diff --git a/README.md b/README.md
index 12dede7..6ae40a4 100644
--- a/README.md
+++ b/README.md
@@ -735,6 +735,7 @@ rclpy.shutdown()
 </details>
 
 #### chat_llama_ros (Chat + LVM)
+
 <details>
 <summary>Click to expand</summary>
 
@@ -777,7 +778,7 @@ rclpy.shutdown()
 
 </details>
 
-#### 🎉 \*\*\*NEW*** chat_llama_ros (Tools) 🎉
+#### 🎉 \*\*\*NEW\*\*\* chat_llama_ros (Tools) 🎉
 
 <details>
 <summary>Click to expand</summary>
@@ -944,11 +945,9 @@ ros2 llama launch MiniCPM-2.6.yaml
 ros2 run llama_demos chatllama_tools_node
 ```
 
-
-
 [Tools ChatLlama](https://github.com/user-attachments/assets/b912ee29-1466-4d6a-888b-9a2d9c16ae1d)
 
-#### Full Demo (LLM + chat template + RAG + Reranking + Stream)
+### Full Demo (LLM + chat template + RAG + Reranking + Stream)
 
 ```shell
 ros2 llama launch ~/ros2_ws/src/llama_ros/llama_bringup/models/bge-base-en-v1.5.yaml
diff --git a/llama_ros/llama_ros/langchain/chat_llama_ros.py b/llama_ros/llama_ros/langchain/chat_llama_ros.py
index d42ae3c..a5a3622 100644
--- a/llama_ros/llama_ros/langchain/chat_llama_ros.py
+++ b/llama_ros/llama_ros/langchain/chat_llama_ros.py
@@ -21,6 +21,12 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
+import cv2
+import json
+import uuid
+import jinja2
+import base64
+import numpy as np
 from typing import (
     Any,
     Callable,
@@ -35,37 +41,26 @@
     Tuple,
 )
 from operator import itemgetter
+
+from pydantic import BaseModel
+from jinja2.sandbox import ImmutableSandboxedEnvironment
 from langchain_core.output_parsers import (
     PydanticToolsParser,
     JsonOutputKeyToolsParser,
     PydanticOutputParser,
     JsonOutputParser,
 )
-from langchain_core.output_parsers.base import OutputParserLike
-from langchain_core.runnables import RunnablePassthrough, RunnableMap
-from langchain_core.utils.pydantic import is_basemodel_subclass
-import base64
-import cv2
-import numpy as np
-import jinja2
-from jinja2.sandbox import ImmutableSandboxedEnvironment
-from pydantic import BaseModel
-import uuid
 
-from llama_ros.langchain import LlamaROSCommon
-from llama_msgs.msg import Message
-from action_msgs.msg import GoalStatus
-from llama_msgs.srv import Detokenize
-from llama_msgs.srv import FormatChatMessages
-from llama_msgs.action import GenerateResponse
+from langchain_core.utils.pydantic import is_basemodel_subclass
 from langchain_core.utils.function_calling import convert_to_openai_tool
-import json
-
+from langchain_core.output_parsers.base import OutputParserLike
+from langchain_core.outputs import ChatGeneration, ChatGenerationChunk, ChatResult
+from langchain_core.runnables import Runnable
+from langchain_core.runnables import RunnablePassthrough, RunnableMap
 from langchain.callbacks.manager import CallbackManagerForLLMRun
 from langchain_core.language_models import BaseChatModel
-from langchain_core.tools import BaseTool
-from langchain_core.runnables import Runnable
 from langchain_core.language_models import LanguageModelInput
+from langchain_core.tools import BaseTool
 from langchain_core.messages import (
     AIMessage,
     AIMessageChunk,
@@ -74,7 +69,13 @@
     SystemMessage,
     ToolMessage,
 )
-from langchain_core.outputs import ChatGeneration, ChatGenerationChunk, ChatResult
+
+from action_msgs.msg import GoalStatus
+from llama_ros.langchain import LlamaROSCommon
+from llama_msgs.msg import Message
+from llama_msgs.srv import Detokenize
+from llama_msgs.srv import FormatChatMessages
+from llama_msgs.action import GenerateResponse
 
 DEFAULT_TEMPLATE = """{% if tools_grammar %}
     {{- '<|im_start|>assistant\n' }}
diff --git a/llama_ros/llama_ros/langchain/llama_ros.py b/llama_ros/llama_ros/langchain/llama_ros.py
index 6726ddb..a134ad4 100644
--- a/llama_ros/llama_ros/langchain/llama_ros.py
+++ b/llama_ros/llama_ros/langchain/llama_ros.py
@@ -23,14 +23,14 @@
 
 from typing import Any, Dict, List, Optional, Iterator
 
-from action_msgs.msg import GoalStatus
-from llama_msgs.srv import Tokenize
-from llama_ros.langchain import LlamaROSCommon
-
 from langchain_core.outputs import GenerationChunk
 from langchain_core.language_models.llms import LLM
 from langchain.callbacks.manager import CallbackManagerForLLMRun
 
+from action_msgs.msg import GoalStatus
+from llama_msgs.srv import Tokenize
+from llama_ros.langchain import LlamaROSCommon
+
 
 class LlamaROS(LLM, LlamaROSCommon):
 
diff --git a/llama_ros/llama_ros/langchain/llama_ros_common.py b/llama_ros/llama_ros/langchain/llama_ros_common.py
index 9adfd91..a203854 100644
--- a/llama_ros/llama_ros/langchain/llama_ros_common.py
+++ b/llama_ros/llama_ros/langchain/llama_ros_common.py
@@ -21,13 +21,13 @@
 # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 # SOFTWARE.
 
-from abc import ABC
-from typing import List, Optional, Dict
-from pydantic import model_validator
-from cv_bridge import CvBridge
+import cv2
 import numpy as np
+from abc import ABC
 import urllib.request
-import cv2
+from cv_bridge import CvBridge
+from pydantic import model_validator
+from typing import List, Optional, Dict
 
 from langchain_core.language_models import BaseLanguageModel
 
diff --git a/llama_ros/llama_ros/langchain/llama_ros_reranker.py b/llama_ros/llama_ros/langchain/llama_ros_reranker.py
index 268fb20..2af574d 100644
--- a/llama_ros/llama_ros/langchain/llama_ros_reranker.py
+++ b/llama_ros/llama_ros/langchain/llama_ros_reranker.py
@@ -24,8 +24,10 @@
 import operator
 from typing import Optional, Sequence, Dict
 from pydantic import model_validator
+
 from langchain_core.callbacks import Callbacks
 from langchain_core.documents import BaseDocumentCompressor, Document
+
 from llama_msgs.srv import RerankDocuments
 from llama_ros.llama_client_node import LlamaClientNode