diff --git a/.github/workflows/mega-linter.yml b/.github/workflows/mega-linter.yml
new file mode 100644
index 0000000..209b737
--- /dev/null
+++ b/.github/workflows/mega-linter.yml
@@ -0,0 +1,43 @@
+---
+name: MegaLinter
+
+on: # yamllint disable-line rule:truthy
+  push:
+    branches:
+      - dev
+  pull_request:
+    branches:
+      - dev
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  pull-requests: read
+
+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  megalinter:
+    name: MegaLinter
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Run MegaLinter
+        uses: oxsecurity/megalinter/flavors/python@v9.4.0
+        env:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Upload MegaLinter reports
+        if: always()
+        uses: actions/upload-artifact@v4
+        with:
+          name: megalinter-reports
+          path: |
+            megalinter-reports
+            mega-linter.log
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..bc16752
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,54 @@
+# Python caches and test artifacts
+__pycache__/
+*.py[cod]
+*$py.class
+.pytest_cache/
+.pytest-tmp/
+.pytest_tmp/
+.pytest_tmp*/
+.mypy_cache/
+.ruff_cache/
+.coverage
+.coverage.*
+coverage.xml
+htmlcov/
+.tox/
+.nox/
+
+# Virtual environments and local configuration
+.env
+.venv/
+venv/
+env/
+ENV/
+
+# Python packaging
+build/
+dist/
+*.egg-info/
+.eggs/
+*.egg
+wheels/
+
+# MegaLinter reports
+megalinter-reports/
+mega-linter.log
+mega-linter.report
+
+# Editors and OS files
+.idea/
+.vscode/settings.json
+.DS_Store
+Thumbs.db
+*.swp
+
+# Local diagnostics and generated data
+alpine-wheels/
+data/
+results/
+runs/
+outputs/
+*.png
+*.mat
+*.npy
+*.npz
diff --git a/.gitignore/orientation_diagnostics_joint16.png b/.gitignore/orientation_diagnostics_joint16.png
deleted file mode 100644
index c613beb..0000000
Binary files a/.gitignore/orientation_diagnostics_joint16.png and /dev/null differ
diff --git a/.mega-linter.yml b/.mega-linter.yml
new file mode 100644
index 0000000..b6199a8
--- /dev/null
+++ b/.mega-linter.yml
@@ -0,0 +1,15 @@
+---
+# Keep MegaLinter focused on checks that are useful across these Python repos
+# before strict typing, spelling, and security-scan baselines are established.
+ENABLE_LINTERS:
+  - ACTION_ACTIONLINT
+  - MARKDOWN_MARKDOWNLINT
+  - PYTHON_RUFF
+  - REPOSITORY_GIT_DIFF
+  - YAML_YAMLLINT
+  - YAML_V8R
+
+VALIDATE_ALL_CODEBASE: true
+PRINT_ALPACA: false
+SHOW_ELAPSED_TIME: true
+FLAVOR_SUGGESTIONS: false
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..697f090
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 Florian Pfaff
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.