // Joint Velocities
-            msg.joint_names    = joint_names_;      // Joint Names
+            msg.q_joints     = joint_encoders_; // Joint Positions
+            msg.v_joints     = joint_vels_;     // Joint Velocities
+            msg.joint_names  = joint_names_;    // Joint Names
             // msg.base_link_name = "link0";
 
             this->GetPublisher<obelisk_estimator_msgs::msg::EstimatedState>(this->est_pub_key_)->publish(msg);
@@ -36,9 +35,9 @@ namespace obelisk {
             return msg;
         };
 
-    private:
+      private:
         std::vector<double> joint_encoders_;
         std::vector<double> joint_vels_;
         std::vector<std::string> joint_names_;
     };
-}   // namespace obelisk
\ No newline at end of file
+} // namespace obelisk
diff --git a/obelisk/cpp/zoo/include/unitree_go2_estimator.h b/obelisk/cpp/zoo/include/unitree_go2_estimator.h
index 47c49d7d..5d6beaf0 100644
--- a/obelisk/cpp/zoo/include/unitree_go2_estimator.h
+++ b/obelisk/cpp/zoo/include/unitree_go2_estimator.h
@@ -4,9 +4,8 @@
 #include "obelisk_ros_utils.h"
 
 namespace obelisk {
-    class UnitreeGo2Estimator
-        : public obelisk::ObeliskEstimator<obelisk_estimator_msgs::msg::EstimatedState> {
-    public:
+    class UnitreeGo2Estimator : public obelisk::ObeliskEstimator<obelisk_estimator_msgs::msg::EstimatedState> {
+      public:
         UnitreeGo2Estimator(const std::string& name)
             : obelisk::ObeliskEstimator<obelisk_estimator_msgs::msg::EstimatedState>(name) {
 
@@ -19,28 +18,28 @@ namespace obelisk {
                 std::bind(&UnitreeGo2Estimator::TorsoIMUCallback, this, std::placeholders::_1));
         }
 
-    protected:
+      protected:
         void JointEncoderCallback(const obelisk_sensor_msgs::msg::ObkJointEncoders& msg) {
             joint_encoders_ = msg.joint_pos;
-            joint_vels_ = msg.joint_vel;
-            joint_names_ = msg.joint_names;
+            joint_vels_     = msg.joint_vel;
+            joint_names_    = msg.joint_names;
         }
 
         void TorsoIMUCallback(const obelisk_sensor_msgs::msg::ObkImu& msg) {
-            pose_ = {0., 0., 0., msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w};
+            pose_  = {0., 0., 0., msg.orientation.x, msg.orientation.y, msg.orientation.z, msg.orientation.w};
             omega_ = {0., 0., 0., msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z};
         }
 
         obelisk_estimator_msgs::msg::EstimatedState ComputeStateEstimate() override {
             obelisk_estimator_msgs::msg::EstimatedState msg;
 
-            msg.header.stamp = this->now();
+            msg.header.stamp   = this->now();
             msg.base_link_name = "torso";
-            msg.q_joints       = joint_encoders_;   // Joint Positions
-            msg.v_joints       = joint_vels_;        // Joint Velocities
-            msg.joint_names    = joint_names_;      // Joint Names
-            msg.q_base         = pose_;             // Quaternion
-            msg.v_base         = omega_;            // Angular Velocity
+            msg.q_joints       = joint_encoders_; // Joint Positions
+            msg.v_joints       = joint_vels_;     // Joint Velocities
+            msg.joint_names    = joint_names_;    // Joint Names
+            msg.q_base         = pose_;           // Quaternion
+            msg.v_base         = omega_;          // Angular Velocity
             // msg.base_link_name = "link0";
 
             this->GetPublisher<obelisk_estimator_msgs::msg::EstimatedState>(this->est_pub_key_)->publish(msg);
@@ -48,11 +47,11 @@ namespace obelisk {
             return msg;
         };
 
-    private:
+      private:
         std::vector<double> joint_encoders_;
         std::vector<double> joint_vels_;
         std::vector<double> pose_;
         std::vector<double> omega_;
         std::vector<std::string> joint_names_;
     };
-}   // namespace obelisk
\ No newline at end of file
+} // namespace obelisk
diff --git a/obelisk/cpp/zoo/include/unitree_joystick.h b/obelisk/cpp/zoo/include/unitree_joystick.h
index 6897e24e..2ce4643f 100644
--- a/obelisk/cpp/zoo/include/unitree_joystick.h
+++ b/obelisk/cpp/zoo/include/unitree_joystick.h
@@ -1,11 +1,11 @@
+#include "obelisk_control_msgs/msg/execution_fsm.hpp"
+#include "obelisk_control_msgs/msg/velocity_command.hpp"
 #include "obelisk_controller.h"
 #include "obelisk_ros_utils.h"
 #include "sensor_msgs/msg/joy.hpp"
-#include "obelisk_control_msgs/msg/execution_fsm.hpp"
-#include "obelisk_control_msgs/msg/velocity_command.hpp"
 
 namespace obelisk {
-    using unitree_fsm_msg = obelisk_control_msgs::msg::ExecutionFSM;
+    using unitree_fsm_msg             = obelisk_control_msgs::msg::ExecutionFSM;
     using unitree_high_level_ctrl_msg = obelisk_control_msgs::msg::VelocityCommand;
 
     class UnitreeJoystick : public ObeliskController<unitree_high_level_ctrl_msg, sensor_msgs::msg::Joy> {
@@ -27,14 +27,13 @@ namespace obelisk {
             this->declare_parameter<int>("low_level_ctrl_button", -1);
             this->declare_parameter<int>("high_level_ctrl_button", -1);
             this->declare_parameter<int>("damping_button", -1);
-            unitree_home_button_ = this->get_parameter("unitree_home_button").as_int();
-            user_pose_button_ = this->get_parameter("user_pose_button").as_int();
-            low_level_ctrl_button_ = this->get_parameter("low_level_ctrl_button").as_int();
+            unitree_home_button_    = this->get_parameter("unitree_home_button").as_int();
+            user_pose_button_       = this->get_parameter("user_pose_button").as_int();
+            low_level_ctrl_button_  = this->get_parameter("low_level_ctrl_button").as_int();
             high_level_ctrl_button_ = this->get_parameter("high_level_ctrl_button").as_int();
-            damping_button_ = this->get_parameter("damping_button").as_int();
-            if (unitree_home_button_ > 10 || low_level_ctrl_button_ > 10 || 
-                high_level_ctrl_button_ > 10 || damping_button_ > 10 || 
-                user_pose_button_ > 10 || user_pose_button_ < 0) {
+            damping_button_         = this->get_parameter("damping_button").as_int();
+            if (unitree_home_button_ > 10 || low_level_ctrl_button_ > 10 || high_level_ctrl_button_ > 10 ||
+                damping_button_ > 10 || user_pose_button_ > 10 || user_pose_button_ < 0) {
                 throw std::runtime_error("[UnitreeJoystick] Execution FSM buttons exceed number of buttons (0-10)!");
             }
 
@@ -46,38 +45,42 @@ namespace obelisk {
       protected:
         void UpdateXHat(__attribute__((unused)) const sensor_msgs::msg::Joy& msg) override {
             // Update velocity commands
-            constexpr int LEFT_STICK_X = 0;
-            constexpr int LEFT_STICK_Y = 1;
+            constexpr int LEFT_STICK_X  = 0;
+            constexpr int LEFT_STICK_Y  = 1;
             constexpr int RIGHT_STICK_X = 3;
 
             unitree_high_level_ctrl_msg high_level_msg;
             high_level_msg.header.stamp = this->now();
-            high_level_msg.v_x = msg.axes[LEFT_STICK_Y] * v_x_max_;
-            high_level_msg.v_y = msg.axes[LEFT_STICK_X] * v_y_max_;
-            high_level_msg.w_z = msg.axes[RIGHT_STICK_X] * w_z_max_;
+            high_level_msg.v_x          = msg.axes[LEFT_STICK_Y] * v_x_max_;
+            high_level_msg.v_y          = msg.axes[LEFT_STICK_X] * v_y_max_;
+            high_level_msg.w_z          = msg.axes[RIGHT_STICK_X] * w_z_max_;
 
             this->GetPublisher<unitree_high_level_ctrl_msg>(this->ctrl_key_)->publish(high_level_msg);
 
             // ----- Axes ----- //
-            constexpr int DPAD_VERTICAL = 7;
+            constexpr int DPAD_VERTICAL   = 7;
             constexpr int DPAD_HORIZONTAL = 6;
-            constexpr int MENU = 7;
-            
+            constexpr int MENU            = 7;
+
             // Print control menu
             static rclcpp::Time last_menu_press = this->now();
             if ((this->now() - last_menu_press).seconds() > 1 && msg.buttons[MENU]) {
-                RCLCPP_INFO_STREAM(this->get_logger(),
-                    "UnitreeJoystick Button Layout (XBox Controller):\n" <<
-                    "Execution Finite State Machine:\n" << 
-                    "\tHOME:            " << ((unitree_home_button_ < 0) ? "DPAD_LEFT" : BUTTON_NAMES[unitree_home_button_]) << "\n" << 
-                    "\tDAMPING:         " << ((damping_button_ < 0) ? "DPAD_RIGHT" : BUTTON_NAMES[damping_button_]) << "\n" <<
-                    "\tLOW_LEVEL_CTRL:  " << ((low_level_ctrl_button_ < 0) ? "DPAD_DOWN" : BUTTON_NAMES[low_level_ctrl_button_]) << "\n" <<
-                    "\tHIGH_LEVEL_CTRL: " << ((high_level_ctrl_button_ < 0) ? "DPAD_UP" : BUTTON_NAMES[high_level_ctrl_button_]) << "\n" <<
-                    "High Level Velocity Commands:\n" <<
-                    "\tFront/Back: Left Stick Vertical\n" <<
-                    "\tSide/Side:  Left Stick Horizontal\n" <<
-                    "\tYaw Rate:   Right Stick Horizontal"
-                );
+                RCLCPP_INFO_STREAM(
+                    this->get_logger(),
+                    "UnitreeJoystick Button Layout (XBox Controller):\n"
+                        << "Execution Finite State Machine:\n"
+                        << "\tHOME:            "
+                        << ((unitree_home_button_ < 0) ? "DPAD_LEFT" : BUTTON_NAMES[unitree_home_button_]) << "\n"
+                        << "\tDAMPING:         "
+                        << ((damping_button_ < 0) ? "DPAD_RIGHT" : BUTTON_NAMES[damping_button_]) << "\n"
+                        << "\tLOW_LEVEL_CTRL:  "
+                        << ((low_level_ctrl_button_ < 0) ? "DPAD_DOWN" : BUTTON_NAMES[low_level_ctrl_button_]) << "\n"
+                        << "\tHIGH_LEVEL_CTRL: "
+                        << ((high_level_ctrl_button_ < 0) ? "DPAD_UP" : BUTTON_NAMES[high_level_ctrl_button_]) << "\n"
+                        << "High Level Velocity Commands:\n"
+                        << "\tFront/Back: Left Stick Vertical\n"
+                        << "\tSide/Side:  Left Stick Horizontal\n"
+                        << "\tYaw Rate:   Right Stick Horizontal");
                 last_menu_press = this->now();
             }
 
@@ -87,17 +90,21 @@ namespace obelisk {
                 unitree_fsm_msg fsm_msg;
                 fsm_msg.header.stamp = this->now();
 
-                if ((msg.axes[DPAD_HORIZONTAL] < -0.5 && damping_button_ < 0) || (damping_button_ >= 0 && msg.buttons[damping_button_])) {
-                    fsm_msg.cmd_exec_fsm_state = 5;         // Damping
-                } else if ((msg.axes[DPAD_HORIZONTAL] > 0.5 && unitree_home_button_ < 0) || (unitree_home_button_ >= 0 && msg.buttons[unitree_home_button_])) {
-                    fsm_msg.cmd_exec_fsm_state = 1;         // Home
-                } else if ((msg.axes[DPAD_VERTICAL] > 0.5 && high_level_ctrl_button_ < 0) || (high_level_ctrl_button_ >= 0 && msg.buttons[high_level_ctrl_button_])) {
-                    fsm_msg.cmd_exec_fsm_state = 4;         // High Level Contrl
-                } else if ((msg.axes[DPAD_VERTICAL] < -0.5 && low_level_ctrl_button_ < 0) || (low_level_ctrl_button_ >= 0 && msg.buttons[low_level_ctrl_button_])) {
-                    fsm_msg.cmd_exec_fsm_state = 3;         // Low Level Control
+                if ((msg.axes[DPAD_HORIZONTAL] < -0.5 && damping_button_ < 0) ||
+                    (damping_button_ >= 0 && msg.buttons[damping_button_])) {
+                    fsm_msg.cmd_exec_fsm_state = 5; // Damping
+                } else if ((msg.axes[DPAD_HORIZONTAL] > 0.5 && unitree_home_button_ < 0) ||
+                           (unitree_home_button_ >= 0 && msg.buttons[unitree_home_button_])) {
+                    fsm_msg.cmd_exec_fsm_state = 1; // Home
+                } else if ((msg.axes[DPAD_VERTICAL] > 0.5 && high_level_ctrl_button_ < 0) ||
+                           (high_level_ctrl_button_ >= 0 && msg.buttons[high_level_ctrl_button_])) {
+                    fsm_msg.cmd_exec_fsm_state = 4; // High Level Contrl
+                } else if ((msg.axes[DPAD_VERTICAL] < -0.5 && low_level_ctrl_button_ < 0) ||
+                           (low_level_ctrl_button_ >= 0 && msg.buttons[low_level_ctrl_button_])) {
+                    fsm_msg.cmd_exec_fsm_state = 3; // Low Level Control
                 } else if (msg.buttons[user_pose_button_]) {
-                    fsm_msg.cmd_exec_fsm_state = 2;         // User Pose
-                }else {
+                    fsm_msg.cmd_exec_fsm_state = 2; // User Pose
+                } else {
                     return;
                 }
                 last_Dpad_press = this->now();
@@ -118,7 +125,7 @@ namespace obelisk {
 
         // Hold velocity bounds
         float v_x_max_;
-        float v_y_max_; 
+        float v_y_max_;
         float w_z_max_;
 
         // Hold button locations for execution fsm
@@ -127,11 +134,10 @@ namespace obelisk {
         int user_pose_button_;
         int low_level_ctrl_button_;
         int high_level_ctrl_button_;
+
       private:
         // Button names
-        const std::array<std::string, 11> BUTTON_NAMES = {
-            "A", "B", "X", "Y", "LB", "RB", "VIEW", "MENU", "LSTICK", "RSTICK", "SHARE"
-        };
-
+        const std::array<std::string, 11> BUTTON_NAMES = {"A",    "B",    "X",      "Y",      "LB",   "RB",
+                                                          "VIEW", "MENU", "LSTICK", "RSTICK", "SHARE"};
     };
-}
\ No newline at end of file
+} // namespace obelisk
diff --git a/obelisk/python/obelisk_py/core/node.py b/obelisk/python/obelisk_py/core/node.py
index dfa76f33..289b833d 100644
--- a/obelisk/python/obelisk_py/core/node.py
+++ b/obelisk/python/obelisk_py/core/node.py
@@ -213,9 +213,9 @@ def _check_fields(field_names: List[str], required_field_names: List[str], optio
         Raises:
             AssertionError: If the configuration string is invalid.
         """
-        assert all(
-            [field in field_names for field in required_field_names]
-        ), f"config_str must contain the following fields: {required_field_names}"
+        assert all([field in field_names for field in required_field_names]), (
+            f"config_str must contain the following fields: {required_field_names}"
+        )
         assert all([field in required_field_names + optional_field_names for field in field_names]), (
             f"""The following fields in the config_str are invalid: {
                 set(field_names) - set(required_field_names + optional_field_names)
@@ -475,9 +475,9 @@ def _create_timer_from_config_str(
         callback_group = self._get_callback_group_from_config_dict(config_dict)
 
         # run type assertions and return the timer
-        assert isinstance(
-            config_dict["timer_period_sec"], (int, float)
-        ), "The 'timer_period_sec' field must be a number!"
+        assert isinstance(config_dict["timer_period_sec"], (int, float)), (
+            "The 'timer_period_sec' field must be a number!"
+        )
 
         timer = self.create_timer(
             config_dict["timer_period_sec"],
diff --git a/obelisk/python/obelisk_py/core/robot.py b/obelisk/python/obelisk_py/core/robot.py
index 80b55b42..8f852141 100644
--- a/obelisk/python/obelisk_py/core/robot.py
+++ b/obelisk/python/obelisk_py/core/robot.py
@@ -91,9 +91,9 @@ def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
 
         # checking the settings of the true sim state pub/timer
         if "publisher_true_sim_state" in self.obk_publishers and "timer_true_sim_state" in self.obk_timers:
-            assert (
-                self.obk_timers["timer_true_sim_state"].callback == self.publish_true_sim_state
-            ), f"Timer callback must be publish_true_sim_state! Is {self.obk_timers['timer_true_sim_state'].callback}."
+            assert self.obk_timers["timer_true_sim_state"].callback == self.publish_true_sim_state, (
+                f"Timer callback must be publish_true_sim_state! Is {self.obk_timers['timer_true_sim_state'].callback}."
+            )
         else:
             self.timer_true_sim_state = None
             self.publisher_true_sim_state = None
diff --git a/obelisk/python/obelisk_py/core/utils/internal.py b/obelisk/python/obelisk_py/core/utils/internal.py
index de79177d..295e1bf7 100644
--- a/obelisk/python/obelisk_py/core/utils/internal.py
+++ b/obelisk/python/obelisk_py/core/utils/internal.py
@@ -42,9 +42,9 @@ def check_and_get_obelisk_msg_type(msg_type_name: str, msg_module_or_type: Union
                     break
         else:
             assert msg_module_or_type.__bound__ is not None, "The TypeVar does not have a bound."
-            assert (
-                msg_type_name == msg_module_or_type.__bound__.__name__
-            ), f"{msg_type_name} must be {msg_module_or_type.__bound__.__name__}"
+            assert msg_type_name == msg_module_or_type.__bound__.__name__, (
+                f"{msg_type_name} must be {msg_module_or_type.__bound__.__name__}"
+            )
             msg_type = msg_module_or_type.__bound__
 
     else:
diff --git a/obelisk/python/obelisk_py/zoo/control/example/fr3_example_joint_controller.py b/obelisk/python/obelisk_py/zoo/control/example/fr3_example_joint_controller.py
new file mode 100644
index 00000000..5bded723
--- /dev/null
+++ b/obelisk/python/obelisk_py/zoo/control/example/fr3_example_joint_controller.py
@@ -0,0 +1,55 @@
+from typing import Type
+
+import numpy as np
+from obelisk_control_msgs.msg import PositionSetpoint
+from obelisk_estimator_msgs.msg import EstimatedState
+from rclpy.lifecycle import LifecycleState, TransitionCallbackReturn
+
+from obelisk_py.core.control import ObeliskController
+from obelisk_py.core.obelisk_typing import ObeliskControlMsg, is_in_bound
+
+
+class FR3ExampleJointController(ObeliskController):
+    """Example joint controller."""
+
+    def __init__(self, node_name: str = "fr3_example_joint_controller") -> None:
+        """Initialize the example fr3 joint controller."""
+        super().__init__(node_name, PositionSetpoint, EstimatedState)
+        self.reset_pos = [
+            0.09162008114028396,
+            -0.19826458111314524,
+            -0.01990020486871322,
+            -2.4732269941140346,
+            -0.01307073642274261,
+            2.30396583422025,
+            0.8480939705504309,
+        ]
+
+    def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
+        """Configure the controller."""
+        super().on_configure(state)
+        self.joint_pos = None
+        return TransitionCallbackReturn.SUCCESS
+
+    def update_x_hat(self, x_hat_msg: Type) -> None:
+        """Update the state estimate.
+
+        Parameters:
+            x_hat_msg: The Obelisk message containing the state estimate.
+        """
+        pass  # do nothing
+
+    def compute_control(self) -> Type:
+        """Compute the control signal for the FR3.
+
+        Returns:
+            The control message.
+        """
+        position_setpoint_msg = PositionSetpoint()
+
+        # example state-independent input
+        position_setpoint_msg.u_mujoco = [self.reset_pos[i] + 0.1 * np.sin(self.t) for i in range(7)]
+        position_setpoint_msg.q_des = [self.reset_pos[i] + 0.1 * np.sin(self.t) for i in range(7)]
+        self.obk_publishers["pub_ctrl"].publish(position_setpoint_msg)
+        assert is_in_bound(type(position_setpoint_msg), ObeliskControlMsg)
+        return position_setpoint_msg  # type: ignore
diff --git a/obelisk/python/obelisk_py/zoo/hardware/robots/fr3/fr3_interface.py b/obelisk/python/obelisk_py/zoo/hardware/robots/fr3/fr3_interface.py
new file mode 100644
index 00000000..d1f5632f
--- /dev/null
+++ b/obelisk/python/obelisk_py/zoo/hardware/robots/fr3/fr3_interface.py
@@ -0,0 +1,135 @@
+import os
+from typing import Type
+
+import franky
+import numpy as np
+from franky import Affine, CartesianMotion, JointMotion, JointVelocityMotion, ReferenceType, RelativeDynamicsFactor
+from obelisk_control_msgs.msg import PoseSetpoint, PositionSetpoint
+from obelisk_sensor_msgs.msg import ObkFramePose, ObkJointEncoders
+from rcl_interfaces.msg import ParameterDescriptor, ParameterType
+
+from obelisk_py.core.robot import ObeliskRobot
+from obelisk_py.zoo.hardware.robots.fr3.fr3_utils import setup_robot
+
+
+class ObeliskFR3Robot(ObeliskRobot):
+    """The FR3 hardware driver in Obelisk."""
+
+    def __init__(self, node_name: str) -> None:
+        """Initialize the Obelisk FR3 robot."""
+        super().__init__(node_name, PositionSetpoint)
+        self._ready = False
+        self.register_obk_publisher(
+            "pub_joints_setting",
+            ObkJointEncoders,
+            key="pub_joints",
+        )
+        self.register_obk_publisher(
+            "pub_ee_pose_setting",
+            ObkFramePose,
+            key="pub_ee_pose",
+        )
+        self.register_obk_timer(
+            "timer_sensor_setting",
+            self.get_state,
+            key="timer_sensor",
+        )
+
+        # initialize
+        # the username and password are read from environment variables so credentials aren't committed
+        str_descriptor = ParameterDescriptor(type=ParameterType.PARAMETER_STRING)
+        self.declare_parameter("username", os.getenv("FR3_USERNAME"), descriptor=str_descriptor)
+        self.declare_parameter("password", os.getenv("FR3_PASSWORD"), descriptor=str_descriptor)
+        self.declare_parameter("robot_ip", "172.16.0.2")
+        self.declare_parameter("ctrl_mode", "ee")
+
+        username = self.get_parameter("username").get_parameter_value().string_value
+        password = self.get_parameter("password").get_parameter_value().string_value
+        robot_ip = self.get_parameter("robot_ip").get_parameter_value().string_value
+        self.robot, self.gripper, self.web_session = setup_robot(robot_ip, username, password)
+
+        # [DEBUG]
+        self.robot.relative_dynamics_factor = RelativeDynamicsFactor(velocity=0.15, acceleration=0.05, jerk=0.1)
+        self.robot.set_collision_behavior(torque_thresholds=[100.0] * 7, force_thresholds=[100.0] * 6)
+
+        self.ctrl_mode = self.get_parameter("ctrl_mode").get_parameter_value().string_value
+        assert self.ctrl_mode in ["ee_pos", "joint_pos", "joint_vel"], "Invalid control mode specified."
+        self._ready = True
+
+    def apply_control(self, control_msg: Type) -> None:
+        """Write the control message to the FR3."""
+        if not self._ready:
+            return None
+
+        self.robot.recover_from_errors()
+        try:
+            if self.ctrl_mode == "ee_pos":
+                assert isinstance(control_msg, PoseSetpoint)
+                x, y, z = control_msg.pose_des[0], control_msg.pose_des[1], control_msg.pose_des[2]
+                qw, qx, qy, qz = (
+                    control_msg.pose_des[3],
+                    control_msg.pose_des[4],
+                    control_msg.pose_des[5],
+                    control_msg.pose_des[6],
+                )
+                pos = np.array([x, y, z])  # type: ignore
+                quat = np.array([qx, qy, qz, qw])  # type: ignore
+                motion = CartesianMotion(
+                    Affine(pos, quat),  # (w, x, y, z) in
+                    ReferenceType.Absolute,  # TODO: expose an option for relative motion
+                )
+            elif self.ctrl_mode == "joint_pos":
+                assert isinstance(control_msg, PositionSetpoint)
+                motion = JointMotion(np.array([control_msg.q_des[i] for i in range(7)]))
+            elif self.ctrl_mode == "joint_vel":
+                assert isinstance(control_msg, PositionSetpoint)
+                motion = JointVelocityMotion(np.array([control_msg.q_des[i] for i in range(7)]))
+            else:
+                raise ValueError(
+                    f"Invalid control mode: {self.ctrl_mode}. Valid modes are 'ee_pos', 'joint_pos', or 'joint_vel'."
+                )
+            self.robot.move(motion, asynchronous=True)
+        except franky.ControlException:
+            self.get_logger().error(f"Control exception at time {self.t}")
+
+    def get_state(self) -> None:
+        """Read the joint encoders and publish a sensor message."""
+        if not self._ready:
+            return None
+
+        # joints
+        q = self.robot.current_joint_state.position.tolist()
+        dq = self.robot.current_joint_state.velocity.tolist()
+
+        joint_encoders = ObkJointEncoders()
+        joint_encoders.joint_pos = q
+        joint_encoders.joint_vel = dq
+        joint_encoders.joint_names = ["q0", "q1", "q2", "q3", "q4", "q5", "q6"]
+
+        # ee
+        ee_pose = self.robot.current_cartesian_state.pose.end_effector_pose
+        ee_translation = ee_pose.translation
+        ee_quaternion = ee_pose.quaternion
+        ee_vel = self.robot.current_cartesian_state.velocity.end_effector_twist
+        ee_linvel = ee_vel.linear
+        ee_angvel = ee_vel.angular
+
+        frame_pose = ObkFramePose()
+        frame_pose.position.x = ee_translation[0]
+        frame_pose.position.y = ee_translation[1]
+        frame_pose.position.z = ee_translation[2]
+        frame_pose.orientation.x = ee_quaternion[0]  # the franky API returns quaternion in [x, y, z, w] order
+        frame_pose.orientation.y = ee_quaternion[1]
+        frame_pose.orientation.z = ee_quaternion[2]
+        frame_pose.orientation.w = ee_quaternion[3]
+        frame_pose.linvel.x = ee_linvel[0]
+        frame_pose.linvel.y = ee_linvel[1]
+        frame_pose.linvel.z = ee_linvel[2]
+        frame_pose.angvel.x = ee_angvel[0]
+        frame_pose.angvel.y = ee_angvel[1]
+        frame_pose.angvel.z = ee_angvel[2]
+        frame_pose.frame_name = "ee_tcp"
+
+        # publish
+        self.obk_publishers["pub_joints"].publish(joint_encoders)
+        self.obk_publishers["pub_ee_pose"].publish(frame_pose)
diff --git a/obelisk/python/obelisk_py/zoo/hardware/robots/fr3/fr3_utils.py b/obelisk/python/obelisk_py/zoo/hardware/robots/fr3/fr3_utils.py
new file mode 100644
index 00000000..d191538f
--- /dev/null
+++ b/obelisk/python/obelisk_py/zoo/hardware/robots/fr3/fr3_utils.py
@@ -0,0 +1,41 @@
+import atexit
+import time
+
+from franky import Gripper, NetworkException, Robot, RobotWebSession
+from franky.robot_web_session import TakeControlTimeoutError
+
+
+def setup_robot(robot_ip: str, username: str, password: str) -> tuple[Robot, Gripper, RobotWebSession | None]:
+    """Sets up the robot and gripper."""
+    web_session = RobotWebSession(
+        robot_ip,
+        username=username,
+        password=password,
+    )
+    try:
+        robot = Robot(robot_ip)
+        gripper = Gripper(robot_ip)
+    except NetworkException:
+
+        def _release_control_on_exit() -> None:
+            """Release control of the robot on exit."""
+            web_session.release_control()
+
+        atexit.register(_release_control_on_exit)
+
+        web_session.open()
+        try:
+            web_session.take_control(wait_timeout=1.0, force=False)
+        except TakeControlTimeoutError:
+            web_session.take_control(wait_timeout=30.0, force=True)
+        if not web_session.has_control():
+            raise RuntimeError("Failed to take control of the robot!") from None
+        print("Successfully taken control of the robot!")
+        web_session.unlock_brakes()
+        time.sleep(1.0)
+        web_session.enable_fci()
+        time.sleep(1.0)
+        robot = Robot(robot_ip)
+        gripper = Gripper(robot_ip)
+    print("Robot ready for control!")
+    return robot, gripper, web_session
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/CMakeLists.txt b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/CMakeLists.txt
index d37fa679..087e3c37 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/CMakeLists.txt
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/CMakeLists.txt
@@ -85,4 +85,3 @@ if(DEFINED ENV{OBELISK_BUILD_UNITREE} AND "$ENV{OBELISK_BUILD_UNITREE}" STREQUAL
 
     ament_package()
 endif()
-
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_controller.cpp b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_controller.cpp
index e296eeb7..66c5739b 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_controller.cpp
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_controller.cpp
@@ -1,8 +1,7 @@
-#include "unitree_example_controller.h"
 #include "obelisk_ros_utils.h"
+#include "unitree_example_controller.h"
 
 int main(int argc, char* argv[]) {
-    obelisk::utils::SpinObelisk<obelisk::UnitreeExampleController,
-                                rclcpp::executors::SingleThreadedExecutor>(argc, argv,
-                                                                           "unitree_example_controller");
+    obelisk::utils::SpinObelisk<obelisk::UnitreeExampleController, rclcpp::executors::SingleThreadedExecutor>(
+        argc, argv, "unitree_example_controller");
 }
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_estimator.cpp b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_estimator.cpp
index 9c94ebf1..fbda3b5f 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_estimator.cpp
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/g1_example_estimator.cpp
@@ -1,8 +1,7 @@
-#include "unitree_example_estimator.h"
 #include "obelisk_ros_utils.h"
+#include "unitree_example_estimator.h"
 
 int main(int argc, char* argv[]) {
-    obelisk::utils::SpinObelisk<obelisk::UnitreeExampleEstimator,
-                                rclcpp::executors::SingleThreadedExecutor>(argc, argv,
-                                                                           "unitree_example_controller");
+    obelisk::utils::SpinObelisk<obelisk::UnitreeExampleEstimator, rclcpp::executors::SingleThreadedExecutor>(
+        argc, argv, "unitree_example_controller");
 }
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_g1_hardware_robot.cpp b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_g1_hardware_robot.cpp
index c7fab04b..0a347457 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_g1_hardware_robot.cpp
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_g1_hardware_robot.cpp
@@ -6,5 +6,5 @@
 
 int main(int argc, char* argv[]) {
     obelisk::utils::SpinObelisk<obelisk::G1Interface, rclcpp::executors::SingleThreadedExecutor>(argc, argv,
-                                                                                                     "unitree_robot");
+                                                                                                 "unitree_robot");
 }
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_estimator.cpp b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_estimator.cpp
index 82de2300..609d60b6 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_estimator.cpp
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_estimator.cpp
@@ -2,7 +2,6 @@
 #include "obelisk_ros_utils.h"
 
 int main(int argc, char* argv[]) {
-    obelisk::utils::SpinObelisk<obelisk::UnitreeGo2Estimator,
-                                rclcpp::executors::SingleThreadedExecutor>(argc, argv,
-                                                                           "unitree_go2_estimator");
+    obelisk::utils::SpinObelisk<obelisk::UnitreeGo2Estimator, rclcpp::executors::SingleThreadedExecutor>(
+        argc, argv, "unitree_go2_estimator");
 }
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_hardware_robot.cpp b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_hardware_robot.cpp
index 996245d8..bb3d0fcc 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_hardware_robot.cpp
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_go2_hardware_robot.cpp
@@ -6,5 +6,5 @@
 
 int main(int argc, char* argv[]) {
     obelisk::utils::SpinObelisk<obelisk::Go2Interface, rclcpp::executors::SingleThreadedExecutor>(argc, argv,
-                                                                                                     "unitree_robot");
-}
\ No newline at end of file
+                                                                                                  "unitree_robot");
+}
diff --git a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_joystick.cpp b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_joystick.cpp
index 88e9e4f5..3fdb2909 100644
--- a/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_joystick.cpp
+++ b/obelisk_ws/src/cpp/hardware/obelisk_unitree_cpp/src/unitree_joystick.cpp
@@ -1,10 +1,10 @@
 #include "rclcpp/rclcpp.hpp"
 
-#include "unitree_joystick.h"
 #include "obelisk_ros_utils.h"
 #include "rclcpp_lifecycle/lifecycle_node.hpp"
+#include "unitree_joystick.h"
 
 int main(int argc, char* argv[]) {
-    obelisk::utils::SpinObelisk<obelisk::UnitreeJoystick, rclcpp::executors::SingleThreadedExecutor>(argc, argv,
-                                                                                                     "unitree_joystick");
-}
\ No newline at end of file
+    obelisk::utils::SpinObelisk<obelisk::UnitreeJoystick, rclcpp::executors::SingleThreadedExecutor>(
+        argc, argv, "unitree_joystick");
+}
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/CMakeLists.txt b/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/CMakeLists.txt
index 198ddac9..ce2bd711 100644
--- a/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/CMakeLists.txt
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/CMakeLists.txt
@@ -14,6 +14,7 @@ find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/PoseSetpoint.msg"
   "msg/PositionSetpoint.msg"
   "msg/PDFeedForward.msg"
   "msg/ExecutionFSM.msg"
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/PoseSetpoint.msg b/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/PoseSetpoint.msg
new file mode 100644
index 00000000..46a35e50
--- /dev/null
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/PoseSetpoint.msg
@@ -0,0 +1,7 @@
+string MESSAGE_NAME="PoseSetpoint"
+
+std_msgs/Header header
+
+# the desired pose should be in order [x, y, z, qw, qx, qy, qz]
+float64[] u_mujoco
+float64[] pose_des
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/VelocityCommand.msg b/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/VelocityCommand.msg
index 1f187ba8..37ac4c15 100644
--- a/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/VelocityCommand.msg
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_control_msgs/msg/VelocityCommand.msg
@@ -4,4 +4,4 @@ std_msgs/Header header
 
 float64 v_x
 float64 v_y
-float64 w_z
\ No newline at end of file
+float64 w_z
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkForceSensor.msg b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkForceSensor.msg
index f3708042..6f6129f6 100644
--- a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkForceSensor.msg
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkForceSensor.msg
@@ -1,4 +1,4 @@
 std_msgs/Header header
 
 float64[] forces
-string[] frames
\ No newline at end of file
+string[] frames
diff --git a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkFramePose.msg b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkFramePose.msg
index c56b6503..6c073e32 100644
--- a/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkFramePose.msg
+++ b/obelisk_ws/src/obelisk_msgs/obelisk_sensor_msgs/msg/ObkFramePose.msg
@@ -1,4 +1,4 @@
-# Obelisk complient message type to hold the current pose of a frame/body.
+# Obelisk compliant message type to hold the current pose of a frame/body.
 
 string MESSAGE_NAME="ObkFramePose"
 
@@ -7,3 +7,5 @@ std_msgs/Header header
 string frame_name
 geometry_msgs/Quaternion orientation
 geometry_msgs/Vector3 position
+geometry_msgs/Vector3 angvel
+geometry_msgs/Vector3 linvel
diff --git a/obelisk_ws/src/obelisk_ros/config/fr3.yaml b/obelisk_ws/src/obelisk_ros/config/fr3.yaml
new file mode 100644
index 00000000..b392446a
--- /dev/null
+++ b/obelisk_ws/src/obelisk_ros/config/fr3.yaml
@@ -0,0 +1,142 @@
+config: fr3
+onboard:
+  robot:  # hardware must be on the onboard computer
+    - is_simulated: False
+      pkg: obelisk_fr3_py
+      executable: obelisk_fr3_robot
+      # callback_groups:
+      params:
+        ctrl_mode: joint_pos
+      publishers:
+        - ros_parameter: pub_joints_setting
+          topic: /obelisk/fr3/joint_encoders
+          history_depth: 10
+          callback_group: None
+        - ros_parameter: pub_ee_pose_setting
+          topic: /obelisk/fr3/ee_pose
+          history_depth: 10
+          callback_group: None
+      subscribers:
+        - ros_parameter: sub_ctrl_setting
+          # key: sub1
+          topic: /obelisk/fr3/ctrl
+          history_depth: 10
+          callback_group: None
+      timers:
+        - ros_parameter: timer_sensor_setting
+          timer_period_sec: 0.004
+          callback_group: None
+high_level:  # everything else can be computed on the high-level computer
+  control:
+    - pkg: obelisk_fr3_py
+      executable: fr3_example_joint_controller
+      # callback_groups:
+      publishers:
+        - ros_parameter: pub_ctrl_setting
+          topic: /obelisk/fr3/ctrl
+          history_depth: 10
+          callback_group: None
+      subscribers:
+        - ros_parameter: sub_est_setting
+          topic: /obelisk/fr3/est
+          history_depth: 10
+          callback_group: None
+      timers:
+        - ros_parameter: timer_ctrl_setting
+          timer_period_sec: 0.01  # send mid-level commands at 100Hz to franky, which controls at 1000Hz
+          callback_group: None
+  estimation:
+    - pkg: obelisk_estimation_py
+      executable: jointencoders_passthrough_estimator
+      # callback_groups:
+      publishers:
+        - ros_parameter: pub_est_setting
+          topic: /obelisk/fr3/est
+          history_depth: 10
+          callback_group: None
+      subscribers:
+        - ros_parameter: sub_sensor_setting
+          # key: sub1
+          topic: /obelisk/fr3/joint_encoders
+          history_depth: 10
+          callback_group: None
+      timers:
+        - ros_parameter: timer_est_setting
+          timer_period_sec: 0.001
+          callback_group: None
+  # robot:  # hardware must be on the onboard computer
+  #   - is_simulated: False
+  #     pkg: obelisk_fr3_py
+  #     executable: obelisk_fr3_robot
+  #     # callback_groups:
+  #     params:
+  #       ctrl_mode: joint_pos
+  #     publishers:
+  #       - ros_parameter: pub_joints_setting
+  #         topic: /obelisk/fr3/joint_encoders
+  #         history_depth: 10
+  #         callback_group: None
+  #       - ros_parameter: pub_ee_pose_setting
+  #         topic: /obelisk/fr3/ee_pose
+  #         history_depth: 10
+  #         callback_group: None
+  #     subscribers:
+  #       - ros_parameter: sub_ctrl_setting
+  #         # key: sub1
+  #         topic: /obelisk/fr3/ctrl
+  #         history_depth: 10
+  #         callback_group: None
+  #     timers:
+  #       - ros_parameter: timer_sensor_setting
+  #         timer_period_sec: 0.004
+  #         callback_group: None
+  # sensing:
+  # # TODO: clean this up
+  # robot:  # if we're only simulating the system, we can use a non-onboard computer
+  #   - is_simulated: True
+  #     pkg: obelisk_sim_py
+  #     executable: obelisk_mujoco_robot
+  #     # callback_groups:
+  #     publishers:  # for hardware only
+  #       - ros_parameter: pub_sensor_setting
+  #         topic: /obelisk/fr3/joint_encoders
+  #         history_depth: 10
+  #         callback_group: None
+  #     subscribers:
+  #       - ros_parameter: sub_ctrl_setting
+  #         # key: sub1
+  #         topic: /obelisk/fr3/ctrl
+  #         history_depth: 10
+  #         callback_group: None
+  #     # sim:
+  #     #   - ros_parameter: mujoco_setting
+  #     #     n_u: 16
+  #     #     time_step: 0.002
+  #     #     num_steps_per_viz: 5
+  #     #     robot_pkg: leap_rh
+  #     #     model_xml_path: leap_palm_up.xml
+  #     #     sensor_settings:
+  #     #     - topic: /obelisk/leap/joint_encoders
+  #     #       dt: 0.002
+  #     #       msg_type: ObkJointEncoders
+  #     #       sensor_names:
+  #     #         if_mcp_sensor: jointpos
+  #     #         if_rot_sensor: jointpos
+  #     #         if_pip_sensor: jointpos
+  #     #         if_dip_sensor: jointpos
+  #     #         mf_mcp_sensor: jointpos
+  #     #         mf_rot_sensor: jointpos
+  #     #         mf_pip_sensor: jointpos
+  #     #         mf_dip_sensor: jointpos
+  #     #         rf_mcp_sensor: jointpos
+  #     #         rf_rot_sensor: jointpos
+  #     #         rf_pip_sensor: jointpos
+  #     #         rf_dip_sensor: jointpos
+  #     #         th_cmc_sensor: jointpos
+  #     #         th_axl_sensor: jointpos
+  #     #         th_mcp_sensor: jointpos
+  #     #         th_ipl_sensor: jointpos
+  #     timers:
+  #       - ros_parameter: timer_sensor_setting
+  #         timer_period_sec: 0.02
+  #         callback_group: None
diff --git a/obelisk_ws/src/obelisk_ros/config/g1_cpp.yaml b/obelisk_ws/src/obelisk_ros/config/g1_cpp.yaml
index bac0fdb9..1026458b 100644
--- a/obelisk_ws/src/obelisk_ros/config/g1_cpp.yaml
+++ b/obelisk_ws/src/obelisk_ros/config/g1_cpp.yaml
@@ -276,4 +276,4 @@ onboard:
   joystick:
     on: True
     pub_topic: /obelisk/g1/joy
-    sub_topic: /obelisk/g1/joy_feedback
\ No newline at end of file
+    sub_topic: /obelisk/g1/joy_feedback
diff --git a/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py b/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py
index 853e4954..fc7ebedd 100644
--- a/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py
+++ b/obelisk_ws/src/obelisk_ros/launch/obelisk_bringup.launch.py
@@ -58,6 +58,8 @@ def obelisk_setup(context: launch.LaunchContext, launch_args: Dict) -> List:
     # parsing the launch arguments
     config_file_path = context.launch_configurations.get("config_file_path")
     device_name = context.launch_configurations.get("device_name")
+    launch_global = context.launch_configurations.get("launch_global")
+    launch_global = "true" if launch_global is None else launch_global.lower()
     auto_start = context.launch_configurations.get("auto_start")
     auto_start = "true" if auto_start is None else auto_start.lower()
     bag = context.launch_configurations.get("bag")
@@ -67,11 +69,6 @@ def obelisk_setup(context: launch.LaunchContext, launch_args: Dict) -> List:
     config_name = full_config_dict["config"]
     obelisk_config = full_config_dict[device_name]  # grab the settings associated with the device
     logger.info(f"Bringing up the Obelisk nodes on device {device_name}...")
-
-    # checks - we must at least have these 3 components
-    assert "control" in obelisk_config
-    assert "estimation" in obelisk_config
-    assert "robot" in obelisk_config
     obelisk_launch_actions = []
 
     # Setup logging
@@ -94,7 +91,8 @@ def obelisk_setup(context: launch.LaunchContext, launch_args: Dict) -> List:
             entities=[shutdown_event],
         )
     )  # when the global state node enters its shutdown state, the launch file also shuts down
-    obelisk_launch_actions += [global_state_node, shutdown_event_handler]
+    if launch_global == "true":
+        obelisk_launch_actions += [global_state_node, shutdown_event_handler]
 
     # If auto_start is "true" or "activate" then configure and activate
     # If auto_start is "configure" then only configure the nodes
@@ -133,21 +131,24 @@ def obelisk_setup(context: launch.LaunchContext, launch_args: Dict) -> List:
         obelisk_launch_actions += [configure_event]
 
     # generate all launch actions
-    obelisk_launch_actions += get_launch_actions_from_node_settings(
-        obelisk_config["control"],
-        "control",
-        global_state_node,
-    )
-    obelisk_launch_actions += get_launch_actions_from_node_settings(
-        obelisk_config["estimation"],
-        "estimation",
-        global_state_node,
-    )
-    obelisk_launch_actions += get_launch_actions_from_node_settings(
-        obelisk_config["robot"],
-        "robot",
-        global_state_node,
-    )
+    if "control" in obelisk_config:
+        obelisk_launch_actions += get_launch_actions_from_node_settings(
+            obelisk_config["control"],
+            "control",
+            global_state_node,
+        )
+    if "estimation" in obelisk_config:
+        obelisk_launch_actions += get_launch_actions_from_node_settings(
+            obelisk_config["estimation"],
+            "estimation",
+            global_state_node,
+        )
+    if "robot" in obelisk_config:
+        obelisk_launch_actions += get_launch_actions_from_node_settings(
+            obelisk_config["robot"],
+            "robot",
+            global_state_node,
+        )
     if "sensing" in obelisk_config:
         obelisk_launch_actions += get_launch_actions_from_node_settings(
             obelisk_config["sensing"],
@@ -157,7 +158,6 @@ def obelisk_setup(context: launch.LaunchContext, launch_args: Dict) -> List:
     if "viz" in obelisk_config:
         logger.info("Viz present in config file.")
         obelisk_launch_actions += get_launch_actions_from_viz_settings(obelisk_config["viz"], global_state_node)
-
     if "joystick" in obelisk_config:
         logger.info("joystick present in config file.")
         obelisk_launch_actions += get_launch_actions_from_joystick_settings(
diff --git a/obelisk_ws/src/obelisk_ros/obelisk_ros/global_state.py b/obelisk_ws/src/obelisk_ros/obelisk_ros/global_state.py
index 0fc7ff38..1c7410c6 100644
--- a/obelisk_ws/src/obelisk_ros/obelisk_ros/global_state.py
+++ b/obelisk_ws/src/obelisk_ros/obelisk_ros/global_state.py
@@ -20,11 +20,11 @@ def __init__(self) -> None:
 def main(args: Optional[List] = None) -> None:
     """Main entrypoint."""
     rclpy.init(args=args)
-    obelisk_mujoco_robot = GlobalStateNode()
+    global_state_node = GlobalStateNode()
     executor = SingleThreadedExecutor()
-    executor.add_node(obelisk_mujoco_robot)
+    executor.add_node(global_state_node)
     executor.spin()
-    obelisk_mujoco_robot.destroy_node()
+    global_state_node.destroy_node()
     rclpy.shutdown()
 
 
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/fr3_example_ee_controller.py b/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/fr3_example_ee_controller.py
new file mode 100644
index 00000000..27f89955
--- /dev/null
+++ b/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/fr3_example_ee_controller.py
@@ -0,0 +1,15 @@
+from typing import List, Optional
+
+from rclpy.executors import SingleThreadedExecutor
+
+from obelisk_py.core.utils.ros import spin_obelisk
+from obelisk_py.zoo.control.example.fr3_example_ee_controller import FR3ExampleEEController
+
+
+def main(args: Optional[List] = None) -> None:
+    """Main entrypoint."""
+    spin_obelisk(args, FR3ExampleEEController, SingleThreadedExecutor)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/fr3_example_joint_controller.py b/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/fr3_example_joint_controller.py
new file mode 100644
index 00000000..e1cae837
--- /dev/null
+++ b/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/fr3_example_joint_controller.py
@@ -0,0 +1,15 @@
+from typing import List, Optional
+
+from rclpy.executors import SingleThreadedExecutor
+
+from obelisk_py.core.utils.ros import spin_obelisk
+from obelisk_py.zoo.control.example.fr3_example_joint_controller import FR3ExampleJointController
+
+
+def main(args: Optional[List] = None) -> None:
+    """Main entrypoint."""
+    spin_obelisk(args, FR3ExampleJointController, SingleThreadedExecutor)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/obelisk_fr3_robot.py b/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/obelisk_fr3_robot.py
new file mode 100644
index 00000000..b6e99ff7
--- /dev/null
+++ b/obelisk_ws/src/python/hardware/obelisk_fr3_py/obelisk_fr3_py/obelisk_fr3_robot.py
@@ -0,0 +1,15 @@
+from typing import List, Optional
+
+from rclpy.executors import SingleThreadedExecutor
+
+from obelisk_py.core.utils.ros import spin_obelisk
+from obelisk_py.zoo.hardware.robots.fr3.fr3_interface import ObeliskFR3Robot
+
+
+def main(args: Optional[List] = None) -> None:
+    """Main entrypoint."""
+    spin_obelisk(args, ObeliskFR3Robot, SingleThreadedExecutor)
+
+
+if __name__ == "__main__":
+    main()
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/package.xml b/obelisk_ws/src/python/hardware/obelisk_fr3_py/package.xml
new file mode 100644
index 00000000..42c367d5
--- /dev/null
+++ b/obelisk_ws/src/python/hardware/obelisk_fr3_py/package.xml
@@ -0,0 +1,13 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>obelisk_fr3_py</name>
+  <version>0.0.1</version>
+  <description>Python Obelisk ROS2 package for FR3 control.</description>
+  <maintainer email="alberthli@caltech.edu">alberthli</maintainer>
+  <license>MIT</license>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/resource/obelisk_fr3_py b/obelisk_ws/src/python/hardware/obelisk_fr3_py/resource/obelisk_fr3_py
new file mode 100644
index 00000000..e69de29b
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/setup.cfg b/obelisk_ws/src/python/hardware/obelisk_fr3_py/setup.cfg
new file mode 100644
index 00000000..19d6a494
--- /dev/null
+++ b/obelisk_ws/src/python/hardware/obelisk_fr3_py/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/obelisk_fr3_py
+[install]
+install_scripts=$base/lib/obelisk_fr3_py
diff --git a/obelisk_ws/src/python/hardware/obelisk_fr3_py/setup.py b/obelisk_ws/src/python/hardware/obelisk_fr3_py/setup.py
new file mode 100644
index 00000000..893ddb5f
--- /dev/null
+++ b/obelisk_ws/src/python/hardware/obelisk_fr3_py/setup.py
@@ -0,0 +1,35 @@
+import os
+from glob import glob
+from warnings import simplefilter
+
+from setuptools import SetuptoolsDeprecationWarning, setup
+
+simplefilter("ignore", category=SetuptoolsDeprecationWarning)
+
+package_name = "obelisk_fr3_py"
+
+setup(
+    name=package_name,
+    version="0.0.1",
+    packages=[package_name],
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (os.path.join("share", package_name, "launch"), glob(os.path.join("launch", "*launch.[pxy][yma]*"))),
+        (os.path.join("share", package_name, "config"), glob(os.path.join("config", "*.yaml"))),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="alberthli",
+    maintainer_email="alberthli@caltech.edu",
+    description="Python Obelisk ROS2 package for controlling the FR3.",
+    license="MIT",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "obelisk_fr3_robot = obelisk_fr3_py.obelisk_fr3_robot:main",
+            "fr3_example_joint_controller = obelisk_fr3_py.fr3_example_joint_controller:main",
+            # "fr3_example_ee_controller = obelisk_fr3_py.fr3_example_ee_controller:main",
+        ],
+    },
+)
diff --git a/obelisk_ws/src/robots/g1_description/mujoco/basic_scene.xml b/obelisk_ws/src/robots/g1_description/mujoco/basic_scene.xml
index c0f74146..860c9ca1 100644
--- a/obelisk_ws/src/robots/g1_description/mujoco/basic_scene.xml
+++ b/obelisk_ws/src/robots/g1_description/mujoco/basic_scene.xml
@@ -19,4 +19,4 @@
         <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
         <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
     </worldbody>
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/obelisk_ws/src/robots/g1_description/mujoco/g1_29dof_with_hand.xml b/obelisk_ws/src/robots/g1_description/mujoco/g1_29dof_with_hand.xml
index 2bf20698..bd8185f0 100644
--- a/obelisk_ws/src/robots/g1_description/mujoco/g1_29dof_with_hand.xml
+++ b/obelisk_ws/src/robots/g1_description/mujoco/g1_29dof_with_hand.xml
@@ -218,7 +218,7 @@ Position and velocity actuators added. -->
       <position kv="1" ctrllimited="false"/>
     </default>
   </default>
-  
+
   <asset>
     <mesh name="pelvis" file="pelvis.STL"/>
     <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
@@ -882,7 +882,7 @@ Position and velocity actuators added. -->
     <jointvel name="right_hand_index_0_joint_vel_sensor" joint="right_hand_index_0_joint"/>
     <jointvel name="right_hand_index_1_joint_vel_sensor" joint="right_hand_index_1_joint"/>
     <jointvel name="right_hand_middle_0_joint_vel_sensor" joint="right_hand_middle_0_joint"/>
-    <jointvel name="right_hand_middle_1_joint_vel_sensor" joint="right_hand_middle_1_joint"/> 
+    <jointvel name="right_hand_middle_1_joint_vel_sensor" joint="right_hand_middle_1_joint"/>
 
 
     <!-- IMU sensors -->
@@ -896,7 +896,7 @@ Position and velocity actuators added. -->
   </sensor>
 
   <keyframe>
-    <!-- <key name="standing" 
+    <!-- <key name="standing"
       qpos="0 0 0.77
             0.7 0 0 0.7
             -0.3 0 0 0.52 -0.23 0
@@ -913,7 +913,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0.2 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -921,7 +921,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -929,7 +929,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0"/> -->
-    <key name="standing" 
+    <key name="standing"
       qpos="0 0 0.79
             0 0 0 0
             -0.3 0 0 0.52 -0.23 0
@@ -946,7 +946,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0.2 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -954,7 +954,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -982,4 +982,4 @@ Position and velocity actuators added. -->
     <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody> -->
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/obelisk_ws/src/robots/g1_description/mujoco/g1_fixed_base.xml b/obelisk_ws/src/robots/g1_description/mujoco/g1_fixed_base.xml
index 1b1fbeb2..2341dba6 100644
--- a/obelisk_ws/src/robots/g1_description/mujoco/g1_fixed_base.xml
+++ b/obelisk_ws/src/robots/g1_description/mujoco/g1_fixed_base.xml
@@ -218,7 +218,7 @@ Position and velocity actuators added. -->
       <position kv="1" ctrllimited="false"/>
     </default>
   </default>
-  
+
   <asset>
     <mesh name="pelvis" file="pelvis.STL"/>
     <mesh name="pelvis_contour_link" file="pelvis_contour_link.STL"/>
@@ -893,7 +893,7 @@ Position and velocity actuators added. -->
     <jointvel name="right_hand_index_0_joint_vel_sensor" joint="right_hand_index_0_joint"/>
     <jointvel name="right_hand_index_1_joint_vel_sensor" joint="right_hand_index_1_joint"/>
     <jointvel name="right_hand_middle_0_joint_vel_sensor" joint="right_hand_middle_0_joint"/>
-    <jointvel name="right_hand_middle_1_joint_vel_sensor" joint="right_hand_middle_1_joint"/> 
+    <jointvel name="right_hand_middle_1_joint_vel_sensor" joint="right_hand_middle_1_joint"/>
 
 
     <!-- IMU sensors -->
@@ -907,7 +907,7 @@ Position and velocity actuators added. -->
   </sensor>
 
   <keyframe>
-    <!-- <key name="standing" 
+    <!-- <key name="standing"
       qpos="-0.3 0 0 0.52 -0.23 0
             -0.3 0 0 0.52 -0.23 0
             0 0 0.03
@@ -922,7 +922,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0.2 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -930,7 +930,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -938,7 +938,7 @@ Position and velocity actuators added. -->
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0"/> -->
-    <key name="standing" 
+    <key name="standing"
       qpos="-0.3 0 0 0.52 -0.23 0
             -0.3 0 0 0.52 -0.23 0
             0 0 0.03
@@ -951,13 +951,13 @@ Position and velocity actuators added. -->
             0 0 0
             0 0 0 0.2 0 0 0
             0 0 0 0.2 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
             0 0 0 0 0 0 0
             0 0 0 0 0 0 0
-            
+
             0 0 0 0 0 0
             0 0 0 0 0 0
             0 0 0
@@ -983,4 +983,4 @@ Position and velocity actuators added. -->
     <light pos="1 0 3.5" dir="0 0 -1" directional="true"/>
     <geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
   </worldbody> -->
-</mujoco>
\ No newline at end of file
+</mujoco>
diff --git a/obelisk_ws/src/robots/g1_description/urdf/g1.urdf b/obelisk_ws/src/robots/g1_description/urdf/g1.urdf
index 521e0faa..d86ffdd1 100644
--- a/obelisk_ws/src/robots/g1_description/urdf/g1.urdf
+++ b/obelisk_ws/src/robots/g1_description/urdf/g1.urdf
@@ -1529,4 +1529,4 @@
       </geometry>
     </collision>
   </link>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/calf.dae b/obelisk_ws/src/robots/go2_description/meshes/calf.dae
index 83221779..2751a914 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/calf.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/calf.dae
@@ -127,4 +127,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/calf_mirror.dae b/obelisk_ws/src/robots/go2_description/meshes/calf_mirror.dae
index 413fd75d..80ad9bf9 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/calf_mirror.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/calf_mirror.dae
@@ -127,4 +127,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/foot.dae b/obelisk_ws/src/robots/go2_description/meshes/foot.dae
index 22bfcf49..fc1bc571 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/foot.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/foot.dae
@@ -86,4 +86,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/hip.dae b/obelisk_ws/src/robots/go2_description/meshes/hip.dae
index 1bec1a72..3566c93b 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/hip.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/hip.dae
@@ -127,4 +127,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/thigh.dae b/obelisk_ws/src/robots/go2_description/meshes/thigh.dae
index a17c0482..40c96f8f 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/thigh.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/thigh.dae
@@ -127,4 +127,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/thigh_mirror.dae b/obelisk_ws/src/robots/go2_description/meshes/thigh_mirror.dae
index fb424112..ba0925fd 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/thigh_mirror.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/thigh_mirror.dae
@@ -127,4 +127,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/meshes/trunk.dae b/obelisk_ws/src/robots/go2_description/meshes/trunk.dae
index 4e47b5be..8f317530 100644
--- a/obelisk_ws/src/robots/go2_description/meshes/trunk.dae
+++ b/obelisk_ws/src/robots/go2_description/meshes/trunk.dae
@@ -214,4 +214,4 @@
   <scene>
     <instance_visual_scene url="#Scene"/>
   </scene>
-</COLLADA>
\ No newline at end of file
+</COLLADA>
diff --git a/obelisk_ws/src/robots/go2_description/mujoco/go2.xml b/obelisk_ws/src/robots/go2_description/mujoco/go2.xml
index 1a7e239a..91e82993 100644
--- a/obelisk_ws/src/robots/go2_description/mujoco/go2.xml
+++ b/obelisk_ws/src/robots/go2_description/mujoco/go2.xml
@@ -59,9 +59,9 @@
           <!-- <velocity kv="0" ctrllimited="false"/> -->
           <!-- <velocity kv="1" ctrllimited="false"/> -->
           <velocity kv="2.5" ctrllimited="false"/>
-        </default> 
+        </default>
       </default>
-      
+
       <!-- Calf joints -->
       <default class="calf">
         <joint range="-2.7227 -0.83776" actuatorfrcrange="-45.43 45.43"/>
@@ -112,7 +112,7 @@
     <mesh name="thigh_mirror" file="thigh_mirror.stl"/>
     <mesh name="calf_mirror" file="calf_mirror.stl"/>
 
-<!-- 
+<!--
     <mesh file="base_0.obj"/>
     <mesh file="base_1.obj"/>
     <mesh file="base_2.obj"/>
@@ -148,7 +148,7 @@
       <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
       <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
       <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
-      
+
       <site name="imu" pos="-0.02557 0 0.04232"/>
       <site name="torso_mocap_site" pos="0 0 0" euler="0 0 0" size="0.01"/>
 
@@ -369,7 +369,7 @@
     <position class="hip_pos" name="RL_hip_joint_pos" joint="RL_hip_joint"/>
     <position class="thigh_pos" name="RL_thigh_joint_pos" joint="RL_thigh_joint"/>
     <position class="calf_pos" name="RL_calf_joint_pos" joint="RL_calf_joint"/>
-    
+
     <!-- Velocity Control -->
     <velocity class="hip_vel" name="FR_hip_joint_vel" joint="FR_hip_joint"/>
     <velocity class="thigh_vel" name="FR_thigh_joint_vel" joint="FR_thigh_joint"/>
@@ -383,7 +383,7 @@
     <velocity class="hip_vel" name="RL_hip_joint_vel" joint="RL_hip_joint"/>
     <velocity class="thigh_vel" name="RL_thigh_joint_vel" joint="RL_thigh_joint"/>
     <velocity class="calf_vel" name="RL_calf_joint_vel" joint="RL_calf_joint"/>
-    
+
     <!-- Torque Control -->
     <motor class="hip" name="FR_hip_joint" joint="FR_hip_joint"/>
     <motor class="thigh" name="FR_thigh_joint" joint="FR_thigh_joint"/>
diff --git a/obelisk_ws/src/robots/go2_description/mujoco/go2_fixed_base.xml b/obelisk_ws/src/robots/go2_description/mujoco/go2_fixed_base.xml
index 3dac6315..a933df7c 100644
--- a/obelisk_ws/src/robots/go2_description/mujoco/go2_fixed_base.xml
+++ b/obelisk_ws/src/robots/go2_description/mujoco/go2_fixed_base.xml
@@ -59,9 +59,9 @@
           <!-- <velocity kv="0" ctrllimited="false"/> -->
           <!-- <velocity kv="1" ctrllimited="false"/> -->
           <velocity kv="2.5" ctrllimited="false"/>
-        </default> 
+        </default>
       </default>
-      
+
       <!-- Calf joints -->
       <default class="calf">
         <joint range="-2.7227 -0.83776" actuatorfrcrange="-45.43 45.43"/>
@@ -112,7 +112,7 @@
     <mesh name="thigh_mirror" file="thigh_mirror.stl"/>
     <mesh name="calf_mirror" file="calf_mirror.stl"/>
 
-<!-- 
+<!--
     <mesh file="base_0.obj"/>
     <mesh file="base_1.obj"/>
     <mesh file="base_2.obj"/>
@@ -148,7 +148,7 @@
       <geom size="0.1881 0.04675 0.057" type="box" class="collision"/>
       <geom size="0.05 0.045" pos="0.285 0 0.01" type="cylinder" class="collision"/>
       <geom size="0.047" pos="0.293 0 -0.06" class="collision"/>
-      
+
       <site name="imu" pos="-0.02557 0 0.04232"/>
       <site name="torso_mocap_site" pos="0 0 0" euler="0 0 0" size="0.01"/>
 
@@ -369,7 +369,7 @@
     <position class="hip_pos" name="RL_hip_joint_pos" joint="RL_hip_joint"/>
     <position class="thigh_pos" name="RL_thigh_joint_pos" joint="RL_thigh_joint"/>
     <position class="calf_pos" name="RL_calf_joint_pos" joint="RL_calf_joint"/>
-    
+
     <!-- Velocity Control -->
     <velocity class="hip_vel" name="FR_hip_joint_vel" joint="FR_hip_joint"/>
     <velocity class="thigh_vel" name="FR_thigh_joint_vel" joint="FR_thigh_joint"/>
@@ -383,7 +383,7 @@
     <velocity class="hip_vel" name="RL_hip_joint_vel" joint="RL_hip_joint"/>
     <velocity class="thigh_vel" name="RL_thigh_joint_vel" joint="RL_thigh_joint"/>
     <velocity class="calf_vel" name="RL_calf_joint_vel" joint="RL_calf_joint"/>
-    
+
     <!-- Torque Control -->
     <motor class="hip" name="FR_hip_joint" joint="FR_hip_joint"/>
     <motor class="thigh" name="FR_thigh_joint" joint="FR_thigh_joint"/>
diff --git a/obelisk_ws/src/robots/go2_description/urdf/go2.urdf b/obelisk_ws/src/robots/go2_description/urdf/go2.urdf
index 62098662..b5b4b8e6 100644
--- a/obelisk_ws/src/robots/go2_description/urdf/go2.urdf
+++ b/obelisk_ws/src/robots/go2_description/urdf/go2.urdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="utf-8"?>
 <!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by
-Stephen Brawner (brawner@gmail.com) 
+Stephen Brawner (brawner@gmail.com)
      Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
      For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
 <!-- Modified by Zach Olkin. Reduced velocity limits for MPC. -->
@@ -1364,4 +1364,4 @@ Stephen Brawner (brawner@gmail.com)
     <axis
       xyz="0 0 0" />
   </joint>
-</robot>
\ No newline at end of file
+</robot>
diff --git a/pixi.lock b/pixi.lock
index 531f84d9..53b95932 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -1,4 +1,4 @@
-version: 5
+version: 6
 environments:
   build:
     channels:
@@ -9,255 +9,214 @@ environments:
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+  - console_bridge
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   - ros-humble-trajectory-msgs
   - ros-humble-visualization-msgs
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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-  - ros2-distro-mutex 0.5.* humble
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   license: BSD-3-Clause
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-- kind: conda
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-  arch: x86_64
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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-- kind: conda
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   license: BSD-3-Clause
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-- kind: conda
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   license: BSD-3-Clause
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-  - libstdcxx-ng >=12
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-  - python
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+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   - python_abi 3.11.* *_cp311
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   license: BSD-3-Clause
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-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
+  - libignition-cmake2
   - python
+  - ros-humble-ros-workspace
+  - ros2-distro-mutex 0.6.* humble_*
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+  - __glibc >=2.17,<3.0.a0
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   - python_abi 3.11.* *_cp311
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-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
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+  - __glibc >=2.17,<3.0.a0
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+  - python_abi 3.11.* *_cp311
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+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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   - python
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   - ros-humble-pluginlib
   - ros-humble-rclcpp
   - ros-humble-ros-workspace
   - ros-humble-sensor-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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-- kind: conda
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-interactive-markers-2.3.2-np126py311h2c3b307_7.conda
+  sha256: f67305f3ba1dbd8bc42fa29df62f06fae7cf89d4bb7e94f26eeaae9432a8664c
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
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   - python
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   - ros-humble-builtin-interfaces
   - ros-humble-rclcpp
   - ros-humble-rclpy
@@ -13079,117 +11342,82 @@ packages:
   - ros-humble-tf2
   - ros-humble-tf2-geometry-msgs
   - ros-humble-visualization-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 322347
-  timestamp: 1707317146067
-- kind: conda
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-  md5: 3cf88cf31853bb097941002dc3f2fa60
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-joy-3.3.0-np126py311h2c3b307_7.conda
+  sha256: 556a7c2729d8530ea389d5e165f7291cc583e4044db8d678311d20c8822e6c6f
+  md5: 5a092cc58a7ce9cd30640e87b411a456
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-  - libgcc-ng >=12
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   - ros-humble-rclcpp-components
   - ros-humble-ros-workspace
   - ros-humble-sdl2-vendor
   - ros-humble-sensor-msgs
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-  license: BSD-3-Clause
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-- kind: conda
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-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
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   - python_abi 3.11.* *_cp311
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+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-kdl-parser-2.6.4-np126py311h2c3b307_7.conda
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   - ros-humble-rcutils
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   - ros-humble-urdf
   - ros-humble-urdfdom-headers
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
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+  - python_abi 3.11.* *_cp311
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
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-- kind: conda
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libgcc >=14
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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-- kind: conda
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-  md5: 390e7a154cc1d30df81af45d4a85a236
+  size: 53516
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-laser-geometry-2.4.0-np126py311h2c3b307_7.conda
+  sha256: 16570ba41be209ec1d073abb7bd1c8ac22a5092981ad5d92fa6adef44b78a2ef
+  md5: bf499b5a0f15e19e8d07a86054a62ebb
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   - eigen
-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
+  - numpy
   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-eigen3-cmake-module
   - ros-humble-rclcpp
   - ros-humble-rclpy
@@ -13197,63 +11425,44 @@ packages:
   - ros-humble-sensor-msgs
   - ros-humble-sensor-msgs-py
   - ros-humble-tf2
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 40703
-  timestamp: 1707315102699
-- kind: conda
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-  build: py311hb335429_6
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-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-launch-1.0.4-py311hb335429_6.tar.bz2
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-  md5: 0b009ff9add5fd23cc007acb07389169
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-launch-1.0.7-np126py311h2c3b307_7.conda
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   - ros-humble-osrf-pycommon
   - ros-humble-ros-workspace
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-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
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+  - __glibc >=2.17,<3.0.a0
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   license: BSD-3-Clause
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+  sha256: 27065230af004e4d7d14ada51dd999234b4b7e9ee87be6f70e044c9f2e4b1ec6
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   - pyyaml
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   - ros-humble-composition-interfaces
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   - ros-humble-rclpy
   - ros-humble-ros-workspace
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
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+  - python_abi 3.11.* *_cp311
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+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
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+  - numpy >=1.26.4,<2.0a0
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+  - numpy >=1.26.4,<2.0a0
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   license: BSD-3-Clause
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-- kind: conda
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-libstatistics-collector-1.3.4-np126py311h2c3b307_7.conda
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   - ros-humble-statistics-msgs
   - ros-humble-std-msgs
-  - ros2-distro-mutex 0.5.*
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
-  size: 32761
-  timestamp: 1707314735937
-- kind: conda
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   license: BSD-3-Clause
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-- kind: conda
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-- kind: conda
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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+  size: 27146
+  timestamp: 1736208432657
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-robot-state-publisher-3.0.3-np126py311h2c3b307_7.conda
+  sha256: a04e232d30a7fac7146a7a36776dd61fb6176c39193699f1fe4409276529e455
+  md5: 64734374ee4c9bf82d8fd78dffe7d8f2
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
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   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-builtin-interfaces
   - ros-humble-geometry-msgs
   - ros-humble-kdl-parser
@@ -14599,31 +12411,22 @@ packages:
   - ros-humble-std-msgs
   - ros-humble-tf2-ros
   - ros-humble-urdf
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.11.* *_cp311
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 256568
-  timestamp: 1707316462489
-- kind: conda
-  name: ros-humble-ros-base
-  version: 0.10.0
-  build: py311hb335429_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-base-0.10.0-py311hb335429_6.tar.bz2
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-  md5: 00fc7d4e9a00d11a1029d2b0d4621add
+  size: 254123
+  timestamp: 1736211799236
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-base-0.10.0-np126py311h2c3b307_7.conda
+  sha256: fb396d7bc78951c1828f2b68c82c600d43c116ddce42a462eb6f7af31524e16b
+  md5: 82b6cb45214797a894f0276266abb79d
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
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   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-geometry2
   - ros-humble-kdl-parser
   - ros-humble-robot-state-publisher
@@ -14631,31 +12434,22 @@ packages:
   - ros-humble-ros-workspace
   - ros-humble-rosbag2
   - ros-humble-urdf
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - python_abi 3.11.* *_cp311
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 12986
-  timestamp: 1707321538345
-- kind: conda
-  name: ros-humble-ros-core
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-  build: py311hb335429_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-core-0.10.0-py311hb335429_6.tar.bz2
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-  md5: 2ed4baaa358756411d9d178f24d4b947
+  size: 20781
+  timestamp: 1736214867192
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-core-0.10.0-np126py311h2c3b307_7.conda
+  sha256: de6f090a8c8b48642c74530f84c5e774c9bf7b2a04a8518c878c6a90be25d37c
+  md5: d3a99c7af96484b7a63b2240f83ada73
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-  - libgcc-ng >=12
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-  - libstdcxx-ng >=12
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   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-ament-cmake
   - ros-humble-ament-cmake-auto
   - ros-humble-ament-cmake-gmock
@@ -14689,173 +12483,116 @@ packages:
   - ros-humble-rosidl-default-runtime
   - ros-humble-sros2
   - ros-humble-sros2-cmake
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 12540
-  timestamp: 1707318075687
-- kind: conda
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-  build: py311hb335429_6
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-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-environment-3.2.2-py311hb335429_6.tar.bz2
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-  md5: 011502f8cbd510404fe9c6f3cc433555
+  size: 21492
+  timestamp: 1736212873563
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-environment-3.2.2-np126py311h2c3b307_7.conda
+  sha256: a3ba1ae288be4d8981a33622c7ce7934f4dbdd93a9faf65dd89f3dba9f0ff735
+  md5: 2827f64436920c02631b8b3077433824
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
   - python
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
   - python_abi 3.11.* *_cp311
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
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-- kind: conda
-  name: ros-humble-ros-workspace
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-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros-workspace-1.0.2-py311hb335429_6.tar.bz2
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-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
   - python
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
   - python_abi 3.11.* *_cp311
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.11.* *_cp311
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
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-- kind: conda
-  name: ros-humble-ros2cli
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=13
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+  - libgcc >=13
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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+  size: 74347
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros2cli-common-extensions-0.1.1-np126py311h2c3b307_7.conda
+  sha256: dfc33f265b04a79b019f1182b373959b407f64e407a06dfa6afe4ab9f4a971e3
+  md5: 3c0e29c762ae982c5243b74bc57ca544
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
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   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-launch-xml
   - ros-humble-launch-yaml
   - ros-humble-ros-workspace
@@ -14874,31 +12611,22 @@ packages:
   - ros-humble-ros2service
   - ros-humble-ros2topic
   - ros-humble-sros2
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
-  size: 12118
-  timestamp: 1707317341471
-- kind: conda
-  name: ros-humble-ros2component
-  version: 0.18.8
-  build: py311hb335429_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros2component-0.18.8-py311hb335429_6.tar.bz2
-  sha256: 93571836f303edbbe7fb68df6106f3148f564c077b7a85264847c5d81de105f9
-  md5: 8da48ae8da860c8c3c94de91bdb70ead
+  size: 24508
+  timestamp: 1736212526034
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros2component-0.18.11-np126py311h2c3b307_7.conda
+  sha256: 5c9af67fa1a3ddb8d0837065cab5698addc143c33e4b66a05723e19cc3456dbd
+  md5: 75140c0d0a706c7a66609e6a0fefcdd3
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-  - libgcc-ng >=12
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   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-ament-index-python
   - ros-humble-composition-interfaces
   - ros-humble-rcl-interfaces
@@ -14909,94 +12637,64 @@ packages:
   - ros-humble-ros2node
   - ros-humble-ros2param
   - ros-humble-ros2pkg
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 37861
-  timestamp: 1707316837227
-- kind: conda
-  name: ros-humble-ros2doctor
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-  build: py311hb335429_6
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-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros2doctor-0.18.8-py311hb335429_6.tar.bz2
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-  md5: f831b8e6686c7afcaa1da24658c16e50
+  size: 37708
+  timestamp: 1736212002425
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-ros2doctor-0.18.11-np126py311h2c3b307_7.conda
+  sha256: 6483f68e9ca4f7a67184857d097e1d43a6ae6fd2a88a6f37d1c2ceaf50b2c1fe
+  md5: 22e7ebd646f1b1ea4306b1a2e41c4574
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   - ros-humble-ros-workspace
   - ros-humble-ros2cli
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
+  - ros2-distro-mutex 0.6.* humble_*
   - rosdistro
-  arch: x86_64
-  platform: linux
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
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-- kind: conda
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-  - ros2-distro-mutex 0.5.* humble
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+  - numpy >=1.26.4,<2.0a0
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-- kind: conda
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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-- kind: conda
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   - ros-humble-sqlite3-vendor
-  - ros2-distro-mutex 0.5.*
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
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-- kind: conda
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
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+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
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+  - python_abi 3.11.* *_cp311
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   license: BSD-3-Clause
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+  sha256: 8604a7c44f80cfceb30a3cbe120fe2c4c2fe43c8551a3660b19f87b9afb9b198
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-  - ros2-distro-mutex 0.5.* humble
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
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   license: BSD-3-Clause
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-  timestamp: 1707319345287
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   license: BSD-3-Clause
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-  md5: d40cd11d31d5065918961e6bfeb822f9
+  size: 231148
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+  sha256: 3f8df70a407dcb4dc40bce2f8a243f5a183794cbe909f0899cd5823772062f36
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-  - libgcc-ng >=12
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   - ros-humble-yaml-cpp-vendor
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+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rosbag2-transport-0.15.13-np126py311h2c3b307_7.conda
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   - ros-humble-shared-queues-vendor
   - ros-humble-yaml-cpp-vendor
-  - ros2-distro-mutex 0.5.*
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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   license: BSD-3-Clause
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+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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   license: BSD-3-Clause
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   - ros-humble-rosidl-typesupport-interface
   - ros-humble-rosidl-typesupport-introspection-c
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-  - ros2-distro-mutex 0.5.* humble
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+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
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   license: BSD-3-Clause
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   - ros-humble-ament-index-python
   - ros-humble-rcpputils
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   - ros-humble-rosidl-typesupport-interface
   - ros-humble-rosidl-typesupport-introspection-cpp
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
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-  platform: linux
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+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
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+  sha256: 0ba946b80619bb404b2ebb8fb3f421a434b1bfeb9d5d88fc71bcb6c567a1a7ab
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   - ros-humble-ament-cmake-ros
   - ros-humble-ament-index-python
   - ros-humble-fastcdr
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   - ros-humble-rosidl-typesupport-fastrtps-cpp
   - ros-humble-rosidl-typesupport-interface
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-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rosidl-typesupport-fastrtps-cpp-2.2.2-py311hb335429_6.tar.bz2
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-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
-  - python
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   - python_abi 3.11.* *_cp311
+  license: BSD-3-Clause
+  size: 46895
+  timestamp: 1736208930591
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rosidl-typesupport-fastrtps-cpp-2.2.2-np126py311h2c3b307_7.conda
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+  - python
   - ros-humble-ament-cmake-ros
   - ros-humble-ament-index-python
   - ros-humble-fastcdr
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   - ros-humble-rosidl-runtime-cpp
   - ros-humble-rosidl-typesupport-interface
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
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+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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-  md5: 79df860ca6a3d1b6021292d3ee03767d
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   - ros-humble-ros-workspace
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-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rosidl-typesupport-introspection-c-3.1.6-np126py311h2c3b307_7.conda
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-  - libgcc-ng >=12
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   - python
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   - ros-humble-ament-cmake
   - ros-humble-ament-index-python
   - ros-humble-ros-workspace
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   - ros-humble-rosidl-cmake
   - ros-humble-rosidl-parser
   - ros-humble-rosidl-runtime-c
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
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+  - __glibc >=2.17,<3.0.a0
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+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
-  size: 30434
-  timestamp: 1707311673819
-- kind: conda
-  name: ros-humble-rosidl-typesupport-introspection-cpp
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-  md5: 7e00e6cfd1161ceb1b663f027429d51c
+  size: 44587
+  timestamp: 1736208707557
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rosidl-typesupport-introspection-cpp-3.1.6-np126py311h2c3b307_7.conda
+  sha256: e911a28f29af4782227a03c1f2f8c0db3f68cb90604dfb4541faec50a19b5504
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-  - libgcc-ng >=12
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   - python
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   - ros-humble-ament-cmake
   - ros-humble-ament-index-python
   - ros-humble-ros-workspace
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   - ros-humble-rosidl-runtime-cpp
   - ros-humble-rosidl-typesupport-interface
   - ros-humble-rosidl-typesupport-introspection-c
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
-  size: 30522
-  timestamp: 1707311814656
-- kind: conda
-  name: ros-humble-rpyutils
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-  build: py311hb335429_6
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-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rpyutils-0.2.1-py311hb335429_6.tar.bz2
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-  md5: f608349f2e7bf14a2ee4f317b2c4f8ec
+  size: 44973
+  timestamp: 1736208748719
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rosx-introspection-1.0.2-np126py311h2c3b307_7.conda
+  sha256: be55bf3ed88efda92cebdddcba2ab5613c87dde3671d5cd7c554ed0bde69a5ad
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-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
   - python
-  - python_abi 3.11.* *_cp311
+  - rapidjson
+  - ros-humble-ament-index-cpp
+  - ros-humble-fastcdr
+  - ros-humble-rclcpp
   - ros-humble-ros-workspace
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros-humble-rosbag2-cpp
+  - ros2-distro-mutex 0.6.* humble_*
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+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
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   - python
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   - python_abi 3.11.* *_cp311
+  license: BSD-3-Clause
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rti-connext-dds-cmake-module-0.11.3-np126py311h2c3b307_7.conda
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   - ros-humble-ament-cmake
   - ros-humble-ros-workspace
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-  - ros2-distro-mutex 0.5.* humble
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-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
-  - python
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
   - python_abi 3.11.* *_cp311
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
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-- kind: conda
-  name: ros-humble-rviz-common
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
+  - assimp
   - python
+  - ros-humble-ros-workspace
+  - ros2-distro-mutex 0.6.* humble_*
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+  - libstdcxx >=14
+  - libgcc >=14
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+  - numpy >=1.26.4,<2.0a0
   - python_abi 3.11.* *_cp311
-  - qt-main >=5.15.8,<5.16.0a0
+  license: BSD-3-Clause
+  size: 22805
+  timestamp: 1736207942524
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-common-11.2.15-np126py311h2c3b307_7.conda
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+  md5: fa85c669637c948873b6c620f26ef490
+  depends:
+  - python
+  - qt-main
   - ros-humble-geometry-msgs
   - ros-humble-message-filters
   - ros-humble-pluginlib
@@ -16302,34 +13645,29 @@ packages:
   - ros-humble-tinyxml2-vendor
   - ros-humble-urdf
   - ros-humble-yaml-cpp-vendor
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-  - ros2-distro-mutex 0.5.* humble
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-  - xorg-libxext >=1.3.4,<2.0a0
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 922313
-  timestamp: 1707317098728
-- kind: conda
-  name: ros-humble-rviz-default-plugins
-  version: 11.2.10
-  build: py311h27406db_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-default-plugins-11.2.10-py311h27406db_6.tar.bz2
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-  md5: 1917bcda6e20068afc75eaf4386ed0c6
+  size: 865497
+  timestamp: 1736211997586
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-default-plugins-11.2.15-np126py311h2c3b307_7.conda
+  sha256: cbf35da017a8511903729f06c380292d92617d3de7dc8a24fdcc36abd9aa04e0
+  md5: b2fc7d1767d728e5c4f130ab1d5a9c28
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-  - __glibc >=2.17,<3.0.a0
-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
   - python
-  - python_abi 3.11.* *_cp311
-  - qt-main >=5.15.8,<5.16.0a0
+  - qt-main
   - ros-humble-geometry-msgs
   - ros-humble-ignition-math6-vendor
   - ros-humble-image-transport
@@ -16349,108 +13687,98 @@ packages:
   - ros-humble-tf2-ros
   - ros-humble-urdf
   - ros-humble-visualization-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  - xorg-libx11 >=1.8.7,<2.0a0
-  - xorg-libxext >=1.3.4,<2.0a0
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - xorg-libx11
+  - xorg-libxext
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - python_abi 3.11.* *_cp311
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 2598321
-  timestamp: 1707318881234
-- kind: conda
-  name: ros-humble-rviz-ogre-vendor
-  version: 11.2.10
-  build: py311hcb5fb3e_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-ogre-vendor-11.2.10-py311hcb5fb3e_6.tar.bz2
-  sha256: ca78897fafd2917cfbc2352aae4f937c311d98267caafdec52b9db4992362b57
-  md5: e020775653157774ff6607a277a0a9ca
+  size: 2265643
+  timestamp: 1736213020598
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-ogre-vendor-11.2.15-np126py311h2c3b307_7.conda
+  sha256: f9786740ee8717af8e9ad1db0d918316dbb6738ce7b383b280124e71ae869700
+  md5: 3486cdfd5dda6d43bfacd203f9cf173b
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-  - libzlib >=1.2.13,<1.3.0a0
-  - numpy >=1.23.5,<2.0a0
-  - pugixml >=1.14,<1.15.0a0
+  - assimp
+  - freetype
   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-ros-workspace
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
+  - ros2-distro-mutex 0.6.* humble_*
   - xorg-libx11
-  - xorg-libx11 >=1.8.7,<2.0a0
   - xorg-libxaw
-  - xorg-libxext >=1.3.4,<2.0a0
   - xorg-libxrandr
+  - xorg-xorgproto
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - assimp >=5.4.3,<5.4.4.0a0
+  - libgl >=1.7.0,<2.0a0
+  - python_abi 3.11.* *_cp311
   - zziplib >=0.13.69,<0.14.0a0
-  arch: x86_64
-  platform: linux
+  - pugixml >=1.14,<1.15.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libxrandr >=1.5.4,<2.0a0
+  - freetype >=2.12.1,<3.0a0
+  - libzlib >=1.3.1,<2.0a0
+  - freeimage >=3.18.0,<3.19.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 5747772
-  timestamp: 1707310415179
-- kind: conda
-  name: ros-humble-rviz-rendering
-  version: 11.2.10
-  build: py311hd4beeb7_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-rendering-11.2.10-py311hd4beeb7_6.tar.bz2
-  sha256: b1cf47a56ccde4ee7cca07eaa0c623e3a294e52e83db337e96a9314fb5da72f5
-  md5: 459f1f01edc2a8c2ec5238336a09cf12
+  size: 5513885
+  timestamp: 1736207562666
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-rendering-11.2.15-np126py311h2c3b307_7.conda
+  sha256: ebcad1222c48f33792266b6c758e72bc3b32c6bd4a4eb534e7a96b04a1978392
+  md5: d53d357fdbbd762a69f72b614790d72e
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-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
   - python
-  - python_abi 3.11.* *_cp311
-  - qt-main >=5.15.8,<5.16.0a0
+  - qt-main
   - ros-humble-ament-index-cpp
   - ros-humble-eigen3-cmake-module
   - ros-humble-resource-retriever
   - ros-humble-ros-workspace
   - ros-humble-rviz-assimp-vendor
   - ros-humble-rviz-ogre-vendor
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  - xorg-libx11 >=1.8.7,<2.0a0
-  - xorg-libxext >=1.3.4,<2.0a0
-  arch: x86_64
-  platform: linux
-  license: BSD-3-Clause
-  purls: []
-  size: 998523
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-- kind: conda
-  name: ros-humble-rviz-visual-tools
-  version: 4.1.4
-  build: py311h27406db_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-visual-tools-4.1.4-py311h27406db_6.tar.bz2
-  sha256: 4edb031f35fd0833dcea70dd984a0f1824177dbabdaf0bd2883c30bdbe58c55b
-  md5: 03aea12a8b92e7a3f4e7e0506abe3f72
-  depends:
+  - ros2-distro-mutex 0.6.* humble_*
+  - xorg-libx11
+  - xorg-libxext
+  - libstdcxx >=14
+  - libgcc >=14
   - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - xorg-libxext >=1.3.6,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - glew >=2.1.0,<2.2.0a0
+  - libgl >=1.7.0,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 902675
+  timestamp: 1736208566702
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz-visual-tools-4.1.4-np126py311h2c3b307_7.conda
+  sha256: 7082f6e4abd6bf3578fb6259044e36db58153b3a3c85fc6f9384aecadaa95101
+  md5: 4e30a2b75213ca689f2c6ff77f337861
+  depends:
   - eigen
-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
   - python
-  - python_abi 3.11.* *_cp311
-  - qt-main >=5.15.8,<5.16.0a0
+  - qt-main
   - ros-humble-ament-index-python
   - ros-humble-eigen-stl-containers
   - ros-humble-eigen3-cmake-module
@@ -16475,580 +13803,410 @@ packages:
   - ros-humble-tf2-geometry-msgs
   - ros-humble-trajectory-msgs
   - ros-humble-visualization-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  - xorg-libx11 >=1.8.9,<2.0a0
-  - xorg-libxext >=1.3.4,<2.0a0
-  arch: x86_64
-  platform: linux
-  purls: []
-  size: 487609
-  timestamp: 1713143170394
-- kind: conda
-  name: ros-humble-rviz2
-  version: 11.2.10
-  build: py311h27406db_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz2-11.2.10-py311h27406db_6.tar.bz2
-  sha256: b4d05f4536c62442f6643d4f41a42de259fff7894a556a652f96c6356c815002
-  md5: 899a5211800fab018dcb029dc6e23d83
-  depends:
+  - ros2-distro-mutex 0.6.* humble_*
+  - xorg-libx11
+  - xorg-libxext
   - __glibc >=2.17,<3.0.a0
-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
-  - python
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - qt-main >=5.15.15,<5.16.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
   - python_abi 3.11.* *_cp311
-  - qt-main >=5.15.8,<5.16.0a0
+  - libgl >=1.7.0,<2.0a0
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  license: BSD-3-Clause
+  size: 450891
+  timestamp: 1736214001919
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-rviz2-11.2.15-np126py311h2c3b307_7.conda
+  sha256: ee3283a41cf43a844dcf6c6fe326e5df23adbf0b5f7321b74d708e5179e02071
+  md5: 24a647930dd99ac9a395b8c8490f92f1
+  depends:
+  - python
   - ros-humble-ros-workspace
   - ros-humble-rviz-common
   - ros-humble-rviz-default-plugins
   - ros-humble-rviz-ogre-vendor
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  - xorg-libx11 >=1.8.7,<2.0a0
-  - xorg-libxext >=1.3.4,<2.0a0
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - xorg-libx11
+  - xorg-libxext
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - xorg-libxext >=1.3.6,<2.0a0
+  - xorg-libx11 >=1.8.10,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - qt-main >=5.15.15,<5.16.0a0
+  - libgl >=1.7.0,<2.0a0
+  - libopengl >=1.7.0,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
-  size: 25723
-  timestamp: 1707319277252
-- kind: conda
-  name: ros-humble-sdl2-vendor
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-  build: py311h5e8cc36_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-sdl2-vendor-3.3.0-py311h5e8cc36_6.tar.bz2
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-  md5: 1e25ad944b583a393206787cbcf58344
+  size: 59614
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-sdl2-vendor-3.3.0-np126py311h2c3b307_7.conda
+  sha256: 2f310d179571fbf0d0b685b2168e507b5ae174e1cdfc91eb6b65093ad27cfefc
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   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-ros-workspace
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-  - ros2-distro-mutex 0.5.* humble
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-  arch: x86_64
-  platform: linux
-  license: BSD-3-Clause
-  size: 11578
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-- kind: conda
-  name: ros-humble-sensor-msgs
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-  build: py311hb335429_6
-  build_number: 6
-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-sensor-msgs-4.2.3-py311hb335429_6.tar.bz2
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-  md5: 2e04ab7d8951130b2caea82da950a4af
-  depends:
+  - ros2-distro-mutex 0.6.* humble_*
+  - sdl2
+  - libgcc >=14
+  - libstdcxx >=14
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - numpy >=1.23.5,<2.0a0
-  - python
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   - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  license: BSD-3-Clause
+  size: 25026
+  timestamp: 1736207165091
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-sensor-msgs-4.2.4-np126py311h2c3b307_7.conda
+  sha256: d5ee5588dc8f4ecfa831a31c70e0be13728ae19b3c30d8dcc6d5514e781bf317
+  md5: 723fbaf94adae9ec48c6eb6f75b554af
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+  - python
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   - ros-humble-geometry-msgs
   - ros-humble-ros-workspace
   - ros-humble-rosidl-default-runtime
   - ros-humble-std-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 480324
-  timestamp: 1707313768015
-- kind: conda
-  name: ros-humble-sensor-msgs-py
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-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-sensor-msgs-py-4.2.3-py311hb335429_6.tar.bz2
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-  md5: eeca01b8bde938e1e237e8ff3dc5fa79
+  size: 446751
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-sensor-msgs-py-4.2.4-np126py311h2c3b307_7.conda
+  sha256: 4c91002093d9cf7c47f4c399f703bdb4418d104e9936cb7d09937b6c675582cb
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-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
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+  - numpy
   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-ros-workspace
   - ros-humble-sensor-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 26394
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-- kind: conda
-  name: ros-humble-shape-msgs
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-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-shape-msgs-4.2.3-py311hb335429_6.tar.bz2
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-  md5: 0d841df1f3e1343acd052e1c1fa78a06
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-shape-msgs-4.2.4-np126py311h2c3b307_7.conda
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   - ros-humble-ros-workspace
   - ros-humble-rosidl-default-runtime
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libstdcxx >=14
+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=14
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
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   license: BSD-3-Clause
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-  - ros2-distro-mutex 0.5.*
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+  - numpy >=1.26.4,<2.0a0
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   license: BSD-3-Clause
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+  - numpy
   - python
-  - python_abi 3.11.* *_cp311
   - ros-humble-geometry-msgs
   - ros-humble-orocos-kdl-vendor
   - ros-humble-ros-workspace
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   - ros-humble-tf2-ros-py
-  - ros2-distro-mutex 0.5.*
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+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
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-- kind: conda
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+  size: 53343
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-kdl-0.25.10-np126py311h2c3b307_7.conda
+  sha256: 0ff26f8c3f00e78b68f1d5b1f2e261d056ec628d99ae35ab5c0206ae6fd69429
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@@ -17056,92 +14214,65 @@ packages:
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   - ros-humble-tf2-ros
   - ros-humble-tf2-ros-py
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
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-  platform: linux
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+  - libgcc >=14
+  - __glibc >=2.17,<3.0.a0
+  - libstdcxx >=14
+  - libgcc >=14
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 22175
-  timestamp: 1707316516145
-- kind: conda
-  name: ros-humble-tf2-msgs
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-msgs-0.25.10-np126py311h2c3b307_7.conda
+  sha256: a2776c3b977fc8675bbff86b3f34ae17b834b2c83564a77fd69cfc6d2714b332
+  md5: 0dc644a401df0c9a082f8329c1263d0e
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+  - numpy >=1.26.4,<2.0a0
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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-  - ros2-distro-mutex 0.5.*
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+  - __glibc >=2.17,<3.0.a0
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+  - numpy >=1.26.4,<2.0a0
   license: BSD-3-Clause
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-- kind: conda
-  name: ros-humble-tf2-ros
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+  size: 56388
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-ros-0.25.10-np126py311h2c3b307_7.conda
+  sha256: 4c18b4d53bbdf042f4371926a9ef0eff621903dc0c7e25043e87e4d5a6ab8a60
+  md5: 8d313bcb9449e2957fdbf556505db01c
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   - python
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   - ros-humble-message-filters
@@ -17152,31 +14283,22 @@ packages:
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   - ros-humble-tf2
   - ros-humble-tf2-msgs
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
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-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
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+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
   license: BSD-3-Clause
-  purls: []
-  size: 500317
-  timestamp: 1707316036649
-- kind: conda
-  name: ros-humble-tf2-ros-py
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-  build: py311hb335429_6
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-  subdir: linux-64
-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-ros-py-0.25.5-py311hb335429_6.tar.bz2
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-  md5: 4b00c9fd074816b0736a095c5e845949
+  size: 453920
+  timestamp: 1736211133887
+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-ros-py-0.25.10-np126py311h2c3b307_7.conda
+  sha256: 9df298e6371ce208b40d72daa90cab8b86a5620d29977b3d9acded105b5606b9
+  md5: 68a671871fdfb526f021115745acbc03
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-  - libgcc-ng >=12
-  - libgcc-ng >=12
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   - python
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   - ros-humble-geometry-msgs
   - ros-humble-rclpy
   - ros-humble-ros-workspace
@@ -17184,559 +14306,416 @@ packages:
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   - ros-humble-tf2-msgs
   - ros-humble-tf2-py
-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
-  platform: linux
+  - ros2-distro-mutex 0.6.* humble_*
+  - libgcc >=14
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+  - numpy >=1.26.4,<2.0a0
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
-  purls: []
-  size: 38948
-  timestamp: 1707315508022
-- kind: conda
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-  url: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-sensor-msgs-0.25.5-py311hb335429_6.tar.bz2
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+- conda: https://conda.anaconda.org/robostack-staging/linux-64/ros-humble-tf2-sensor-msgs-0.25.10-np126py311h2c3b307_7.conda
+  sha256: de38a0dfe18d1b10d5d72398447c0b20f5a66b5c7ae836f8095a111b55b7e661
+  md5: 8ec7342886b74cb140f16b92d0d047f5
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
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   license: BSD-3-Clause
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-- kind: conda
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-  - ros2-distro-mutex 0.5.*
-  - ros2-distro-mutex 0.5.* humble
-  arch: x86_64
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+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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-- kind: conda
-  name: ros-humble-tinyxml-vendor
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-  - ros2-distro-mutex 0.5.* humble
+  - ros2-distro-mutex 0.6.* humble_*
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+  - numpy >=1.26.4,<2.0a0
   - tinyxml
-  arch: x86_64
-  platform: linux
+  - python_abi 3.11.* *_cp311
+  - ros2-distro-mutex >=0.6.0,<0.7.0a0
   license: BSD-3-Clause
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+- conda: https://conda.anaconda.org/conda-forge/linux-64/zlib-1.3.1-hb9d3cd8_2.conda
+  sha256: 5d7c0e5f0005f74112a34a7425179f4eb6e73c92f5d109e6af4ddeca407c92ab
+  md5: c9f075ab2f33b3bbee9e62d4ad0a6cd8
   depends:
-  - libgcc-ng >=12
-  - libzlib 1.2.13 h4ab18f5_6
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libzlib 1.3.1 hb9d3cd8_2
   license: Zlib
   license_family: Other
   purls: []
-  size: 92883
-  timestamp: 1716874088980
-- kind: conda
-  name: zstd
-  version: 1.5.6
-  build: ha6fb4c9_0
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.6-ha6fb4c9_0.conda
-  sha256: c558b9cc01d9c1444031bd1ce4b9cff86f9085765f17627a6cd85fc623c8a02b
-  md5: 4d056880988120e29d75bfff282e0f45
+  size: 92286
+  timestamp: 1727963153079
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zstd-1.5.7-hb8e6e7a_2.conda
+  sha256: a4166e3d8ff4e35932510aaff7aa90772f84b4d07e9f6f83c614cba7ceefe0eb
+  md5: 6432cb5d4ac0046c3ac0a8a0f95842f9
   depends:
-  - libgcc-ng >=12
-  - libstdcxx-ng >=12
-  - libzlib >=1.2.13,<2.0.0a0
+  - __glibc >=2.17,<3.0.a0
+  - libgcc >=13
+  - libstdcxx >=13
+  - libzlib >=1.3.1,<2.0a0
   license: BSD-3-Clause
   license_family: BSD
   purls: []
-  size: 554846
-  timestamp: 1714722996770
-- kind: conda
-  name: zziplib
-  version: 0.13.69
-  build: h27826a3_1
-  build_number: 1
-  subdir: linux-64
-  url: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-h27826a3_1.tar.bz2
-  sha256: 8ce40952fce6bb50ec74afda2f30f384ad9666add5b8a0f88927c6c2407f27f1
-  md5: d0646083f3cb1ef27049538b8043ab15
+  size: 567578
+  timestamp: 1742433379869
+- conda: https://conda.anaconda.org/conda-forge/linux-64/zziplib-0.13.69-he45264a_2.conda
+  sha256: a7c3ba25f384c7eb30c4f4c2d390f62714e0b4946d315aa852749f927b4b03ff
+  md5: 6d2d107e0fb8bc381acd4e9c68dbeae7
   depends:
-  - libgcc-ng >=9.3.0
-  - zlib >=1.2.11,<1.3.0a0
-  license: GPL-2.0
-  license_family: GPL
+  - libgcc-ng >=12
+  - libzlib >=1.3.1,<2.0a0
+  license: LGPL-2.0-or-later OR MPL-1.1
   purls: []
-  size: 99102
-  timestamp: 1617437120421
+  size: 106915
+  timestamp: 1719242059793
diff --git a/pixi.toml b/pixi.toml
index 89c6cbee..f0cc2cdb 100644
--- a/pixi.toml
+++ b/pixi.toml
@@ -23,7 +23,7 @@ env = { RMW_IMPLEMENTATION="rmw_cyclonedds_cpp", PYRIGHT_PYTHON_FORCE_VERSION="l
 
 # minimal
 [dependencies]
-python = ">=3.10"
+python = ">=3.11"  # restricted by colcon-common-extensions
 pip = ">=24.0"
 setuptools = "<=70.4"
 compilers = "*"
@@ -35,14 +35,14 @@ obelisk_py = { path="./obelisk/python", editable=true }
 
 
 # cuda
-[feature.cuda121]
-system-requirements = {cuda="12.1.1"}
+[feature.cuda]
+system-requirements = {cuda="12.9"}
 
-[feature.cuda121.activation]
+[feature.cuda.activation]
 scripts = ["scripts/add_cuda_cmake_prefix_path.sh"]
 
-[feature.cuda121.dependencies]
-cuda = "12.1.1"
+[feature.cuda.dependencies]
+cuda = ">=12.9"
 
 # ros2
 [feature.ros2base]
@@ -53,7 +53,7 @@ ros-humble-ros-base = "*"
 colcon-common-extensions = "*"
 ros-humble-rviz-visual-tools = "*"
 ros-humble-foxglove-bridge = "*"
-ros-humble-joy = "3.3.0"
+ros-humble-joy = "==3.3.0"
 
 # TODO(ahl): this was just a test to see if we could install many
 # prune these away to a true minimal set later
@@ -106,10 +106,8 @@ sphinx-tabs = ">=3.0.0"
 
 
 # test
-# TODO(ahl): pytest bounded until issue resolved
-# https://github.com/prefix-dev/pixi/issues/1529
 [feature.test.dependencies]
-pytest = "<=8.0.0"
+pytest = "*"
 
 [feature.test.pypi-dependencies]
 pytest-xdist = ">=3.6.1"
@@ -136,6 +134,11 @@ cython = "*"
 opencv = "*"
 
 
+# franka research 3
+[feature.fr3.pypi-dependencies]
+franky-control = ">=1.0.2"  # TODO: pray that Tim updates the pypi version: https://github.com/TimSchneider42/franky/pull/33
+
+
 # dev
 [feature.dev.dependencies]
 nano = "*"
@@ -149,10 +152,10 @@ pyright = "*"
 
 # build
 [feature.build.dependencies]
-cmake = "3.16.*"
-ninja = "1.12.1"
+cmake = ">=3.16"
+ninja = ">=1.12.1"
 make = ">=4.3,<5"
-glfw = "3.4"
+glfw = ">=3.4"
 mesalib = "*"
 
 # ################ #
@@ -167,7 +170,7 @@ obelisk = { features=["obelisk"] }
 
 # test
 # TODO(ahl): see if we can use the original tests env with github CI, issue is cuda
-test = { features=["cuda121", "obelisk", "ros2base", "test"], solve-group="dev" }
+test = { features=["cuda", "obelisk", "ros2base", "test"], solve-group="dev" }
 
 # ros2
 ros2-install = { features=["ros2base"] }
@@ -175,13 +178,17 @@ ros2-install = { features=["ros2base"] }
 # dev
 dev-no-gpu = { features=["obelisk", "ros2base", "test", "dev", "build", "leap"] }
 
-dev = { features=["cuda121", "obelisk", "ros2base", "test", "dev", "build", "leap"], solve-group="dev" }
+dev = { features=["cuda", "obelisk", "ros2base", "test", "dev", "build", "leap"], solve-group="dev" }
 
-dev-zed = { features=["cuda121", "obelisk", "ros2base", "test", "dev", "build", "leap", "zed"], solve-group="dev" }
+dev-zed = { features=["cuda", "obelisk", "ros2base", "test", "dev", "build", "leap", "zed"], solve-group="dev" }
 
 docs = { features=["docs"] }
 
-build = { features = ["cuda121", "build"] }
+build = { features = ["cuda", "build"] }
+
+# robot-specific groups #
+# fr3
+fr3 = { features=["cuda", "obelisk", "ros2base", "test", "dev", "build", "fr3"], solve-group="dev" }
 
 # ##### #
 # TASKS #
diff --git a/ruff.toml b/ruff.toml
index a204b0d7..1ce5b081 100644
--- a/ruff.toml
+++ b/ruff.toml
@@ -47,7 +47,6 @@ select = [
     "PLW",  # Pylint warnings
 ]
 ignore = [
-    "ANN101",  # Missing type annotation for self
     "ANN401",  # Dynamically typed expressions (typing.Any) are disallowed
     "D100",  # missing docstring in public module
     "D104",  # missing docstring in public package
diff --git a/scripts/build_obelisk.sh b/scripts/build_obelisk.sh
index de5297d8..252bdd63 100644
--- a/scripts/build_obelisk.sh
+++ b/scripts/build_obelisk.sh
@@ -2,6 +2,8 @@
 
 leap=false
 zed=false
+unitree=false
+fr3=false
 verbose=false
 
 for arg in "$@"; do
@@ -15,6 +17,14 @@ for arg in "$@"; do
             zed=true
             shift  # Adds ZED ROS packages to colcon build command
             ;;
+        --unitree)
+            unitree=true
+            shift  # Adds Unitree ROS packages to colcon build command
+            ;;
+        --fr3)
+            fr3=true
+            shift  # Adds FR3 ROS packages to colcon build command
+            ;;
         --verbose)
             verbose=true
             shift
@@ -37,6 +47,12 @@ fi
 if [ "$zed" = false ]; then
     SKIP_PKGS+=" obelisk_zed_cpp"
 fi
+if [ "$unitree" = false ]; then
+    SKIP_PKGS+=" obelisk_unitree_cpp"
+fi
+if [ "$fr3" = false ]; then
+    SKIP_PKGS+=" obelisk_fr3_py"
+fi
 VERBOSE_STR=""
 if [ "$verbose" = true ]; then
     VERBOSE_STR="--event-handlers console_direct+"
diff --git a/scripts/config_groups.sh b/scripts/config_groups.sh
index 9042e90d..1e7d2ae1 100644
--- a/scripts/config_groups.sh
+++ b/scripts/config_groups.sh
@@ -3,6 +3,7 @@
 # --- script flags --- #
 leap=false
 zed=false
+fr3=false
 
 for arg in "$@"; do
     case $arg in
@@ -15,6 +16,10 @@ for arg in "$@"; do
             zed=true
             shift  # Enables ZED SDK
             ;;
+        --fr3)
+            fr3=true
+            shift  # Enables FR3 dependencies
+            ;;
 
         # help
         --help)
@@ -23,6 +28,7 @@ for arg in "$@"; do
 Options:
   --leap    Adds user to the dialout group
   --zed     Adds user to the video group
+  --fr3     Adds user to the realtime group
   --help    Display this help message and exit
 "
             shift
@@ -43,3 +49,8 @@ fi
 if [ "$zed" = true ]; then
     sudo usermod -a -G video $USER
 fi
+
+if [ "$fr3" = true ]; then
+    sudo addgroup realtime
+    sudo usermod -a -G realtime $USER
+fi
diff --git a/scripts/docker_setup.sh b/scripts/docker_setup.sh
index d9ec695e..2199aec5 100644
--- a/scripts/docker_setup.sh
+++ b/scripts/docker_setup.sh
@@ -7,9 +7,11 @@ docker_leap=false
 docker_zed=false
 docker_pixi=false
 docker_unitree=false
+docker_fr3=false
 
 docker_group_leap=false
 docker_group_zed=false
+docker_group_fr3=false
 
 for arg in "$@"; do
     case $arg in
@@ -42,6 +44,10 @@ for arg in "$@"; do
             docker_unitree=true
             shift   # Sets OBELISK_DOCKER_UNITREE=true for docker, which configures the docker installation
             ;;
+        --docker-fr3)
+            docker_fr3=true
+            shift  # Sets OBELISK_DOCKER_FR3=true for docker, which enables FR3 dependencies
+            ;;
 
         # docker group additions
         --docker-group-leap)
@@ -52,6 +58,20 @@ for arg in "$@"; do
             docker_group_zed=true
             shift  # Adds user to the video group
             ;;
+        --docker-group-fr3)
+            docker_group_fr3=true
+            shift  # Adds user to the realtime group
+            ;;
+
+        # docker hardware credentials
+        --docker-fr3-username=*)
+            DOCKER_FR3_USERNAME="${arg#*=}"
+            export OBELISK_DOCKER_FR3_USERNAME="$DOCKER_FR3_USERNAME"
+            ;;
+        --docker-fr3-password=*)
+            DOCKER_FR3_PASSWORD="${arg#*=}"
+            export OBELISK_DOCKER_FR3_PASSWORD="$DOCKER_FR3_PASSWORD"
+            ;;
 
         --help)
             echo "Usage: $0 [OPTIONS]
@@ -65,9 +85,14 @@ Options:
   --docker-zed           Set OBELISK_DOCKER_ZED=true for docker, which installs ZED SDK
   --docker-pixi          Set OBELISK_DOCKER_PIXI=true for docker, which installs Pixi
   --docker-unitree       Set OBELISK_DOCKER_UNITREE=true for docker, which configures the docker installation
+  --docker-fr3           Set OBELISK_DOCKER_FR3=true for docker, which enables FR3 dependencies
 
   --docker-group-leap    Adds user to the dialout group
   --docker-group-zed     Adds user to the video group
+  --docker-group-fr3     Adds user to the realtime group
+
+  --docker-fr3-username [USERNAME]  Sets the FR3 username for docker
+  --docker-fr3-password [PASSWORD]  Sets the FR3 password for docker
 
   --help                 Display this help message and exit
 "
@@ -214,9 +239,19 @@ if [ "$docker_unitree" = true ]; then
     echo "OBELISK_DOCKER_UNITREE=true" >> $env_file
     export OBELISK_DOCKER_UNITREE=true
 else
-    echo -e "\033[1;33mSetting OBELISK_DOCKER_PIXI=false!\033[0m"
-    echo "OBELISK_DOCKER_PIXI=false" >> $env_file
-    export OBELISK_DOCKER_PIXI=false
+    echo -e "\033[1;33mSetting OBELISK_DOCKER_UNITREE=false!\033[0m"
+    echo "OBELISK_DOCKER_UNITREE=false" >> $env_file
+    export OBELISK_DOCKER_UNITREE=false
+fi
+
+if [ "$docker_fr3" = true ]; then
+    echo -e "\033[1;32mSetting OBELISK_DOCKER_FR3=true!\033[0m"
+    echo "OBELISK_DOCKER_FR3=true" >> $env_file
+    export OBELISK_DOCKER_FR3=true
+else
+    echo -e "\033[1;33mSetting OBELISK_DOCKER_FR3=false!\033[0m"
+    echo "OBELISK_DOCKER_FR3=false" >> $env_file
+    export OBELISK_DOCKER_FR3=false
 fi
 
 if [ "$docker_group_leap" = true ]; then
@@ -239,6 +274,31 @@ else
     export OBELISK_DOCKER_GROUP_ZED=false
 fi
 
+if [ "$docker_group_fr3" = true ]; then
+    echo -e "\033[1;32mSetting OBELISK_DOCKER_GROUP_FR3=true!\033[0m"
+    echo "OBELISK_DOCKER_GROUP_FR3=true" >> $env_file
+    export OBELISK_DOCKER_GROUP_FR3=true
+else
+    echo -e "\033[1;33mSetting OBELISK_DOCKER_GROUP_FR3=false!\033[0m"
+    echo "OBELISK_DOCKER_GROUP_FR3=false" >> $env_file
+    export OBELISK_DOCKER_GROUP_FR3=false
+fi
+
+# hardware credentials
+if [ -n "$OBELISK_DOCKER_FR3_USERNAME" ]; then
+    echo -e "\033[1;32mWriting OBELISK_DOCKER_FR3_USERNAME to .env\033[0m"
+    echo "OBELISK_DOCKER_FR3_USERNAME=$OBELISK_DOCKER_FR3_USERNAME" >> $env_file
+else
+    echo -e "\033[1;33mOBELISK_DOCKER_FR3_USERNAME not set. Skipping.\033[0m"
+fi
+
+if [ -n "$OBELISK_DOCKER_FR3_PASSWORD" ]; then
+    echo -e "\033[1;32mWriting OBELISK_DOCKER_FR3_PASSWORD to .env\033[0m"
+    echo "OBELISK_DOCKER_FR3_PASSWORD=$OBELISK_DOCKER_FR3_PASSWORD" >> $env_file
+else
+    echo -e "\033[1;33mOBELISK_DOCKER_FR3_PASSWORD not set. Skipping.\033[0m"
+fi
+
 # copy scripts to the docker directory
 cp $OBELISK_ROOT/scripts/install_sys_deps.sh $OBELISK_ROOT/docker/install_sys_deps.sh
 cp $OBELISK_ROOT/scripts/config_groups.sh $OBELISK_ROOT/docker/config_groups.sh
diff --git a/scripts/install_sys_deps.sh b/scripts/install_sys_deps.sh
index ef1c4e26..e1271557 100644
--- a/scripts/install_sys_deps.sh
+++ b/scripts/install_sys_deps.sh
@@ -10,6 +10,7 @@ source_ros=false
 leap=false
 zed=false
 unitree=false
+fr3=false
 
 for arg in "$@"; do
     case $arg in
@@ -37,6 +38,10 @@ for arg in "$@"; do
             unitree=true
             shift # Sets up the Unitree interfaces
             ;;
+        --fr3)
+            fr3=true
+            shift  # Enables FR3 dependencies
+            ;;
         --help)
             echo "Usage: $0 [OPTIONS]
 
@@ -47,6 +52,7 @@ Options:
   --leap               Install LEAP hand dependencies
   --zed                Install ZED SDK
   --unitree            Sets up the Unitree interface
+  --fr3                Enable FR3 dependencies
 
   --help               Display this help message and exit
 "
@@ -185,17 +191,17 @@ if [ "$zed" = true ]; then
             wget \
             zstd
 
-        # [July 24, 2024] installing ZED SDK, including python version (version 4.1.3)
+        # [June 10, 2025] installing ZED SDK, including python version (version 5.0.1)
         if [ ! -d /etc/udev/rules.d ]; then
             sudo mkdir -p /etc/udev/rules.d
         fi
         sudo /lib/systemd/systemd-udevd --daemon  # starting a udev daemon
-        wget https://download.stereolabs.com/zedsdk/4.1/cu121/ubuntu22 -O ubuntu22  # download installer
-        sudo chmod +x ubuntu22  # make installer executable
-        ./ubuntu22 -- silent skip_od_module skip_hub skip_tools  # run installer
+        wget https://download.stereolabs.com/zedsdk/5.0.1/cu12/ubuntu24 -O ubuntu24  # download installer
+        sudo chmod +x ubuntu24  # make installer executable
+        ./ubuntu24 -- silent skip_cuda skip_od_module skip_python skip_hub  # run installer
         sudo chown -R $USER:$USER /usr/local/zed  # change ownership of zed sdk
         sudo udevadm control --reload-rules && sudo udevadm trigger  # activating udev rules
-        rm ubuntu22  # remove installer
+        rm ubuntu24  # remove installer
 
         # granting permissions for python dist-packages because zed SDK installs a bunch of these necessary for colcon
         sudo chmod -R 755 /usr/local/lib/python3.10/dist-packages/
@@ -207,3 +213,21 @@ if [ "$zed" = true ]; then
 else
     echo -e "\033[1;33mNot installing ZED SDK!\033[0m"
 fi
+
+# [6] updating security limits for realtime operations
+if [ "$fr3" = true ]; then
+    if ! grep -q "@realtime soft rtprio 99" /etc/security/limits.conf; then
+        echo -e "\n# Realtime group limits" | sudo tee -a /etc/security/limits.conf
+        echo "@realtime soft rtprio 99" | sudo tee -a /etc/security/limits.conf
+        echo "@realtime soft priority 99" | sudo tee -a /etc/security/limits.conf
+        echo "@realtime soft memlock 102400" | sudo tee -a /etc/security/limits.conf
+        echo "@realtime hard rtprio 99" | sudo tee -a /etc/security/limits.conf
+        echo "@realtime hard priority 99" | sudo tee -a /etc/security/limits.conf
+        echo "@realtime hard memlock 102400" | sudo tee -a /etc/security/limits.conf
+        echo -e "\033[1;32mRealtime group limits updated successfully!\033[0m"
+    else
+        echo -e "\033[1;33mRealtime group limits already set!\033[0m"
+    fi
+else
+    echo -e "\033[1;33mNot updating realtime group limits!\033[0m"
+fi
diff --git a/scripts/user_setup.sh b/scripts/user_setup.sh
index 384c368c..83a1344d 100644
--- a/scripts/user_setup.sh
+++ b/scripts/user_setup.sh
@@ -7,6 +7,7 @@ obk_aliases=false
 leap=false
 zed=false
 unitree=false
+fr3=false
 
 for arg in "$@"; do
     case $arg in
@@ -33,6 +34,10 @@ for arg in "$@"; do
             unitree=true
             shift  # Sets up the Unitree interface
             ;;
+        --fr3)
+            fr3=true
+            shift  # Adds FR3 ROS packages to colcon build command
+            ;;
         *)
             # Unknown option
             echo "Unknown option: $arg"
@@ -87,12 +92,19 @@ fi'
         OBELISK_BUILD_ZED=false
     fi
     if [ "$unitree" = true ]; then
+        OBELISK_BUILD_OPTIONS+="--unitree "
         OBELISK_BUILD_UNITREE=true
         ROS_DOMAIN_ID=2
         echo -e "\033[1;32mSetting ROS_DOMAIN_ID=2\033[0m"
     else
         OBELISK_BUILD_UNITREE=false
     fi
+    if [ "$fr3" = true ]; then
+        OBELISK_BUILD_OPTIONS+="--fr3 "
+        OBELISK_BUILD_FR3=true
+    else
+        OBELISK_BUILD_FR3=false
+    fi
 
     obk_aliases=$(cat << EOF
 # >>> obelisk >>>
@@ -107,7 +119,8 @@ export RCUTILS_COLORIZED_OUTPUT=1
 export OBELISK_BUILD_LEAP=$OBELISK_BUILD_LEAP
 export OBELISK_BUILD_ZED=$OBELISK_BUILD_ZED
 export OBELISK_BUILD_UNITREE=$OBELISK_BUILD_UNITREE
-export ROS_DOMAIN_ID=$ROS_DOMAIN_ID
+export OBELISK_BUILD_FR3=$OBELISK_BUILD_FR3
+export ROS_DOMAIN_ID=${ROS_DOMAIN_ID:-0}
 '
 
     # Check if the --permanent flag is passed
@@ -253,6 +266,7 @@ function obk-kill {
 function obk-launch {
     local config_file_path=""
     local device_name=""
+    local launch_global="True"
     local auto_start="True"
     local bag="True"
 
@@ -267,6 +281,10 @@ function obk-launch {
             device_name="\${key#*=}"
             shift
             ;;
+            launch_global=*)
+            launch_global="\${key#*=}"
+            shift
+            ;;
             auto_start=*)
             auto_start="\${key#*=}"
             shift
@@ -285,11 +303,11 @@ function obk-launch {
     # Check if any of the required arguments are empty
     if [[ -z "\$config_file_path" || -z "\$device_name" ]]; then
         echo -e "\033[1;34mError: Missing required arguments.\033[0m"
-        echo -e "\033[1;34mUsage: obk-launch config_file_path=<path> device_name=<name> auto_start=<True|False>\033[0m"
+        echo -e "\033[1;34mUsage: obk-launch config_file_path=<path> device_name=<name> launch_global=<True|False> auto_start=<True|False>\033[0m"
         return 1
     fi
 
-    ros2 launch obelisk_ros obelisk_bringup.launch.py config_file_path:=\${config_file_path} device_name:=\${device_name} auto_start:=\${auto_start} bag:=\${bag}
+    ros2 launch obelisk_ros obelisk_bringup.launch.py config_file_path:=\${config_file_path} device_name:=\${device_name} launch_global:=\${launch_global} auto_start:=\${auto_start} bag:=\${bag}
 }
 
 # help command
diff --git a/setup.sh b/setup.sh
index 3dc699d6..fd507386 100644
--- a/setup.sh
+++ b/setup.sh
@@ -6,6 +6,7 @@ cyclone_perf=false
 leap=false
 zed=false
 unitree=false
+fr3=false
 
 docker_install=false
 install_sys_deps_docker=false
@@ -20,13 +21,6 @@ obk_aliases=false
 
 for arg in "$@"; do
     case $arg in
-        --recommended)
-            cyclone_perf=true
-            pixi=true
-            obk_aliases=true
-            shift  # Allows recommended system-level changes
-            ;;
-
         # dependency groups to configure
         --basic)
             basic=true
@@ -48,6 +42,10 @@ for arg in "$@"; do
             unitree=true
             shift
             ;;
+        --fr3)
+            fr3=true
+            shift  # Enables FR3 dependencies
+            ;;
 
 
         # docker setup
@@ -86,19 +84,29 @@ for arg in "$@"; do
             shift # Adds obelisk aliases to the ~/.bash_aliases file
             ;;
 
+        # hardware credentials
+        --fr3-username=*)
+            FR3_USERNAME="${arg#*=}"
+            export FR3_USERNAME
+            ;;
+        --fr3-password=*)
+            FR3_PASSWORD="${arg#*=}"
+            export FR3_PASSWORD
+            ;;
+
         # help
         --help)
             echo "Usage: source setup.sh [OPTIONS]
 
 Options:
-  --recommended                Apply recommended system-level changes
-                               (cyclone performance optimizations, pixi, obelisk aliases)
-
   --basic                      Enables basic dependencies necessary for Obelisk locally
   --cyclone-perf               Enables cyclone performance optimizations
   --leap                       Enables LEAP hand dependencies
   --zed                        Enables ZED SDK
   --unitree                    Enables the unitree interfaces
+  --fr3                        Enables FR3 dependencies
+  --fr3-username=[USERNAME]    Set the FR3 username
+  --fr3-password=[PASSWORD]    Set the FR3 password
 
   --docker-install             Install Docker and nvidia-container-toolkit
   --install-sys-deps-docker    Installs system dependencies in Docker
@@ -138,7 +146,10 @@ if [ "$install_sys_deps_docker" = true ]; then
         $([ "$leap" = true ] && echo "--docker-leap --docker-group-leap") \
         $([ "$zed" = true ] && echo "--docker-zed --docker-group-zed") \
         $([ "$pixi" = true ] && echo "--docker-pixi") \
-        $([ "$unitree" = true ] && echo "--docker-unitree")
+        $([ "$unitree" = true ] && echo "--docker-unitree") \
+        $([ "$fr3" = true ] && echo "--docker-fr3") \
+        $([ -n "$FR3_USERNAME" ] && echo "--docker-fr3-username=$FR3_USERNAME") \
+        $([ -n "$FR3_PASSWORD" ] && echo "--docker-fr3-password=$FR3_PASSWORD")
 else
     source $OBELISK_ROOT/scripts/docker_setup.sh \
         $([ "$docker_install" = true ] && echo "--docker-install") \
@@ -146,14 +157,18 @@ else
         $([ "$leap" = true ] && echo "--docker-group-leap") \
         $([ "$zed" = true ] && echo "--docker-zed --docker-group-zed") \
         $([ "$pixi" = true ] && echo "--docker-pixi") \
-        $([ "$unitree" = true ] && echo "--docker-unitree")
+        $([ "$unitree" = true ] && echo "--docker-unitree") \
+        $([ "$fr3" = true ] && echo "--docker-fr3") \
+        $([ -n "$FR3_USERNAME" ] && echo "--docker-fr3-username=$FR3_USERNAME") \
+        $([ -n "$FR3_PASSWORD" ] && echo "--docker-fr3-password=$FR3_PASSWORD")
 fi
 
 # group configuration on host
 if [ "$config_groups" = true ]; then
     source $OBELISK_ROOT/scripts/config_groups.sh \
         $([ "$leap" = true ] && echo "--leap") \
-        $([ "$zed" = true ] && echo "--zed")
+        $([ "$zed" = true ] && echo "--zed") \
+        $([ "$fr3" = true ] && echo "--fr3")
 fi
 
 # system-level deps
@@ -164,7 +179,8 @@ if [ "$install_sys_deps" = true ]; then
         $([ "$source_ros" = true ] && echo "--source-ros") \
         $([ "$leap" = true ] && echo "--leap") \
         $([ "$zed" = true ] && echo "--zed") \
-        $([ "$unitree" = true ] && echo "--unitree")
+        $([ "$unitree" = true ] && echo "--unitree") \
+        $([ "$fr3" = true ] && echo "--fr3")
 fi
 
 # run user-specific setup
@@ -173,4 +189,5 @@ source $OBELISK_ROOT/scripts/user_setup.sh \
     $([ "$leap" = true ] && echo "--leap") \
     $([ "$zed" = true ] && echo "--zed") \
     $([ "$unitree" = true ] && echo "--unitree") \
+    $([ "$fr3" = true ] && echo "--fr3") \
     $([ "$obk_aliases" = true ] && echo "--obk-aliases")
diff --git a/tests/tests_python/tests_core/test_typing.py b/tests/tests_python/tests_core/test_typing.py
index 2f10c516..bb76ee3f 100644
--- a/tests/tests_python/tests_core/test_typing.py
+++ b/tests/tests_python/tests_core/test_typing.py
@@ -4,6 +4,7 @@
 import obelisk_estimator_msgs.msg as oem
 import obelisk_sensor_msgs.msg as osm
 import pytest
+from rcl_interfaces.msg import ParameterEvent
 
 from obelisk_py.core.obelisk_typing import (
     ObeliskAllowedMsg,
@@ -48,7 +49,5 @@ def test_obelisk_allowed_msg_types() -> None:
 
     This test verifies that the ObeliskAllowedMsg type includes the ParameterEvent type in addition to ObeliskMsg types.
     """
-    from rcl_interfaces.msg import ParameterEvent
-
     assert ParameterEvent in ObeliskAllowedMsg.__bound__.__args__
     assert all(arg in ObeliskAllowedMsg.__bound__.__args__ for arg in ObeliskMsg.__bound__.__args__)