diff --git a/.darglint b/.darglint
new file mode 100644
index 0000000..355d713
--- /dev/null
+++ b/.darglint
@@ -0,0 +1,3 @@
+[darglint]
+
+docstring_style=google
diff --git a/.github/workflows/publish.yml b/.github/workflows/publish.yml
new file mode 100644
index 0000000..1c0beb9
--- /dev/null
+++ b/.github/workflows/publish.yml
@@ -0,0 +1,44 @@
+name: Publish Python Package
+
+on:
+  release:
+    types: [created]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  id-token: write
+
+concurrency:
+  group: "publish"
+  cancel-in-progress: true
+
+jobs:
+  publish:
+    timeout-minutes: 10
+    name: Build and publish
+
+    # We don't need to run on all platforms since this package is
+    # platform-agnostic. The output wheel is something like
+    # "kbrain-<version>-py3-none-any.whl".
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v3
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.11"
+
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install build wheel
+
+      - name: Build package
+        run: python -m build --sdist --wheel --outdir dist/ .
+
+      - name: Publish package
+        uses: pypa/gh-action-pypi-publish@release/v1
diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml
new file mode 100644
index 0000000..04aa24d
--- /dev/null
+++ b/.github/workflows/test.yml
@@ -0,0 +1,65 @@
+name: Python Checks
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+    branches:
+      - master
+    types:
+      - opened
+      - reopened
+      - synchronize
+      - ready_for_review
+
+concurrency:
+  group: tests-${{ github.head_ref || github.run_id }}
+  cancel-in-progress: true
+
+jobs:
+  run-base-tests:
+    timeout-minutes: 10
+    runs-on: ubuntu-latest
+    steps:
+      - name: Check out repository
+        uses: actions/checkout@v3
+
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: "3.11"
+
+      - name: Restore cache
+        id: restore-cache
+        uses: actions/cache/restore@v3
+        with:
+          path: |
+            ${{ env.pythonLocation }}
+            .mypy_cache/
+          key: python-requirements-${{ env.pythonLocation }}-${{ github.event.pull_request.base.sha || github.sha }}
+          restore-keys: |
+            python-requirements-${{ env.pythonLocation }}
+            python-requirements-
+
+      - name: Install package
+        run: |
+          pip install --upgrade --upgrade-strategy eager --extra-index-url https://download.pytorch.org/whl/cpu -e '.[dev]'
+
+      - name: Run static checks
+        run: |
+          mkdir -p .mypy_cache
+          make static-checks
+
+      - name: Run unit tests
+        run: |
+          make test
+
+      - name: Save cache
+        uses: actions/cache/save@v3
+        if: github.ref == 'refs/heads/master'
+        with:
+          path: |
+            ${{ env.pythonLocation }}
+            .mypy_cache/
+          key: ${{ steps.restore-cache.outputs.cache-primary-key }}
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..ae8e28a
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,21 @@
+# .gitignore
+
+# Python
+*.py[oc]
+__pycache__/
+*.egg-info
+.eggs/
+.mypy_cache/*
+.pyre/
+.pytest_cache/
+.ruff_cache/
+.dmypy.json
+
+# Databases
+*.db
+
+# Build artifacts
+build/
+dist/
+*.so
+out*/
diff --git a/Cargo.toml b/Cargo.toml
new file mode 100644
index 0000000..2681745
--- /dev/null
+++ b/Cargo.toml
@@ -0,0 +1,17 @@
+[workspace]
+
+members = [
+    "kbrain/bindings",
+    "kbrain/rust",
+]
+resolver = "2"
+
+[workspace.package]
+
+version = "0.1.0"
+authors = ["Wesley Maa <wesley@kscale.dev>", "Pawel Budzianowski <pawel@kscale.dev>", "Benjamin Bolte <ben@kscale.dev>"]
+edition = "2021"
+license = "MIT"
+repository = "https://github.com/kscalelabs/kbrain"
+documentation = "https://docs.kscale.dev/software/actuators/overview"
+readme = "README.md"
diff --git a/LICENSE b/LICENSE
new file mode 100644
index 0000000..3efb886
--- /dev/null
+++ b/LICENSE
@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2023 Benjamin Bolte
+
+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.
diff --git a/MANIFEST.in b/MANIFEST.in
new file mode 100644
index 0000000..4875cb1
--- /dev/null
+++ b/MANIFEST.in
@@ -0,0 +1 @@
+recursive-include kbrain/ *.py *.txt py.typed MANIFEST.in
diff --git a/Makefile b/Makefile
new file mode 100644
index 0000000..77077ef
--- /dev/null
+++ b/Makefile
@@ -0,0 +1,62 @@
+# Makefile
+
+define HELP_MESSAGE
+k-brain
+
+# Installing
+
+1. Create a new Conda environment: `conda create --name k-brain python=3.11`
+2. Activate the environment: `conda activate k-brain`
+3. Install the package: `make install-dev`
+
+# Running Tests
+
+1. Run autoformatting: `make format`
+2. Run static checks: `make static-checks`
+3. Run unit tests: `make test`
+
+endef
+export HELP_MESSAGE
+
+all:
+	@echo "$$HELP_MESSAGE"
+.PHONY: all
+
+# ------------------------ #
+#        PyPI Build        #
+# ------------------------ #
+
+build-for-pypi:
+	@pip install --verbose build wheel twine
+	@python -m build --sdist --wheel --outdir dist/ .
+	@twine upload dist/*
+.PHONY: build-for-pypi
+
+push-to-pypi: build-for-pypi
+	@twine upload dist/*
+.PHONY: push-to-pypi
+
+# ------------------------ #
+#       Static Checks      #
+# ------------------------ #
+
+py-files := $(shell find . -name '*.py')
+
+format:
+	@black $(py-files)
+	@ruff format $(py-files)
+.PHONY: format
+
+static-checks:
+	@black --diff --check $(py-files)
+	@ruff check $(py-files)
+	@mypy --install-types --non-interactive $(py-files)
+.PHONY: lint
+
+# ------------------------ #
+#        Unit tests        #
+# ------------------------ #
+
+test:
+	python -m pytest
+.PHONY: test
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..306e57d
--- /dev/null
+++ b/README.md
@@ -0,0 +1,3 @@
+# k-brain
+
+Welcome to the k-brain project!
diff --git a/kbrain/__init__.py b/kbrain/__init__.py
new file mode 100644
index 0000000..f102a9c
--- /dev/null
+++ b/kbrain/__init__.py
@@ -0,0 +1 @@
+__version__ = "0.0.1"
diff --git a/kbrain/bindings/Cargo.toml b/kbrain/bindings/Cargo.toml
new file mode 100644
index 0000000..d760878
--- /dev/null
+++ b/kbrain/bindings/Cargo.toml
@@ -0,0 +1,29 @@
+[package]
+
+name = "bindings"
+version.workspace = true
+edition.workspace = true
+description.workspace = true
+authors.workspace = true
+repository.workspace = true
+license.workspace = true
+readme.workspace = true
+
+[lib]
+
+name = "bindings"
+crate-type = ["cdylib", "rlib"]
+
+[dependencies]
+
+pyo3 = { version = ">= 0.21.0", features = ["extension-module"] }
+pyo3-stub-gen = ">= 0.6.0"
+tokio = { version = "1.28.0", features = ["full"] }
+async-trait = "0.1.68"
+futures = "0.3"
+log = "0.4"
+env_logger = "0.11.5"
+serialport = "4.5.1"
+
+# Other packages in the workspace.
+kbrain = { path = "../rust" }
diff --git a/kbrain/py.typed b/kbrain/py.typed
new file mode 100644
index 0000000..e69de29
diff --git a/kbrain/requirements-dev.txt b/kbrain/requirements-dev.txt
new file mode 100644
index 0000000..e36b648
--- /dev/null
+++ b/kbrain/requirements-dev.txt
@@ -0,0 +1,7 @@
+# requirements-dev.txt
+
+black
+darglint
+mypy
+pytest
+ruff
diff --git a/kbrain/requirements.txt b/kbrain/requirements.txt
new file mode 100644
index 0000000..2ee1e7b
--- /dev/null
+++ b/kbrain/requirements.txt
@@ -0,0 +1,2 @@
+# requirements.txt
+
diff --git a/kbrain/rs/Cargo.toml b/kbrain/rs/Cargo.toml
new file mode 100644
index 0000000..234aaa6
--- /dev/null
+++ b/kbrain/rs/Cargo.toml
@@ -0,0 +1,35 @@
+[package]
+
+name = "kbrain"
+readme = "README.md"
+version = "0.0.1"
+description = "The brain for K-Scale's humanoid robots"
+
+authors.workspace = true
+edition.workspace = true
+repository.workspace = true
+license.workspace = true
+
+[lib]
+
+name = "kbrain"
+crate-type = ["cdylib", "rlib"]
+
+[dependencies]
+
+serialport = "^4.5.1"
+ctrlc = "^3.4.5"
+lazy_static = "^1.4.0"
+spin_sleep = "^1.2.1"
+nix = "^0.26.2"
+log = "^0.4.22"
+
+[[bin]]
+
+name = "motors"
+path = "src/bin/motors.rs"
+
+[dependencies.clap]
+
+version = "4.3"
+features = ["derive"]
\ No newline at end of file
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..0c590c8
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,72 @@
+[tool.black]
+
+line-length = 120
+target-version = ["py311"]
+include = '\.pyi?$'
+
+[tool.pytest.ini_options]
+
+addopts = "-rx -rf -x -q --full-trace"
+testpaths = ["tests"]
+
+markers = [
+    "slow: Marks test as being slow",
+]
+
+[tool.mypy]
+
+pretty = true
+show_column_numbers = true
+show_error_context = true
+show_error_codes = true
+show_traceback = true
+disallow_untyped_defs = true
+strict_equality = true
+allow_redefinition = true
+
+warn_unused_ignores = true
+warn_redundant_casts = true
+
+incremental = true
+namespace_packages = false
+
+# Uncomment to exclude modules from Mypy.
+# [[tool.mypy.overrides]]
+# module = []
+# ignore_missing_imports = true
+
+[tool.isort]
+
+profile = "black"
+
+[tool.ruff]
+
+line-length = 120
+target-version = "py310"
+
+[tool.ruff.lint]
+
+select = ["ANN", "D", "E", "F", "I", "N", "PGH", "PLC", "PLE", "PLR", "PLW", "W"]
+
+ignore = [
+    "ANN101", "ANN102",
+    "D101", "D102", "D103", "D104", "D105", "D106", "D107",
+    "N812", "N817",
+    "PLR0911", "PLR0912", "PLR0913", "PLR0915", "PLR2004",
+    "PLW0603", "PLW2901",
+]
+
+dummy-variable-rgx = "^(_+|(_+[a-zA-Z0-9_]*[a-zA-Z0-9]+?))$"
+
+[tool.ruff.lint.per-file-ignores]
+
+"__init__.py" = ["E402", "F401", "F403", "F811"]
+
+[tool.ruff.lint.isort]
+
+known-first-party = ["kbrain", "tests"]
+combine-as-imports = true
+
+[tool.ruff.lint.pydocstyle]
+
+convention = "google"
diff --git a/setup.py b/setup.py
new file mode 100644
index 0000000..af3ce38
--- /dev/null
+++ b/setup.py
@@ -0,0 +1,60 @@
+# mypy: disable-error-code="import-untyped"
+#!/usr/bin/env python
+"""Setup script for the project."""
+
+import re
+import subprocess
+
+from setuptools import find_packages, setup
+from setuptools.command.build_ext import build_ext
+from setuptools_rust import Binding, RustExtension
+
+with open("README.md", "r", encoding="utf-8") as f:
+    long_description: str = f.read()
+
+
+with open("kbrain/requirements.txt", "r", encoding="utf-8") as f:
+    requirements: list[str] = f.read().splitlines()
+
+
+with open("kbrain/requirements-dev.txt", "r", encoding="utf-8") as f:
+    requirements_dev: list[str] = f.read().splitlines()
+
+
+with open("kbrain/__init__.py", "r", encoding="utf-8") as fh:
+    version_re = re.search(r"^__version__ = \"([^\"]*)\"", fh.read(), re.MULTILINE)
+assert version_re is not None, "Could not find version in kbrain/__init__.py"
+version: str = version_re.group(1)
+
+
+class RustBuildExt(build_ext):
+    def run(self) -> None:
+        # Run the stub generator
+        subprocess.run(["cargo", "run", "--bin", "stub_gen"], check=True)
+        # Call the original build_ext command
+        super().run()
+
+
+setup(
+    name="k-brain",
+    version=version,
+    description="The k-brain project",
+    author="Benjamin Bolte",
+    url="https://github.com/kscalelabs/kbrain",
+    rust_extensions=[
+        RustExtension(
+            target="actuator.bindings",
+            path="actuator/bindings/Cargo.toml",
+            binding=Binding.PyO3,
+        ),
+    ],
+    setup_requires=["setuptools-rust"],
+    long_description=long_description,
+    long_description_content_type="text/markdown",
+    python_requires=">=3.11",
+    install_requires=requirements,
+    tests_require=requirements_dev,
+    extras_require={"dev": requirements_dev},
+    packages=find_packages(include=["actuator"]),
+    cmdclass={"build_ext": RustBuildExt},
+)
diff --git a/tests/conftest.py b/tests/conftest.py
new file mode 100644
index 0000000..fdc62be
--- /dev/null
+++ b/tests/conftest.py
@@ -0,0 +1,15 @@
+"""Defines PyTest configuration for the project."""
+
+import random
+
+import pytest
+from _pytest.python import Function
+
+
+@pytest.fixture(autouse=True)
+def set_random_seed() -> None:
+    random.seed(1337)
+
+
+def pytest_collection_modifyitems(items: list[Function]) -> None:
+    items.sort(key=lambda x: x.get_closest_marker("slow") is not None)
diff --git a/tests/test_dummy.py b/tests/test_dummy.py
new file mode 100644
index 0000000..284dabe
--- /dev/null
+++ b/tests/test_dummy.py
@@ -0,0 +1,12 @@
+"""Defines a dummy test."""
+
+import pytest
+
+
+def test_dummy() -> None:
+    assert True
+
+
+@pytest.mark.slow
+def test_slow() -> None:
+    assert True