diff --git a/src/navigation/approach_post.py b/src/navigation/approach_post.py
index 424a93754..bd4c505b0 100644
--- a/src/navigation/approach_post.py
+++ b/src/navigation/approach_post.py
@@ -1,9 +1,9 @@
 import tf2_ros
-import rospy
-from context import Context
 from aenum import Enum, NoAlias
 from geometry_msgs.msg import Twist
 from util.ros_utils import get_rosparam
+
+from context import Context
 from state import BaseState
 
 
diff --git a/src/navigation/context.py b/src/navigation/context.py
index 23cdac886..aa55d29a0 100644
--- a/src/navigation/context.py
+++ b/src/navigation/context.py
@@ -1,25 +1,23 @@
 from __future__ import annotations
-from pdb import post_mortem
-import rospy
-import tf2_ros
-from geometry_msgs.msg import Twist
+
+from dataclasses import dataclass
+from typing import ClassVar, Optional, List, Tuple
+
 import mrover.msg
 import mrover.srv
-from util.SE3 import SE3
-from visualization_msgs.msg import Marker
-from typing import ClassVar, Optional, List, Tuple
 import numpy as np
-from dataclasses import dataclass
-from shapely.geometry import Point, LineString
-from mrover.msg import Waypoint, GPSWaypoint, EnableAuton, WaypointType, GPSPointList
 import pymap3d
-from drive import DriveController
-from util.ros_utils import get_rosparam
-
+import rospy
+import tf2_ros
+from geometry_msgs.msg import Twist
+from mrover.msg import Waypoint, GPSWaypoint, EnableAuton, WaypointType, GPSPointList
+from shapely.geometry import Point
 from std_msgs.msg import Time, Bool
-from drive import DriveController
+from util.SE3 import SE3
 from util.ros_utils import get_rosparam
+from visualization_msgs.msg import Marker
 
+from drive import DriveController
 
 TAG_EXPIRATION_TIME_SECONDS = 60
 
diff --git a/src/navigation/drive.py b/src/navigation/drive.py
index 31057f2a0..1264c345c 100644
--- a/src/navigation/drive.py
+++ b/src/navigation/drive.py
@@ -1,9 +1,9 @@
 from __future__ import annotations
-from typing import Tuple, Optional
-import numpy as np
-import rospy
+
 from enum import Enum
+from typing import Tuple, Optional
 
+import numpy as np
 from geometry_msgs.msg import Twist
 from util.SE3 import SE3
 from util.np_utils import angle_to_rotate, normalized
diff --git a/src/navigation/failure_identification/failure_identification.py b/src/navigation/failure_identification/failure_identification.py
index 23cf994f4..3e9123825 100755
--- a/src/navigation/failure_identification/failure_identification.py
+++ b/src/navigation/failure_identification/failure_identification.py
@@ -1,20 +1,21 @@
 #!/usr/bin/env python3
-import rospy
+
+from pathlib import Path
+from typing import Optional
+
 import message_filters
-from mrover.msg import MotorsStatus
+import numpy as np
+import pandas as pd
+import rospy
 from geometry_msgs.msg import Twist
+from mrover.msg import MotorsStatus
 from nav_msgs.msg import Odometry
+from pandas import DataFrame
 from smach_msgs.msg import SmachContainerStatus
 from std_msgs.msg import Bool
-import pandas as pd
-from pandas import DataFrame
-from watchdog import WatchDog
-import numpy as np
-import os
-from pathlib import Path
 from util.ros_utils import get_rosparam
-from util.SO3 import SO3
-from typing import Optional
+
+from watchdog import WatchDog
 
 DATAFRAME_MAX_SIZE = get_rosparam("failure_identification/dataframe_max_size", 200)
 POST_RECOVERY_GRACE_PERIOD = get_rosparam("failure_identification/post_recovery_grace_period", 5.0)
diff --git a/src/navigation/failure_identification/watchdog.py b/src/navigation/failure_identification/watchdog.py
index 5ad0cbd9b..8a63fe9e6 100644
--- a/src/navigation/failure_identification/watchdog.py
+++ b/src/navigation/failure_identification/watchdog.py
@@ -1,9 +1,9 @@
+from typing import Tuple
+
 import numpy as np
-import rospy
 from pandas import DataFrame
-from util.ros_utils import get_rosparam
 from util.SO3 import SO3
-from typing import Tuple
+from util.ros_utils import get_rosparam
 
 WINDOW_SIZE = get_rosparam("watchdog/window_size", 100)
 ANGULAR_THRESHOLD = get_rosparam("watchdog/angular_threshold", 0.001)
diff --git a/src/navigation/gate.py b/src/navigation/gate.py
index 3638e8004..280a386cd 100644
--- a/src/navigation/gate.py
+++ b/src/navigation/gate.py
@@ -1,21 +1,18 @@
 from __future__ import annotations
-from typing import ClassVar, Optional
-from unicodedata import normalize
-from context import Gate, Context
 
-import numpy as np
-import rospy
+from dataclasses import dataclass
+from typing import Optional
 
-from context import Context, Environment, Rover, convert_cartesian_to_gps
+import numpy as np
 from aenum import Enum, NoAlias
-from state import BaseState
-from trajectory import Trajectory
-from dataclasses import dataclass
-from drive import DriveController
+from mrover.msg import GPSPointList
+from shapely.geometry import LineString, Polygon, Point
 from util.np_utils import normalized, perpendicular_2d
 from util.ros_utils import get_rosparam
-from shapely.geometry import LineString, Polygon, Point
-from mrover.msg import GPSPointList
+
+from context import Context, Rover, convert_cartesian_to_gps
+from context import Gate
+from state import BaseState
 
 STOP_THRESH = get_rosparam("gate/stop_thresh", 0.2)
 DRIVE_FWD_THRESH = get_rosparam("gate/drive_fwd_thresh", 0.34)  # 20 degrees
diff --git a/src/navigation/navigation.py b/src/navigation/navigation.py
index aba60a399..4a3c82279 100755
--- a/src/navigation/navigation.py
+++ b/src/navigation/navigation.py
@@ -7,18 +7,19 @@
 import rospy
 import smach
 import smach_ros
+from navigation.state import DoneState, DoneStateTransitions, OffState, OffStateTransitions
+from smach.log import loginfo
+from smach.log import set_loggers
+from std_msgs.msg import String
+
+from approach_post import ApproachPostState, ApproachPostStateTransitions
 from context import Context
 from gate import GateTraverseState, GateTraverseStateTransitions
-from approach_post import ApproachPostState, ApproachPostStateTransitions
-from navigation.state import DoneState, DoneStateTransitions, OffState, OffStateTransitions
-from waypoint import WaypointState, WaypointStateTransitions
-from search import SearchState, SearchStateTransitions
-from recovery import RecoveryState, RecoveryStateTransitions
 from partial_gate import PartialGateState, PartialGateStateTransitions
 from post_backup import PostBackupState, PostBackupTransitions
-from smach.log import set_loggers
-from smach.log import loginfo, logwarn, logerr
-from std_msgs.msg import String
+from recovery import RecoveryState, RecoveryStateTransitions
+from search import SearchState, SearchStateTransitions
+from waypoint import WaypointState, WaypointStateTransitions
 
 
 class Navigation(threading.Thread):
diff --git a/src/navigation/partial_gate.py b/src/navigation/partial_gate.py
index 88e1df022..722484a10 100644
--- a/src/navigation/partial_gate.py
+++ b/src/navigation/partial_gate.py
@@ -1,12 +1,13 @@
 from dataclasses import dataclass
-import numpy as np
+from typing import Optional
 
+import numpy as np
+from aenum import Enum, NoAlias
 from util import np_utils
-from typing import Optional
+
+from context import Context
 from state import BaseState
 from trajectory import Trajectory
-from aenum import Enum, NoAlias
-from context import Context
 
 STOP_THRESH = 0.2
 DRIVE_FWD_THRESH = 0.95
diff --git a/src/navigation/post_backup.py b/src/navigation/post_backup.py
index f56edd01e..66f278b27 100644
--- a/src/navigation/post_backup.py
+++ b/src/navigation/post_backup.py
@@ -1,17 +1,20 @@
 from __future__ import annotations
+
 from dataclasses import dataclass
-import numpy as np
 from typing import Optional
-from state import BaseState
-from trajectory import Trajectory
+
+import numpy as np
+import rospy
+import tf2_ros
 from aenum import Enum, NoAlias
-from context import Context
-from util.ros_utils import get_rosparam
-from util.np_utils import perpendicular_2d
 from shapely.geometry import Point, LineString
 from util.SE3 import SE3
-import tf2_ros
-import rospy
+from util.np_utils import perpendicular_2d
+from util.ros_utils import get_rosparam
+
+from context import Context
+from state import BaseState
+from trajectory import Trajectory
 
 POST_RADIUS = get_rosparam("gate/post_radius", 0.7) * get_rosparam("single_fiducial/post_avoidance_multiplier", 1.42)
 BACKUP_DISTANCE = get_rosparam("recovery/recovery_distance", 2.0)
diff --git a/src/navigation/recovery.py b/src/navigation/recovery.py
index 3d4be3b8a..7f0e38d68 100644
--- a/src/navigation/recovery.py
+++ b/src/navigation/recovery.py
@@ -1,15 +1,14 @@
-import smach
-from typing import List
 from context import Context
-from aenum import Enum, NoAlias
-from state import BaseState
-from geometry_msgs.msg import Twist
-import rospy
-import numpy as np
 from typing import Optional
-from util.np_utils import perpendicular_2d, rotate_2d
+
+import numpy as np
+import rospy
+from aenum import Enum, NoAlias
+from util.np_utils import rotate_2d
 from util.ros_utils import get_rosparam
 
+from context import Context
+from state import BaseState
 
 STOP_THRESH = get_rosparam("recovery/stop_thresh", 0.2)
 DRIVE_FWD_THRESH = get_rosparam("recovery/drive_fwd_thresh", 0.34)  # 20 degrees
diff --git a/src/navigation/search.py b/src/navigation/search.py
index e6873223a..964380688 100644
--- a/src/navigation/search.py
+++ b/src/navigation/search.py
@@ -1,15 +1,16 @@
 from __future__ import annotations
+
+from dataclasses import dataclass
 from typing import Optional
 
 import numpy as np
+from aenum import Enum, NoAlias
+from mrover.msg import GPSPointList
+from util.ros_utils import get_rosparam
 
 from context import Context, convert_cartesian_to_gps
-from aenum import Enum, NoAlias
 from state import BaseState
-from dataclasses import dataclass
 from trajectory import Trajectory
-from mrover.msg import GPSPointList
-from util.ros_utils import get_rosparam
 
 
 @dataclass
diff --git a/src/navigation/state.py b/src/navigation/state.py
index c35295f33..9084ab741 100644
--- a/src/navigation/state.py
+++ b/src/navigation/state.py
@@ -1,11 +1,12 @@
-from abc import ABC
+from abc import ABC, abstractmethod
 from typing import List, Optional
 
 import smach
-from context import Context
 from aenum import Enum, NoAlias
 from geometry_msgs.msg import Twist
 
+from context import Context
+
 
 class BaseState(smach.State, ABC):
     """
@@ -70,9 +71,10 @@ def reset(self):
         """
         pass
 
+    @abstractmethod
     def evaluate(self, ud: smach.UserData) -> str:
         """Override me instead of execute!"""
-        raise NotImplementedError
+        ...
 
 
 class DoneStateTransitions(Enum):
diff --git a/src/navigation/trajectory.py b/src/navigation/trajectory.py
index 674a0f582..a44dceb3a 100644
--- a/src/navigation/trajectory.py
+++ b/src/navigation/trajectory.py
@@ -1,4 +1,5 @@
 from dataclasses import dataclass, field
+
 import numpy as np
 
 
diff --git a/src/navigation/waypoint.py b/src/navigation/waypoint.py
index 98e6a5aac..9300660a7 100644
--- a/src/navigation/waypoint.py
+++ b/src/navigation/waypoint.py
@@ -1,12 +1,12 @@
 from typing import List, Optional
 
-import tf2_ros
-
 import numpy as np
+import tf2_ros
 from aenum import Enum, NoAlias
+from util.ros_utils import get_rosparam
+
 from context import Context
 from state import BaseState
-from util.ros_utils import get_rosparam
 
 
 class WaypointStateTransitions(Enum):
diff --git a/starter_project/autonomy/config/starter_project.rviz b/starter_project/autonomy/config/starter_project.rviz
index 3f5631db0..31d1b36ae 100644
--- a/starter_project/autonomy/config/starter_project.rviz
+++ b/starter_project/autonomy/config/starter_project.rviz
@@ -173,7 +173,7 @@ Visualization Manager:
       Value: false
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /camera/color/image_raw
+      Image Topic: /camera/right/image
       Max Value: 1
       Median window: 5
       Min Value: 0
diff --git a/starter_project/autonomy/format.sh b/starter_project/autonomy/format.sh
new file mode 100755
index 000000000..bc7e569ae
--- /dev/null
+++ b/starter_project/autonomy/format.sh
@@ -0,0 +1,44 @@
+#!/usr/bin/env bash
+
+# See: https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/
+set -Eeuo pipefail
+
+readonly RED='\033[0;31m'
+readonly NC='\033[0m'
+
+BLACK_ARGS=(
+  "--line-length=120"
+  "--color"
+)
+
+# Just do a dry run if the "fix" argument is not passed
+if [ $# -eq 0 ] || [ "$1" != "--fix" ]; then
+  BLACK_ARGS+=("--diff") # Show difference
+  BLACK_ARGS+=("--check") # Exit with non-zero code if changes are required (for CI)
+fi
+
+function print_update_error() {
+  echo -e "${RED}[Error] Please update with ./ansible.sh build.yml${NC}"
+  exit 1
+}
+
+function find_executable() {
+  local readonly executable="$1"
+  local readonly version="$2"
+  local readonly path=$(which "${executable}")
+  if [ ! -x "${path}" ]; then
+    echo -e "${RED}[Error] Could not find ${executable}${NC}"
+    print_update_error
+  fi
+  if ! "${path}" --version | grep -q "${version}"; then
+    echo -e "${RED}[Error] Wrong ${executable} version${NC}"
+    print_update_error
+  fi
+  echo "${path}"
+}
+
+readonly BLACK_PATH=$(find_executable black 23.9.1)
+
+echo
+echo "Style checking Python with black ..."
+"${BLACK_PATH}" "${BLACK_ARGS[@]}" ./src
diff --git a/starter_project/autonomy/lint.sh b/starter_project/autonomy/lint.sh
new file mode 100755
index 000000000..1b45973b5
--- /dev/null
+++ b/starter_project/autonomy/lint.sh
@@ -0,0 +1,33 @@
+#!/usr/bin/env bash
+
+# See: https://vaneyckt.io/posts/safer_bash_scripts_with_set_euxo_pipefail/
+set -Eeuo pipefail
+
+readonly RED='\033[0;31m'
+readonly NC='\033[0m'
+
+function print_update_error() {
+  echo -e "${RED}[Error] Please update with ./ansible.sh build.yml${NC}"
+  exit 1
+}
+
+function find_executable() {
+  local readonly executable="$1"
+  local readonly version="$2"
+  local readonly path=$(which "${executable}")
+  if [ ! -x "${path}" ]; then
+    echo -e "${RED}[Error] Could not find ${executable}${NC}"
+    print_update_error
+  fi
+  if ! "${path}" --version | grep -q "${version}"; then
+    echo -e "${RED}[Error] Wrong ${executable} version${NC}"
+    print_update_error
+  fi
+  echo "${path}"
+}
+
+readonly MYPY_PATH=$(find_executable mypy 1.5.1)
+
+echo
+echo "Style checking Python with mypy ..."
+"${MYPY_PATH}" --config-file=mypy.ini --check ./src
diff --git a/starter_project/autonomy/mypy.ini b/starter_project/autonomy/mypy.ini
new file mode 120000
index 000000000..141a30f41
--- /dev/null
+++ b/starter_project/autonomy/mypy.ini
@@ -0,0 +1 @@
+../../mypy.ini
\ No newline at end of file
diff --git a/starter_project/autonomy/src/localization.py b/starter_project/autonomy/src/localization.py
index 4fe23dabf..b8ff5423a 100755
--- a/starter_project/autonomy/src/localization.py
+++ b/starter_project/autonomy/src/localization.py
@@ -31,13 +31,11 @@ def gps_callback(self, msg: NavSatFix):
         """
         This function will be called every time this node receives a NavSatFix message
         on the /gps topic. It should read the GPS location from the given NavSatFix message,
-        convert it to cartesian coordiantes, store that value in `self.pose`, then publish
+        convert it to cartesian coordinates, store that value in `self.pose`, then publish
         that pose to the TF tree.
         """
         # TODO
 
-
-
     def imu_callback(self, msg: Imu):
         """
         This function will be called every time this node receives an Imu message
@@ -46,7 +44,6 @@ def imu_callback(self, msg: Imu):
         """
         # TODO
 
-
     @staticmethod
     def spherical_to_cartesian(spherical_coord: np.ndarray, reference_coord: np.ndarray) -> np.ndarray:
         """
@@ -54,9 +51,9 @@ def spherical_to_cartesian(spherical_coord: np.ndarray, reference_coord: np.ndar
         coordinates into cartesian (x, y, z) coordinates using the specified reference point
         as the center of the tangent plane used for approximation.
         :param spherical_coord: the spherical coordinate to convert,
-                                given as a numpy array [latiude, longitude]
+                                given as a numpy array [latitude, longitude]
         :param reference_coord: the reference coordinate to use for conversion,
-                                given as a numpy array [latiude, longitude]
+                                given as a numpy array [latitude, longitude]
         :returns: the approximated cartesian coordinates in meters, given as a numpy array [x, y, z]
         """
         # TODO
@@ -74,4 +71,4 @@ def main():
 
 
 if __name__ == "__main__":
-    main()
\ No newline at end of file
+    main()
diff --git a/starter_project/autonomy/src/navigation/context.py b/starter_project/autonomy/src/navigation/context.py
index 75e476e36..4bbd06f61 100644
--- a/starter_project/autonomy/src/navigation/context.py
+++ b/starter_project/autonomy/src/navigation/context.py
@@ -1,15 +1,15 @@
 from __future__ import annotations
-from re import S
+
+from dataclasses import dataclass
+from typing import Optional
+
+import numpy as np
 import rospy
 import tf2_ros
 from geometry_msgs.msg import Twist
 from mrover.msg import StarterProjectTag
-import mrover.srv
 from util.SE3 import SE3
 from visualization_msgs.msg import Marker
-from typing import ClassVar, Optional
-import numpy as np
-from dataclasses import dataclass
 
 
 @dataclass
@@ -17,17 +17,18 @@ class Rover:
     ctx: Context
 
     def get_pose(self) -> Optional[SE3]:
-        #TODO: return the pose of the rover (or None if we don't have one (catch exception))
+        # TODO: return the pose of the rover (or None if we don't have one (catch exception))
         pass
 
     def send_drive_command(self, twist: Twist):
-        #TODO: send the Twist message to the rover
+        # TODO: send the Twist message to the rover
         pass
 
     def send_drive_stop(self):
-        #TODO: tell the rover to stop
+        # TODO: tell the rover to stop
         pass
 
+
 @dataclass
 class Environment:
     """
@@ -38,18 +39,19 @@ class Environment:
     ctx: Context
     fid_pos: Optional[StarterProjectTag]
 
-    def recieve_fid_data(self, message : StarterProjectTag):
-        #TODO: handle incoming FID data messages here
+    def receive_fid_data(self, message: StarterProjectTag):
+        # TODO: handle incoming FID data messages here
         pass
 
     def get_fid_data(self) -> Optional[StarterProjectTag]:
         """
-        Retrieves the last recieved message regarding fid pose
+        Retrieves the last received message regarding fid pose
         if it exists, otherwise returns None
         """
-        #TODO: return either None or your position message
+        # TODO: return either None or your position message
         pass
 
+
 class Context:
     tf_buffer: tf2_ros.Buffer
     tf_listener: tf2_ros.TransformListener
@@ -68,4 +70,4 @@ def __init__(self):
         self.vis_publisher = rospy.Publisher("nav_vis", Marker)
         self.rover = Rover(self)
         self.env = Environment(self, None)
-        self.fid_listener = rospy.Subscriber("/tag", StarterProjectTag,self.env.recieve_fid_data)
\ No newline at end of file
+        self.fid_listener = rospy.Subscriber("/tag", StarterProjectTag, self.env.receive_fid_data)
diff --git a/starter_project/autonomy/src/navigation/drive.py b/starter_project/autonomy/src/navigation/drive.py
index 882388940..0bf724678 100644
--- a/starter_project/autonomy/src/navigation/drive.py
+++ b/starter_project/autonomy/src/navigation/drive.py
@@ -1,7 +1,6 @@
 from typing import Tuple
 
 import numpy as np
-
 from geometry_msgs.msg import Twist
 from util.SE3 import SE3
 
@@ -54,4 +53,4 @@ def get_drive_command(
     # 1 is target alignment (dot product of two normalized vectors that are parallel is 1)
     error = 1.0 - alignment
     cmd_vel.angular.z = np.clip(error * TURNING_P * sign, MIN_DRIVING_EFFORT, MAX_DRIVING_EFFORT)
-    return cmd_vel, False
\ No newline at end of file
+    return cmd_vel, False
diff --git a/starter_project/autonomy/src/navigation/drive_state.py b/starter_project/autonomy/src/navigation/drive_state.py
index dd315e383..bae1d07f1 100644
--- a/starter_project/autonomy/src/navigation/drive_state.py
+++ b/starter_project/autonomy/src/navigation/drive_state.py
@@ -1,31 +1,30 @@
-from multiprocessing import context
-from state import BaseState
 import numpy as np
+
 from context import Context
 from drive import get_drive_command
+from state import BaseState
+
 
 class DriveState(BaseState):
     def __init__(self, context: Context):
         super().__init__(
             context,
-            #TODO:
+            # TODO:
             add_outcomes=["TODO: add outcomes here"],
         )
 
     def evaluate(self, ud):
         target = np.array([5.5, 2.0, 0.0])
-        
-        #TODO: get the rover's pose, if it doesn't exist stay in DriveState (with outcome "driving_to_point")
-        
-        #TODO: get the drive command and completion status based on target and pose 
+
+        # TODO: get the rover's pose, if it doesn't exist stay in DriveState (with outcome "driving_to_point")
+
+        # TODO: get the drive command and completion status based on target and pose
         # (HINT: use get_drive_command(), with completion_thresh set to 0.7 and turn_in_place_thresh set to 0.2)
-        
-        #TODO: if we are finished getting to the target, go to TagSeekState (with outcome "reached_point")
-        
-        #TODO: send the drive command to the rover
-        
-        #TODO: tell smach to stay in the DriveState by returning with outcome "driving_to_point"
-        
-        pass
-        
 
+        # TODO: if we are finished getting to the target, go to TagSeekState (with outcome "reached_point")
+
+        # TODO: send the drive command to the rover
+
+        # TODO: tell smach to stay in the DriveState by returning with outcome "driving_to_point"
+
+        pass
diff --git a/starter_project/autonomy/src/navigation/navigation_starter_project.py b/starter_project/autonomy/src/navigation/navigation_starter_project.py
index ef1a96c86..a3f00f0dd 100755
--- a/starter_project/autonomy/src/navigation/navigation_starter_project.py
+++ b/starter_project/autonomy/src/navigation/navigation_starter_project.py
@@ -11,8 +11,8 @@
 
 # navigation specific imports
 from context import Context
-from state import DoneState
 from drive_state import DriveState
+from state import DoneState
 from tag_seek import TagSeekState
 
 
@@ -29,16 +29,16 @@ def __init__(self, context: Context):
         self.sis = smach_ros.IntrospectionServer("", self.state_machine, "/SM_ROOT")
         self.sis.start()
         with self.state_machine:
-            #TODO: add DriveState and its transitions here
- 
+            # TODO: add DriveState and its transitions here
+
             # DoneState and its transitions
             self.state_machine.add(
                 "DoneState",
                 DoneState(self.context),
                 transitions={"done": "DoneState"},
             )
-            #TODO: add TagSeekState and its transitions here
-            
+            # TODO: add TagSeekState and its transitions here
+
     def run(self):
         self.state_machine.execute()
 
@@ -53,7 +53,7 @@ def stop(self):
 
 def main():
     # TODO: init a node called "navigation"
-    
+
     # context and navigation objects
     context = Context()
     navigation = Navigation(context)
diff --git a/starter_project/autonomy/src/navigation/state.py b/starter_project/autonomy/src/navigation/state.py
index 5a40b4f0e..c1a8e623c 100644
--- a/starter_project/autonomy/src/navigation/state.py
+++ b/starter_project/autonomy/src/navigation/state.py
@@ -1,10 +1,11 @@
-from abc import ABC
-from typing import List
+from abc import ABC, abstractmethod
+from typing import List, Optional
 
 import smach
-from context import Context
 from geometry_msgs.msg import Twist
 
+from context import Context
+
 
 class BaseState(smach.State, ABC):
     """
@@ -16,9 +17,9 @@ class BaseState(smach.State, ABC):
     def __init__(
         self,
         context: Context,
-        add_outcomes: List[str] = None,
-        add_input_keys: List[str] = None,
-        add_output_keys: List[str] = None,
+        add_outcomes: Optional[List[str]] = None,
+        add_input_keys: Optional[List[str]] = None,
+        add_output_keys: Optional[List[str]] = None,
     ):
         add_outcomes = add_outcomes or []
         add_input_keys = add_input_keys or []
@@ -42,9 +43,10 @@ def execute(self, ud):
             return "terminated"
         return self.evaluate(ud)
 
+    @abstractmethod
     def evaluate(self, ud: smach.UserData) -> str:
         """Override me instead of execute!"""
-        pass
+        ...
 
 
 class DoneState(BaseState):
diff --git a/starter_project/autonomy/src/navigation/tag_seek.py b/starter_project/autonomy/src/navigation/tag_seek.py
index c1f597657..577731516 100644
--- a/starter_project/autonomy/src/navigation/tag_seek.py
+++ b/starter_project/autonomy/src/navigation/tag_seek.py
@@ -1,28 +1,30 @@
-from state import BaseState
-from context import Context
 from geometry_msgs.msg import Twist
 
+from context import Context
+from state import BaseState
+
+
 class TagSeekState(BaseState):
     def __init__(self, context: Context):
         super().__init__(
             context,
-            #TODO: add outcomes
+            # TODO: add outcomes
             add_outcomes=["TODO: add outcomes here"],
         )
 
     def evaluate(self, ud):
         DISTANCE_TOLERANCE = 0.99
         ANUGLAR_TOLERANCE = 0.3
-        #TODO: get the tag's location and properties (HINT: use get_fid_data() from context.env)
+        # TODO: get the tag's location and properties (HINT: use get_fid_data() from context.env)
 
-        #TODO: if we don't have a tag: go to the DoneState (with outcome "failure")
+        # TODO: if we don't have a tag: go to the DoneState (with outcome "failure")
 
-        #TODO: if we are within angular and distance tolerances: go to DoneState (with outcome "success")
+        # TODO: if we are within angular and distance tolerances: go to DoneState (with outcome "success")
 
-        #TODO: figure out the Twist command to be applied to move the rover closer to the tag
+        # TODO: figure out the Twist command to be applied to move the rover closer to the tag
 
-        #TODO: send Twist command to rover
+        # TODO: send Twist command to rover
 
-        #TODO: stay in the TagSeekState (with outcome "working")
+        # TODO: stay in the TagSeekState (with outcome "working")
 
-        pass
\ No newline at end of file
+        pass
diff --git a/starter_project/autonomy/src/util/SE3.py b/starter_project/autonomy/src/util/SE3.py
index 70474b496..824a16bb0 100644
--- a/starter_project/autonomy/src/util/SE3.py
+++ b/starter_project/autonomy/src/util/SE3.py
@@ -1,13 +1,14 @@
 from __future__ import annotations
+
 from dataclasses import dataclass, field
 
 import numpy as np
-import tf2_ros
 import rospy
-
-from .np_utils import numpify
+import tf2_ros
 from geometry_msgs.msg import TransformStamped, Vector3, Quaternion
+
 from .SO3 import SO3
+from .np_utils import numpify
 
 
 @dataclass(frozen=True)
@@ -92,7 +93,7 @@ def pos_distance_to(self, p: SE3) -> float:
         :param p: another SE3
         :returns: euclidean distance between the two SE3s
         """
-        return np.linalg.norm(p.position - self.position)
+        return np.linalg.norm(p.position - self.position)  # type: ignore
 
     def is_approx(self, p: SE3, tolerance=1e-8) -> bool:
         """
diff --git a/starter_project/autonomy/src/util/SO3.py b/starter_project/autonomy/src/util/SO3.py
index 984d207a3..7eca45ade 100644
--- a/starter_project/autonomy/src/util/SO3.py
+++ b/starter_project/autonomy/src/util/SO3.py
@@ -1,5 +1,7 @@
 from __future__ import annotations
+
 from dataclasses import dataclass, field
+
 import numpy as np
 from tf.transformations import (
     quaternion_inverse,
diff --git a/starter_project/autonomy/src/util/np_utils.py b/starter_project/autonomy/src/util/np_utils.py
index 923b7304c..a1f361163 100644
--- a/starter_project/autonomy/src/util/np_utils.py
+++ b/starter_project/autonomy/src/util/np_utils.py
@@ -1,7 +1,8 @@
-import numpy as np
+from typing import Union
 
+import numpy as np
 from geometry_msgs.msg import Vector3, Quaternion, Point
-from typing import Union
+
 
 def _translation_to_numpy(translation: Vector3) -> np.ndarray:
     return np.array([translation.x, translation.y, translation.z])
@@ -19,6 +20,7 @@ def normalized(v):
     norm = np.linalg.norm(v)
     return v / norm
 
+
 def numpify(msg: Union[Vector3, Quaternion, Point]) -> np.ndarray:
     if msg.__class__ == Vector3:
         return _translation_to_numpy(msg)
@@ -27,4 +29,4 @@ def numpify(msg: Union[Vector3, Quaternion, Point]) -> np.ndarray:
     elif msg.__class__ == Point:
         return _point_to_numpy(msg)
     else:
-        raise Exception("type of msg must be either Vector3 or Quaternion!!!")
\ No newline at end of file
+        raise Exception("type of msg must be either Vector3 or Quaternion!!!")
diff --git a/style.sh b/style.sh
index 39ff40b7c..779ef6d8e 100755
--- a/style.sh
+++ b/style.sh
@@ -6,46 +6,46 @@ set -Eeuo pipefail
 readonly RED='\033[0;31m'
 readonly NC='\033[0m'
 
-print_update_error() {
-  echo -e "${RED}[Error] Please update with ./ansible.sh build.yml${NC}"
-  exit 1
-}
-
-## Check that all tools are installed
-
-readonly clang_format_executable=clang-format-16
-readonly clang_format_executable_path=$(which "$clang_format_executable")
-if [ ! -x "$clang_format_executable_path" ]; then
-  echo -e "${RED}[Error] Could not find clang-format-16${NC}"
-  print_update_error
-fi
-
+BLACK_ARGS=(
+  "--line-length=120"
+  "--color"
+)
+CLANG_FORMAT_ARGS=(
+  "-style=file"
+)
 
-readonly black_executable=black
-readonly black_executable_path=$(which "$black_executable")
-if [ ! -x "$black_executable_path" ]; then
-  echo -e "${RED}[Error] Could not find black${NC}"
-  print_update_error
+# Just do a dry run if the "fix" argument is not passed
+if [ $# -eq 0 ] || [ "$1" != "--fix" ]; then
+  BLACK_ARGS+=("--diff") # Show difference
+  BLACK_ARGS+=("--check") # Exit with non-zero code if changes are required (for CI)
+  CLANG_FORMAT_ARGS+=("--dry-run")
 fi
 
-# Style check Python with black
-if ! black --version | grep -q 'black, 23.9.1'; then
-  echo -e "${RED}[Error] Wrong black version${NC}"
-  print_update_error
-fi
+function print_update_error() {
+  echo -e "${RED}[Error] Please update with ./ansible.sh build.yml${NC}"
+  exit 1
+}
 
+function find_executable() {
+  local readonly executable="$1"
+  local readonly version="$2"
+  local readonly path=$(which "${executable}")
+  if [ ! -x "${path}" ]; then
+    echo -e "${RED}[Error] Could not find ${executable}${NC}"
+    print_update_error
+  fi
+  if ! "${path}" --version | grep -q "${version}"; then
+    echo -e "${RED}[Error] Wrong ${executable} version${NC}"
+    print_update_error
+  fi
+  echo "${path}"
+}
 
-readonly mypy_executable=mypy
-readonly mypy_executable_path=$(which "$mypy_executable")
-if [ ! -x "$mypy_executable_path" ]; then
-  echo -e "${RED}[Error] Could not find mypy${NC}"
-  print_update_error
-fi
+## Check that all tools are installed
 
-if ! mypy --version | grep -q 'mypy 1.5.1'; then
-  echo -e "${RED}[Error] Wrong mypy version${NC}"
-  print_update_error
-fi
+readonly CLANG_FORMAT_PATH=$(find_executable clang-format-16 16.0)
+readonly BLACK_PATH=$(find_executable black 23.9.1)
+readonly MYPY_PATH=$(find_executable mypy 1.5.1)
 
 ## Run checks
 
@@ -56,14 +56,14 @@ readonly FOLDERS=(
   ./src/util
 )
 for FOLDER in "${FOLDERS[@]}"; do
-  find "${FOLDER}" -regex '.*\.\(cpp\|hpp\|h\)' -exec "$clang_format_executable_path" --dry-run -style=file -i {} \;
+  find "${FOLDER}" -regex '.*\.\(cpp\|hpp\|h\)' -exec "${CLANG_FORMAT_PATH}" "${CLANG_FORMAT_ARGS[@]}" -i {} \;
 done
 echo "Done"
 
 echo
 echo "Style checking Python with black ..."
-"$black_executable_path" --line-length=120 ./src ./scripts
+"$BLACK_PATH" "${BLACK_ARGS[@]}" ./src ./scripts
 
 echo
 echo "Style checking Python with mypy ..."
-"$mypy_executable_path" --config-file mypy.ini --check ./src ./scripts
+"$MYPY_PATH" --config-file=mypy.ini --check ./src ./scripts