diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index cabf94e..b560628 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -37,18 +37,17 @@ jobs:
     name: "${{ matrix.distro }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' • clang-tidy (delta)' || ' • clang-tidy (all)') || '' }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
 
       - name: Cache ccache
-        uses: rhaschke/cache@main
+        uses: actions/cache@v4
         with:
+          save-always: true
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
-        env:
-          GHA_CACHE_SAVE: always
 
       - name: industrial_ci
         id: ici
@@ -56,7 +55,7 @@ jobs:
         env: ${{ matrix.env || env }}
 
       - name: Upload test artifacts (on failure)
-        uses: actions/upload-artifact@v3
+        uses: actions/upload-artifact@v4
         if: failure() && (steps.ici.outputs.run_target_test || steps.ici.outputs.target_test_results)
         with:
           name: test-results
diff --git a/.github/workflows/format.yaml b/.github/workflows/format.yaml
index 2d36665..c5fc02f 100644
--- a/.github/workflows/format.yaml
+++ b/.github/workflows/format.yaml
@@ -13,13 +13,13 @@ jobs:
     name: pre-commit
     runs-on: ubuntu-20.04
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - name: Install clang-format-10
         run: sudo apt-get install clang-format-10
       - uses: rhaschke/install-catkin_lint-action@v1.0
         with:
           distro: noetic
-      - uses: pre-commit/action@v3.0.0
+      - uses: pre-commit/action@v3.0.1
         id: precommit
       - name: Upload pre-commit changes
         if: failure() && steps.precommit.outcome == 'failure'
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
index 30520a2..6026aca 100644
--- a/.pre-commit-config.yaml
+++ b/.pre-commit-config.yaml
@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v4.0.1
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -28,12 +28,12 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/pre-commit/mirrors-autopep8
-    rev: v1.5.7
+    rev: v2.0.4
     hooks:
     - id: autopep8
 
   - repo: https://github.com/PyCQA/pylint
-    rev: v2.11.1
+    rev: v3.2.6
     hooks: []
 
   - repo: local
diff --git a/tactile_calibration/tactile_calibration_tools/scripts/record_calib.py b/tactile_calibration/tactile_calibration_tools/scripts/record_calib.py
index 4d2b493..83fbe55 100755
--- a/tactile_calibration/tactile_calibration_tools/scripts/record_calib.py
+++ b/tactile_calibration/tactile_calibration_tools/scripts/record_calib.py
@@ -22,12 +22,12 @@
 
 from tactile_calibration_tools.calibration_utils import *
 
-#import curses
-#import os
+# import curses
+# import os
 
 
-#import curses
-#stdscr = curses.initscr()
+# import curses
+# stdscr = curses.initscr()
 # curses.noecho()
 # stdscr.nodelay(1) # set getch() non-blocking
 
@@ -179,7 +179,7 @@ def wait_key_press(timeout):
         return True
     return False
 # def wait_key_press(win, timeout):
-    #now = rospy.Time.now()
+    # now = rospy.Time.now()
     # while((rospy.Time.now()-now).to_sec() < timeout):
     # try:
     # key = win.getkey()
@@ -198,7 +198,7 @@ def user_menu(choices={'c': "continue", 'r': "retry", 's': "save", 'q': "quit wi
     letter_string += ") ?\n"
     # print "press c to continue, r to retry, d to detect a new channel, s to save and quit, or q to quit without saving"
     tcflush(sys.stdin, TCIFLUSH)
-    #user_choice = stdscr.getch()
+    # user_choice = stdscr.getch()
     return input(letter_string)
 
 
@@ -208,7 +208,7 @@ def user_yesno(default=True):
     else:
         text = "y/[n] ?"
     tcflush(sys.stdin, TCIFLUSH)
-    while(1):
+    while (1):
         ret = input(text)
         if ret == "":
             return default
@@ -355,7 +355,7 @@ def select_color(prev_raw, raw, threshold):
         raw_sub = message_filters.Subscriber(args.raw_topic, TactileState)
         ref_sub = message_filters.Subscriber(args.ref_topic, TactileState)
         ts = message_filters.ApproximateTimeSynchronizer([raw_sub, ref_sub], 10, 0.1, allow_headerless=False)
-        #ts = message_filters.TimeSynchronizer([raw_sub, ref_sub], 10)
+        # ts = message_filters.TimeSynchronizer([raw_sub, ref_sub], 10)
         ts.registerCallback(raw_ref_topic_cb)
     else:
         print("Initializing topic subscriber")
@@ -479,7 +479,7 @@ def select_color(prev_raw, raw, threshold):
                 print("Use the calibtool upright and press and release your selected channel evenly over",
                       args.repetition, "iterations. \n\n")
             # display vector and detection level
-            #channel_display_str = display_channel(raw_previous_vec, raw_vec, args.detect_threshold)
+            # channel_display_str = display_channel(raw_previous_vec, raw_vec, args.detect_threshold)
             channel_display_str = display_channel_color(raw_previous_vec, raw_vec, args.detect_threshold)
             if channel_display_str is not None:
                 print("\033[0m\r chan:", '\033[0m|'.join(channel_display_str), '\033[0m', end=' ')
@@ -571,7 +571,7 @@ def select_color(prev_raw, raw, threshold):
                     state = RecordingState.PROCESS
                     print("\nrecording ended")
                 else:
-                  #display_raw_ref = display_channel_color([raw_previous_vec[i] for i in [detected_channel, args.ref_channel]] , [raw_vec[i] for i in [detected_channel, args.ref_channel] ], input_range_max)
+                  # display_raw_ref = display_channel_color([raw_previous_vec[i] for i in [detected_channel, args.ref_channel]] , [raw_vec[i] for i in [detected_channel, args.ref_channel] ], input_range_max)
                   # if display_raw_ref is not None:
                     # print "\033[0m\r chan:",display_raw_ref[0],"\033[0mref:",display_raw_ref[1],"\033[0m Remaining time :", round(DEFAULT_RECORDING_DURATION-elapsed_time),
                     if ref_topic_init is not None and ref_topic_init is True:
diff --git a/tactile_calibration/tactile_calibration_tools/src/tactile_calibration_tools/calibration_utils.py b/tactile_calibration/tactile_calibration_tools/src/tactile_calibration_tools/calibration_utils.py
index 4c7f91b..4088509 100644
--- a/tactile_calibration/tactile_calibration_tools/src/tactile_calibration_tools/calibration_utils.py
+++ b/tactile_calibration/tactile_calibration_tools/src/tactile_calibration_tools/calibration_utils.py
@@ -378,7 +378,7 @@ def generate_mapping_pwl(x, y, input_range_max, calib_channel, seg=4, no_extrapo
 
     xs = np.array(x)
     ys = np.array(y)
-    #ys = smooth(y_inc,100)
+    # ys = smooth(y_inc,100)
 
     pwlf_result = pwlf.PiecewiseLinFit(xs, ys)
     # request a fit with n points