diff --git a/pyproject.toml b/pyproject.toml
index 79034e25f0..afebfe7a7d 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -60,13 +60,14 @@ dependencies = [
   "psutil",
   "pycryptodome", # used in updated/casync, panda, body, and a test
 
-  #logreader
+  # logreader
   "zstd",
 ]
 
 [project.optional-dependencies]
 docs = [
   "Jinja2",
+  "natsort",
   "mkdocs==1.4.3",  # needed for mkdocs-plugin-commonmark
   "mkdocs-terminal",
   "mkdocs-plugin-commonmark",
@@ -95,7 +96,6 @@ dev = [
   "av",
   "azure-identity",
   "azure-storage-blob",
-  "breathe",
   "control",
   "dictdiffer",
   "flaky",
@@ -103,12 +103,8 @@ dev = [
   "lru-dict",
   "matplotlib",
   "metadrive-simulator@git+https://github.com/commaai/metadrive@opencv_headless ; platform_machine != 'aarch64'",
-  "mpld3",
-  "myst-parser",
-  "natsort",
-  "opencv-python-headless",
   "parameterized >=0.8, <0.9",
-  #pprofile = "*"
+  #"pprofile",
   "pyautogui",
   "pyopencl; platform_machine != 'aarch64'", # broken on arm64
   "pytools < 2024.1.11; platform_machine != 'aarch64'", # pyopencl use a broken version
@@ -122,7 +118,6 @@ dev = [
 
   # this is only pinned since 5.15.11 is broken
   "pyqt5 ==5.15.2; platform_machine == 'x86_64'", # no aarch64 wheels for macOS/linux
-
 ]
 
 [project.urls]
diff --git a/selfdrive/debug/run_process_on_route.py b/selfdrive/debug/run_process_on_route.py
index 6372a4d9dc..c625ff2663 100755
--- a/selfdrive/debug/run_process_on_route.py
+++ b/selfdrive/debug/run_process_on_route.py
@@ -3,8 +3,7 @@
 import argparse
 
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, replay_process
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 if __name__ == "__main__":
   parser = argparse.ArgumentParser(description="Run process on route and create new logs",
diff --git a/selfdrive/test/process_replay/model_replay.py b/selfdrive/test/process_replay/model_replay.py
index 74cf168755..49fdf9f061 100755
--- a/selfdrive/test/process_replay/model_replay.py
+++ b/selfdrive/test/process_replay/model_replay.py
@@ -10,8 +10,7 @@ from openpilot.tools.lib.openpilotci import BASE_URL, get_url
 from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, format_diff
 from openpilot.selfdrive.test.process_replay.process_replay import get_process_config, replay_process
 from openpilot.tools.lib.framereader import FrameReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 TEST_ROUTE = "2f4452b03ccb98f0|2022-12-03--13-45-30"
 SEGMENT = 6
diff --git a/selfdrive/test/process_replay/regen.py b/selfdrive/test/process_replay/regen.py
index 12f3dd37c2..e87b8347e1 100755
--- a/selfdrive/test/process_replay/regen.py
+++ b/selfdrive/test/process_replay/regen.py
@@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.vision_meta import DRIVER_CAMERA_FR
 from openpilot.selfdrive.test.update_ci_routes import upload_route
 from openpilot.tools.lib.route import Route
 from openpilot.tools.lib.framereader import FrameReader, BaseFrameReader, FrameType
-from openpilot.tools.lib.logreader import LogReader, LogIterable
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, LogIterable, save_log
 
 
 class DummyFrameReader(BaseFrameReader):
diff --git a/selfdrive/test/process_replay/test_processes.py b/selfdrive/test/process_replay/test_processes.py
index b1e41082ee..820f9a1899 100755
--- a/selfdrive/test/process_replay/test_processes.py
+++ b/selfdrive/test/process_replay/test_processes.py
@@ -14,8 +14,7 @@ from openpilot.selfdrive.test.process_replay.compare_logs import compare_logs, f
 from openpilot.selfdrive.test.process_replay.process_replay import CONFIGS, PROC_REPLAY_DIR, FAKEDATA, replay_process, \
                                                                    check_openpilot_enabled, check_most_messages_valid
 from openpilot.tools.lib.filereader import FileReader
-from openpilot.tools.lib.logreader import LogReader
-from openpilot.tools.lib.helpers import save_log
+from openpilot.tools.lib.logreader import LogReader, save_log
 
 source_segments = [
   ("BODY", "937ccb7243511b65|2022-05-24--16-03-09--1"),        # COMMA.COMMA_BODY
diff --git a/tools/latencylogger/latency_logger.py b/tools/latencylogger/latency_logger.py
index 8691149e94..f145cc35e4 100755
--- a/tools/latencylogger/latency_logger.py
+++ b/tools/latencylogger/latency_logger.py
@@ -3,7 +3,6 @@ import argparse
 import json
 import matplotlib.patches as mpatches
 import matplotlib.pyplot as plt
-import mpld3
 import sys
 from bisect import bisect_left, bisect_right
 from collections import defaultdict
@@ -174,7 +173,6 @@ def print_timestamps(timestamps, durations, start_times, relative):
         print("    "+'%-53s%-53s' %(event, str(time*1000)))
 
 def graph_timestamps(timestamps, start_times, end_times, relative, offset_services=False, title=""):
-  # mpld3 doesn't convert properly to D3 font sizes
   plt.rcParams.update({'font.size': 18})
 
   t0 = find_t0(start_times)
@@ -203,15 +201,14 @@ def graph_timestamps(timestamps, start_times, end_times, relative, offset_servic
           points['labels'].append(event[0])
     ax.broken_barh(service_bars, (i-height/2, height), facecolors=(colors), alpha=0.5, offsets=offsets)
 
-  scatter = ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
-  tooltip = mpld3.plugins.PointLabelTooltip(scatter, labels=points['labels'])
-  mpld3.plugins.connect(fig, tooltip)
+  ax.scatter(points['x'], points['y'], marker='d', edgecolor='black')
+  for i, label in enumerate(points['labels']):
+    ax.annotate(label, (points['x'][i], points['y'][i]), textcoords="offset points", xytext=(0,10), ha='center')
 
   plt.title(title)
-  # Set size relative window size is not trivial: https://github.com/mpld3/mpld3/issues/65
   fig.set_size_inches(18, 9)
   plt.legend(handles=[mpatches.Patch(color=colors[i], label=SERVICES[i]) for i in range(len(SERVICES))])
-  return fig
+  plt.show()
 
 def get_timestamps(lr):
   lr = list(lr)
@@ -239,4 +236,4 @@ if __name__ == "__main__":
   data, _ = get_timestamps(lr)
   print_timestamps(data['timestamp'], data['duration'], data['start'], args.relative)
   if args.plot:
-    mpld3.show(graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r))
+    graph_timestamps(data['timestamp'], data['start'], data['end'], args.relative, offset_services=args.offset, title=r)
diff --git a/tools/lib/helpers.py b/tools/lib/helpers.py
index 29ce2eb8eb..7c34e17cb1 100644
--- a/tools/lib/helpers.py
+++ b/tools/lib/helpers.py
@@ -1,7 +1,3 @@
-import bz2
-import zstd
-
-
 # regex patterns
 class RE:
   DONGLE_ID = r'(?P<dongle_id>[a-f0-9]{16})'
@@ -19,15 +15,3 @@ class RE:
 
   EXPLORER_FILE = fr'^(?P<segment_name>{SEGMENT_NAME})--(?P<file_name>[a-z]+\.[a-z0-9]+)$'
   OP_SEGMENT_DIR = fr'^(?P<segment_name>{SEGMENT_NAME})$'
-
-
-def save_log(dest, log_msgs, compress=True):
-  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
-
-  if compress and dest.endswith(".bz2"):
-    dat = bz2.compress(dat)
-  elif compress and dest.endswith(".zst"):
-    dat = zstd.compress(dat, 10)
-
-  with open(dest, "wb") as f:
-    f.write(dat)
diff --git a/tools/lib/logreader.py b/tools/lib/logreader.py
index b91a0e3d7b..1755ca2029 100755
--- a/tools/lib/logreader.py
+++ b/tools/lib/logreader.py
@@ -27,6 +27,18 @@ LogIterable = Iterable[LogMessage]
 RawLogIterable = Iterable[bytes]
 
 
+def save_log(dest, log_msgs, compress=True):
+  dat = b"".join(msg.as_builder().to_bytes() for msg in log_msgs)
+
+  if compress and dest.endswith(".bz2"):
+    dat = bz2.compress(dat)
+  elif compress and dest.endswith(".zst"):
+    dat = zstd.compress(dat, 10)
+
+  with open(dest, "wb") as f:
+    f.write(dat)
+
+
 class _LogFileReader:
   def __init__(self, fn, canonicalize=True, only_union_types=False, sort_by_time=False, dat=None):
     self.data_version = None
diff --git a/tools/op.sh b/tools/op.sh
index 42bbb1973d..55cc3d60d9 100755
--- a/tools/op.sh
+++ b/tools/op.sh
@@ -6,7 +6,7 @@ UNDERLINE='\033[4m'
 BOLD='\033[1m'
 NC='\033[0m'
 
-function op_first_install() {
+function op_install() {
   (set -e
 
   echo "Installing op system-wide..."
@@ -30,16 +30,22 @@ function op_run_command() {
 
 # be default, assume openpilot dir is in current directory
 OPENPILOT_ROOT=$(pwd)
-function op_check_openpilot_dir() {
-  echo "Checking for openpilot directory..."
+function op_get_openpilot_dir() {
   while [[ "$OPENPILOT_ROOT" != '/' ]];
   do
     if find "$OPENPILOT_ROOT/launch_openpilot.sh" -maxdepth 1 -mindepth 1 &> /dev/null; then
-      echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
       return 0
     fi
     OPENPILOT_ROOT="$(readlink -f "$OPENPILOT_ROOT/"..)"
   done
+}
+
+function op_check_openpilot_dir() {
+  echo "Checking for openpilot directory..."
+  if [[ -f "$OPENPILOT_ROOT/launch_openpilot.sh" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] openpilot found.\n"
+    return 0
+  fi
 
   echo -e " ↳ [${RED}✗${NC}] openpilot directory not found! Make sure that you are"
   echo "       inside the openpilot directory or specify one with the"
@@ -52,28 +58,28 @@ function op_check_git() {
 
   echo "Checking for git..."
   if ! command -v "git" > /dev/null 2>&1; then
-    echo -e " ↳ [${RED}✗${NC}] git not found on your system!\n"
+    echo -e " ↳ [${RED}✗${NC}] git not found on your system!"
     return 1
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git found.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] git found."
   fi
 
   echo "Checking for git lfs files..."
-  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "ASCII text" ]]; then
-    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'\n"
-    return 1
+  if [[ $(file -b $OPENPILOT_ROOT/selfdrive/modeld/models/supercombo.onnx) == "data" ]]; then
+    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found."
   else
-    echo -e " ↳ [${GREEN}✔${NC}] git lfs files found.\n"
+    echo -e " ↳ [${RED}✗${NC}] git lfs files not found! Run 'git lfs pull'"
+    return 1
   fi
 
   echo "Checking for git submodules..."
   for name in body msgq_repo opendbc panda rednose_repo tinygrad_repo; do
     if [[ -z $(ls $OPENPILOT_ROOT/$name) ]]; then
-      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'\n"
+      echo -e " ↳ [${RED}✗${NC}] git submodule $name not found! Run 'git submodule update --init --recursive'"
       return 1
     fi
   done
-  echo -e " ↳ [${GREEN}✔${NC}] git submodules found.\n"
+  echo -e " ↳ [${GREEN}✔${NC}] git submodules found."
 
   )
 }
@@ -88,22 +94,22 @@ function op_check_os() {
       source /etc/os-release
       case "$VERSION_CODENAME" in
         "jammy" | "kinetic" | "noble" | "focal")
-          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected.\n"
+          echo -e " ↳ [${GREEN}✔${NC}] Ubuntu $VERSION_CODENAME detected."
           ;;
         * )
-          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!\n"
+          echo -e " ↳ [${RED}✗${NC}] Incompatible Ubuntu version $VERSION_CODENAME detected!"
           return 1
           ;;
       esac
     else
-      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!\n"
+      echo -e " ↳ [${RED}✗${NC}] No /etc/os-release on your system. Make sure you're running on Ubuntu, or similar!"
       return 1
     fi
 
   elif [[ "$OSTYPE" == "darwin"* ]]; then
     echo -e " ↳ [${GREEN}✔${NC}] macos detected.\n"
   else
-    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!\n"
+    echo -e " ↳ [${RED}✗${NC}] OS type $OSTYPE not supported!"
     return 1
   fi
 
@@ -118,12 +124,12 @@ function op_check_python() {
   INSTALLED_PYTHON_VERSION=$(python3 --version 2> /dev/null || true)
 
   if [[ -z $INSTALLED_PYTHON_VERSION ]]; then
-    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] python3 not found on your system. You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   elif [[ $(echo $INSTALLED_PYTHON_VERSION | tr -d -c '[0-9]') -ge $(($(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9]') * 10)) ]]; then
-    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] $INSTALLED_PYTHON_VERSION detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!\n"
+    echo -e " ↳ [${RED}✗${NC}] You need python version at least $(echo $REQUIRED_PYTHON_VERSION | tr -d -c '[0-9.]') to continue!"
     return 1
   fi
 
@@ -133,9 +139,9 @@ function op_check_python() {
 function op_check_venv() {
   echo "Checking for venv..."
   if source $OPENPILOT_ROOT/.venv/bin/activate; then
-    echo -e " ↳ [${GREEN}✔${NC}] venv detected.\n"
+    echo -e " ↳ [${GREEN}✔${NC}] venv detected."
   else
-    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!\n"
+    echo -e " ↳ [${RED}✗${NC}] Can't activate venv in $OPENPILOT_ROOT. Assuming global env!"
   fi
 }
 
@@ -144,20 +150,32 @@ function op_before_cmd() {
     return 0
   fi
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
-  op_check_git
-  op_check_os
-  op_check_venv
-  op_check_python
-  echo -e "-----------------------------\n"
+
+  result="$((op_check_openpilot_dir ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_git ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_os ) 2>&1)" || (echo -e "$result" && return 1)
+  result="${result}\n$(( op_check_venv ) 2>&1)" || (echo -e "$result" && return 1)
+
+  op_activate_venv
+
+  result="${result}\n$(( op_check_python ) 2>&1)" || (echo -e "$result" && return 1)
+
+  if [[ -z $VERBOSE ]]; then
+    echo -e "Checking system → [${GREEN}✔${NC}] system is good."
+  else
+    echo -e "$result"
+  fi
 }
 
-function op_install() {
+function op_setup() {
   (set -e
 
-  op_check_openpilot_dir
+  op_get_openpilot_dir
   cd $OPENPILOT_ROOT
+
+  op_check_openpilot_dir
   op_check_os
   op_check_python
 
@@ -182,6 +200,10 @@ function op_install() {
   )
 }
 
+function op_activate_venv() {
+  source $OPENPILOT_ROOT/.venv/bin/activate &> /dev/null || true
+}
+
 function op_venv() {
   ( set -e
 
@@ -191,7 +213,7 @@ function op_venv() {
 
   if [[ "$?" -eq 0 ]]; then
     # this must be run in the same shell as the user calling "op"
-    op_check_openpilot_dir > /dev/null
+    op_get_openpilot_dir
     op_run_command source $OPENPILOT_ROOT/.venv/bin/activate
   fi
 }
@@ -199,16 +221,9 @@ function op_venv() {
 function op_check() {
   (set -e
 
+  VERBOSE=1
   op_before_cmd
-
-  )
-}
-
-function op_run() {
-  (set -e
-
-  op_before_cmd
-  op_run_command $OPENPILOT_ROOT/launch_openpilot.sh $@
+  unset VERBOSE
 
   )
 }
@@ -226,12 +241,12 @@ function op_juggle() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/plotjuggler/juggle.py $@
+  op_run_command tools/plotjuggler/juggle.py $@
 
   )
 }
 
-function op_linter() {
+function op_lint() {
   (set -e
 
   op_before_cmd
@@ -244,7 +259,7 @@ function op_replay() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/replay/replay $@
+  op_run_command tools/replay/replay $@
 
   )
 }
@@ -253,7 +268,7 @@ function op_cabana() {
   (set -e
 
   op_before_cmd
-  op_run_command $OPENPILOT_ROOT/tools/cabana/cabana $@
+  op_run_command tools/cabana/cabana $@
 
   )
 }
@@ -262,8 +277,8 @@ function op_sim() {
   (set -e
 
   op_before_cmd
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/run_bridge.py &
-  op_run_command exec $OPENPILOT_ROOT/tools/sim/launch_openpilot.sh
+  op_run_command exec tools/sim/run_bridge.py &
+  op_run_command exec tools/sim/launch_openpilot.sh
 
   )
 }
@@ -273,7 +288,7 @@ function op_default() {
   echo ""
   echo -e "${BOLD}${UNDERLINE}Description:${NC}"
   echo "  op is your entry point for all things related to openpilot development."
-  echo "  op is only a wrapper for scripts, tools  and commands already existing."
+  echo "  op is only a wrapper for existing scripts, tools, and commands."
   echo "  op will always show you what it will run on your system."
   echo ""
   echo "  op will try to find your openpilot directory in the following order:"
@@ -284,26 +299,27 @@ function op_default() {
   echo -e "${BOLD}${UNDERLINE}Usage:${NC} op [OPTIONS] <COMMAND>"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Commands:${NC}"
-  echo -e "  ${BOLD}venv${NC}       Activate the virtual environment"
-  echo -e "  ${BOLD}check${NC}      Check system requirements (git, os, python) to start using openpilot"
-  echo -e "  ${BOLD}install${NC}    Install requirements to use openpilot"
-  echo -e "  ${BOLD}build${NC}      Build openpilot"
-  echo -e "  ${BOLD}run${NC}        Run openpilot"
-  echo -e "  ${BOLD}sim${NC}        Run openpilot in a simulator"
-  echo -e "  ${BOLD}juggle${NC}     Run Plotjuggler"
-  echo -e "  ${BOLD}replay${NC}     Run replay"
-  echo -e "  ${BOLD}cabana${NC}     Run cabana"
-  echo -e "  ${BOLD}linter${NC}     Run all the pre-commit checks"
-  echo -e "  ${BOLD}help${NC}       Show this message"
-  echo -e "  ${BOLD}--install${NC}  Install this tool system wide"
+  echo -e "  ${BOLD}venv${NC}     Activate the Python virtual environment"
+  echo -e "  ${BOLD}check${NC}    Check the development environment (git, os, python) to start using openpilot"
+  echo -e "  ${BOLD}setup${NC}    Install openpilot dependencies"
+  echo -e "  ${BOLD}build${NC}    Build openpilot"
+  echo -e "  ${BOLD}sim${NC}      Run openpilot in a simulator"
+  echo -e "  ${BOLD}juggle${NC}   Run Plotjuggler"
+  echo -e "  ${BOLD}replay${NC}   Run replay"
+  echo -e "  ${BOLD}cabana${NC}   Run cabana"
+  echo -e "  ${BOLD}lint${NC}     Run all the pre-commit checks"
+  echo -e "  ${BOLD}help${NC}     Show this message"
+  echo -e "  ${BOLD}install${NC}  Install the 'op' tool system wide"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Options:${NC}"
   echo -e "  ${BOLD}-d, --dir${NC}"
   echo "          Specify the openpilot directory you want to use"
   echo -e "  ${BOLD}--dry${NC}"
-  echo "          Don't actually run anything, just print what would be"
+  echo "          Don't actually run anything, just print what would be run"
   echo -e "  ${BOLD}-n, --no-verify${NC}"
-  echo "          Don't run checks before running a command"
+  echo "          Skip environment check before running commands"
+  echo -e "  ${BOLD}-v, --verbose${NC}"
+  echo "          Show the result of all checks before running a command"
   echo ""
   echo -e "${BOLD}${UNDERLINE}Examples:${NC}"
   echo "  op --dir /tmp/openpilot check"
@@ -325,21 +341,21 @@ function _op() {
     -d | --dir )       shift 1; OPENPILOT_ROOT="$1"; shift 1 ;;
     --dry )            shift 1; DRY="1" ;;
     -n | --no-verify ) shift 1; NO_VERIFY="1" ;;
+    -v | --verbose ) shift 1; VERBOSE="1" ;;
   esac
 
   # parse Commands
   case $1 in
     venv )      shift 1; op_venv "$@" ;;
     check )     shift 1; op_check "$@" ;;
-    install )   shift 1; op_install "$@" ;;
+    setup )     shift 1; op_setup "$@" ;;
     build )     shift 1; op_build "$@" ;;
-    run )       shift 1; op_run "$@" ;;
     juggle )    shift 1; op_juggle "$@" ;;
     cabana )    shift 1; op_cabana "$@" ;;
-    linter )    shift 1; op_linter "$@" ;;
+    lint )      shift 1; op_lint "$@" ;;
     replay )    shift 1; op_replay "$@" ;;
     sim )       shift 1; op_sim "$@" ;;
-    --install ) shift 1; op_first_install "$@" ;;
+    install )   shift 1; op_install "$@" ;;
     * ) op_default "$@" ;;
   esac
 }
@@ -349,24 +365,31 @@ _op $@
 # remove from env
 unset -f _op
 unset -f op_check
-unset -f op_install
+unset -f op_setup
 unset -f op_build
-unset -f op_run
 unset -f op_juggle
 unset -f op_venv
 unset -f op_check_openpilot_dir
 unset -f op_check_git
 unset -f op_check_python
 unset -f op_check_os
-unset -f op_first_install
+unset -f op_install
 unset -f op_default
 unset -f op_run_command
-unset -f op_linter
+unset -f op_lint
 unset -f op_replay
 unset -f op_cabana
 unset -f op_check_venv
 unset -f op_before_cmd
 unset -f op_sim
+unset -f op_activate_venv
+unset -f op_get_openpilot_dir
 unset DRY
+unset NC
+unset RED
+unset GREEN
+unset UNDERLINE
+unset BOLD
 unset OPENPILOT_ROOT
 unset NO_VERIFY
+unset VERBOSE
diff --git a/tools/plotjuggler/juggle.py b/tools/plotjuggler/juggle.py
index 1d1612a1cd..22854b368d 100755
--- a/tools/plotjuggler/juggle.py
+++ b/tools/plotjuggler/juggle.py
@@ -12,8 +12,7 @@ from functools import partial
 
 from openpilot.common.basedir import BASEDIR
 from openpilot.selfdrive.car.fingerprints import MIGRATION
-from openpilot.tools.lib.helpers import save_log
-from openpilot.tools.lib.logreader import LogReader, ReadMode
+from openpilot.tools.lib.logreader import LogReader, ReadMode, save_log
 
 juggle_dir = os.path.dirname(os.path.realpath(__file__))
 
diff --git a/tools/setup.sh b/tools/setup.sh
index 8aca889b8c..9b1ee9c0c1 100755
--- a/tools/setup.sh
+++ b/tools/setup.sh
@@ -31,7 +31,7 @@ function check_git() {
 
 function git_clone() {
   echo "Cloning openpilot..."
-  if $(git clone --depth=1 https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
+  if $(git clone --filter=blob:none https://github.com/commaai/openpilot.git "$OPENPILOT_ROOT"); then
     if [[ -f $OPENPILOT_ROOT/launch_openpilot.sh ]]; then
       echo -e " ↳ [${GREEN}✔${NC}] Successfully cloned openpilot.\n"
       return 0
@@ -44,8 +44,8 @@ function git_clone() {
 
 function install_with_op() {
   cd $OPENPILOT_ROOT
-  $OPENPILOT_ROOT/tools/op.sh --install
   $OPENPILOT_ROOT/tools/op.sh install
+  $OPENPILOT_ROOT/tools/op.sh setup
 
   # make op usable right now
   alias op="source $OPENPILOT_ROOT/tools/op.sh \"\$@\""
diff --git a/tools/webcam/camera.py b/tools/webcam/camera.py
index d1d61b64d7..ddff46c5d3 100644
--- a/tools/webcam/camera.py
+++ b/tools/webcam/camera.py
@@ -1,3 +1,4 @@
+# TODO: remove the cv2 dependency, it's only used here
 import cv2 as cv
 import numpy as np
 
diff --git a/uv.lock b/uv.lock
index 7d4870c4b1..866cf921ae 100644
--- a/uv.lock
+++ b/uv.lock
@@ -96,15 +96,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/76/ac/a7305707cb852b7e16ff80eaf5692309bde30e2b1100a1fcacdc8f731d97/aiosignal-1.3.1-py3-none-any.whl", hash = "sha256:f8376fb07dd1e86a584e4fcdec80b36b7f81aac666ebc724e2c090300dd83b17", size = 7617 },
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-[[distribution]]
-name = "alabaster"
-version = "0.7.16"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/c9/3e/13dd8e5ed9094e734ac430b5d0eb4f2bb001708a8b7856cbf8e084e001ba/alabaster-0.7.16.tar.gz", hash = "sha256:75a8b99c28a5dad50dd7f8ccdd447a121ddb3892da9e53d1ca5cca3106d58d65", size = 23776 }
-wheels = [
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-]
-
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 name = "attrs"
 version = "23.2.0"
@@ -179,28 +170,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f4/da/4033cee3855395e84ff73da4b50d3528f9338205299cde89676639387fcc/azure_storage_blob-12.21.0-py3-none-any.whl", hash = "sha256:f9ede187dd5a0ef296b583a7c1861c6938ddd6708d6e70f4203a163c2ab42d43", size = 396449 },
 ]
 
-[[distribution]]
-name = "babel"
-version = "2.15.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/15/d2/9671b93d623300f0aef82cde40e25357f11330bdde91743891b22a555bed/babel-2.15.0.tar.gz", hash = "sha256:8daf0e265d05768bc6c7a314cf1321e9a123afc328cc635c18622a2f30a04413", size = 9390000 }
-wheels = [
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-]
-
-[[distribution]]
-name = "breathe"
-version = "4.35.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "docutils" },
-    { name = "sphinx" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/a2/9f/0c6f4ae0608d5edbb1df357c2487edfcbda13e75f4e48a898972592e2e48/breathe-4.35.0.tar.gz", hash = "sha256:5165541c3c67b6c7adde8b3ecfe895c6f7844783c4076b6d8d287e4f33d62386", size = 83358 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/eb/61/faddc25913de74e60e175bcfd962ec83532653c5895c0a06a83a6b5bbf3d/breathe-4.35.0-py3-none-any.whl", hash = "sha256:52c581f42ca4310737f9e435e3851c3d1f15446205a85fbc272f1f97ed74f5be", size = 92955 },
-]
-
 [[distribution]]
 name = "casadi"
 version = "3.6.5"
@@ -538,15 +507,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/87/a1/8c5287991ddb8d3e4662f71356d9656d91ab3a36618c3dd11b280df0d255/dnspython-2.6.1-py3-none-any.whl", hash = "sha256:5ef3b9680161f6fa89daf8ad451b5f1a33b18ae8a1c6778cdf4b43f08c0a6e50", size = 307696 },
 ]
 
-[[distribution]]
-name = "docutils"
-version = "0.21.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/ae/ed/aefcc8cd0ba62a0560c3c18c33925362d46c6075480bfa4df87b28e169a9/docutils-0.21.2.tar.gz", hash = "sha256:3a6b18732edf182daa3cd12775bbb338cf5691468f91eeeb109deff6ebfa986f", size = 2204444 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/8f/d7/9322c609343d929e75e7e5e6255e614fcc67572cfd083959cdef3b7aad79/docutils-0.21.2-py3-none-any.whl", hash = "sha256:dafca5b9e384f0e419294eb4d2ff9fa826435bf15f15b7bd45723e8ad76811b2", size = 587408 },
-]
-
 [[distribution]]
 name = "ewmhlib"
 version = "0.2"
@@ -838,15 +798,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/9c/1f/19ebc343cc71a7ffa78f17018535adc5cbdd87afb31d7c34874680148b32/ifaddr-0.2.0-py3-none-any.whl", hash = "sha256:085e0305cfe6f16ab12d72e2024030f5d52674afad6911bb1eee207177b8a748", size = 12314 },
 ]
 
-[[distribution]]
-name = "imagesize"
-version = "1.4.1"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/a7/84/62473fb57d61e31fef6e36d64a179c8781605429fd927b5dd608c997be31/imagesize-1.4.1.tar.gz", hash = "sha256:69150444affb9cb0d5cc5a92b3676f0b2fb7cd9ae39e947a5e11a36b4497cd4a", size = 1280026 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ff/62/85c4c919272577931d407be5ba5d71c20f0b616d31a0befe0ae45bb79abd/imagesize-1.4.1-py2.py3-none-any.whl", hash = "sha256:0d8d18d08f840c19d0ee7ca1fd82490fdc3729b7ac93f49870406ddde8ef8d8b", size = 8769 },
-]
-
 [[distribution]]
 name = "import-linter"
 version = "2.0"
@@ -1066,18 +1017,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/f3/df/ca72f352e15b6f8ce32b74af029f1189abffb906f7c137501ffe69c98a65/Markdown-3.3.7-py3-none-any.whl", hash = "sha256:f5da449a6e1c989a4cea2631aa8ee67caa5a2ef855d551c88f9e309f4634c621", size = 97778 },
 ]
 
-[[distribution]]
-name = "markdown-it-py"
-version = "3.0.0"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "mdurl" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/38/71/3b932df36c1a044d397a1f92d1cf91ee0a503d91e470cbd670aa66b07ed0/markdown-it-py-3.0.0.tar.gz", hash = "sha256:e3f60a94fa066dc52ec76661e37c851cb232d92f9886b15cb560aaada2df8feb", size = 74596 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/42/d7/1ec15b46af6af88f19b8e5ffea08fa375d433c998b8a7639e76935c14f1f/markdown_it_py-3.0.0-py3-none-any.whl", hash = "sha256:355216845c60bd96232cd8d8c40e8f9765cc86f46880e43a8fd22dc1a1a8cab1", size = 87528 },
-]
-
 [[distribution]]
 name = "markupsafe"
 version = "2.1.5"
@@ -1137,27 +1076,6 @@ wheels = [
     { url = "https://files.pythonhosted.org/packages/e3/31/aeab8a3db1fb22a7d04c5215f872b92451baf7f6595ffd59004aeead0b2c/matplotlib-3.9.1-cp312-cp312-win_amd64.whl", hash = "sha256:44a21d922f78ce40435cb35b43dd7d573cf2a30138d5c4b709d19f00e3907fd7", size = 7974774 },
 ]
 
-[[distribution]]
-name = "mdit-py-plugins"
-version = "0.4.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "markdown-it-py" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/00/6c/79c52651b22b64dba5c7bbabd7a294cc410bfb2353250dc8ade44d7d8ad8/mdit_py_plugins-0.4.1.tar.gz", hash = "sha256:834b8ac23d1cd60cec703646ffd22ae97b7955a6d596eb1d304be1e251ae499c", size = 42713 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/ef/f7/8a4dcea720a581e69ac8c5a38524baf0e3e2bb5f3819a9ff661464fe7d10/mdit_py_plugins-0.4.1-py3-none-any.whl", hash = "sha256:1020dfe4e6bfc2c79fb49ae4e3f5b297f5ccd20f010187acc52af2921e27dc6a", size = 54794 },
-]
-
-[[distribution]]
-name = "mdurl"
-version = "0.1.2"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/d6/54/cfe61301667036ec958cb99bd3efefba235e65cdeb9c84d24a8293ba1d90/mdurl-0.1.2.tar.gz", hash = "sha256:bb413d29f5eea38f31dd4754dd7377d4465116fb207585f97bf925588687c1ba", size = 8729 }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/b3/38/89ba8ad64ae25be8de66a6d463314cf1eb366222074cfda9ee839c56a4b4/mdurl-0.1.2-py3-none-any.whl", hash = "sha256:84008a41e51615a49fc9966191ff91509e3c40b939176e643fd50a5c2196b8f8", size = 9979 },
-]
-
 [[distribution]]
 name = "mergedeep"
 version = "1.3.4"
@@ -1267,19 +1185,6 @@ dependencies = [
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/28/fa/b2ba8229b9381e8f6381c1dcae6f4159a7f72349e414ed19cfbbd1817173/MouseInfo-0.1.3.tar.gz", hash = "sha256:2c62fb8885062b8e520a3cce0a297c657adcc08c60952eb05bc8256ef6f7f6e7", size = 10850 }
 
-[[distribution]]
-name = "mpld3"
-version = "0.5.10"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "jinja2" },
-    { name = "matplotlib" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/90/58/19378f4189a034eb3efc17b133426b8551af1d3b2c70d641a63124579629/mpld3-0.5.10.tar.gz", hash = "sha256:a478eb404fa5212505c59133cf272cd9a94105872e605597720e7f84de38fbc7", size = 1027709 }
-wheels = [
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-
 [[distribution]]
 name = "mpmath"
 version = "1.3.0"
@@ -1387,23 +1292,6 @@ wheels = [
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-version = "3.0.1"
-source = { registry = "https://pypi.org/simple" }
-dependencies = [
-    { name = "docutils" },
-    { name = "jinja2" },
-    { name = "markdown-it-py" },
-    { name = "mdit-py-plugins" },
-    { name = "pyyaml" },
-    { name = "sphinx" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/49/64/e2f13dac02f599980798c01156393b781aec983b52a6e4057ee58f07c43a/myst_parser-3.0.1.tar.gz", hash = "sha256:88f0cb406cb363b077d176b51c476f62d60604d68a8dcdf4832e080441301a87", size = 92392 }
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-
 [[distribution]]
 name = "natsort"
 version = "8.4.0"
@@ -1573,7 +1461,6 @@ dev = [
     { name = "av" },
     { name = "azure-identity" },
     { name = "azure-storage-blob" },
-    { name = "breathe" },
     { name = "control" },
     { name = "dictdiffer" },
     { name = "flaky" },
@@ -1582,10 +1469,6 @@ dev = [
     { name = "lru-dict" },
     { name = "matplotlib" },
     { name = "metadrive-simulator", marker = "platform_machine != 'aarch64'" },
-    { name = "mpld3" },
-    { name = "myst-parser" },
-    { name = "natsort" },
-    { name = "opencv-python-headless" },
     { name = "parameterized" },
     { name = "pyautogui" },
     { name = "pyopencl", marker = "platform_machine != 'aarch64'" },
@@ -1603,6 +1486,7 @@ docs = [
     { name = "mkdocs" },
     { name = "mkdocs-plugin-commonmark" },
     { name = "mkdocs-terminal" },
+    { name = "natsort" },
 ]
 testing = [
     { name = "coverage" },
@@ -5204,15 +5088,6 @@ wheels = [
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@@ -5237,87 +5112,6 @@ wheels = [
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-    { name = "pygments" },
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-    { name = "sphinxcontrib-applehelp" },
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