diff --git a/build-all.sh b/build-all.sh
index 97d9977..4f5be51 100755
--- a/build-all.sh
+++ b/build-all.sh
@@ -4,6 +4,26 @@ set -euo pipefail
 
 REPO_ROOT="$(realpath "$(dirname "${BASH_SOURCE[0]}")")"
 
+# Option: --pybricks-code <path> copies built npm packages into that
+# checkout's node_modules/@pybricks/ for easy local testing.
+PYBRICKS_CODE=""
+while [[ $# -gt 0 ]]; do
+    case "$1" in
+        --pybricks-code)
+            PYBRICKS_CODE="$(realpath "$2")"
+            shift 2
+            ;;
+        *)
+            echo "usage: $0 [--pybricks-code <path-to-pybricks-code-checkout>]" >&2
+            exit 1
+            ;;
+    esac
+done
+if [[ -n "$PYBRICKS_CODE" && ! -d "$PYBRICKS_CODE/node_modules/@pybricks" ]]; then
+    echo "error: $PYBRICKS_CODE/node_modules/@pybricks not found (run yarn install there first)" >&2
+    exit 1
+fi
+
 # Activate the project venv so python/make/etc. all use it without poetry run
 source "$REPO_ROOT/.venv/bin/activate"
 
@@ -13,13 +33,19 @@ VERSION=$(grep '^version = ' "$REPO_ROOT/pyproject.toml" | head -1 | sed 's/vers
 NPM_VERSION=$(echo "$VERSION" | sed 's/\([0-9]\)a\([0-9]\)/\1-alpha.\2/;s/\([0-9]\)b\([0-9]\)/\1-beta.\2/;s/\([0-9]\)rc\([0-9]\)/\1-rc.\2/')
 echo "==> Building version $VERSION (npm: $NPM_VERSION)"
 
-# lint
+# lint (same as CI build.yml)
 echo "==> Linting"
 cd "$REPO_ROOT"
-flake8
+ruff check
+ruff format --check
 doc8
 
-# pybricks-jedi tests
+# Python package
+echo "==> Building Python package"
+rm -rf "$REPO_ROOT/dist"  # stale wheels would get globbed into the jedi npm package
+poetry build
+
+# pybricks-jedi tests (own poetry env, same as CI jedi.yml)
 echo "==> Testing pybricks-jedi"
 cd "$REPO_ROOT/jedi"
 poetry run pytest -vv
@@ -27,16 +53,37 @@ poetry run pytest -vv
 # @pybricks/jedi npm package
 echo "==> Building @pybricks/jedi"
 cd "$REPO_ROOT/jedi"
+rm -rf dist  # build.py globs dist/*.whl, stale wheels would get shipped
 python3 build.py "$NPM_VERSION"
 
-# @pybricks/ide-docs npm package
-echo "==> Building @pybricks/ide-docs"
+# html docs for Read the Docs
+echo "==> Building Read the Docs html docs"
 cd "$REPO_ROOT"
+make -C doc clean html
+
+# @pybricks/ide-docs npm package (builds the TAG=ide docs)
+echo "==> Building @pybricks/ide-docs"
 make -C doc clean
 cd "$REPO_ROOT/npm/ide-docs"
 yarn build
 
 echo ""
 echo "Build complete."
+echo "  python package   : dist/"
 echo "  jedi npm package : jedi/npm-build/"
 echo "  ide-docs         : npm/ide-docs/html/"
+
+if [[ -n "$PYBRICKS_CODE" ]]; then
+    DEST="$PYBRICKS_CODE/node_modules/@pybricks"
+    echo "==> Copying packages to $DEST"
+    rm -rf "$DEST/jedi" "$DEST/ide-docs"
+    mkdir -p "$DEST/jedi" "$DEST/ide-docs"
+    cp -r "$REPO_ROOT/jedi/npm-build/." "$DEST/jedi/"
+    cp -r "$REPO_ROOT/npm/ide-docs/package.json" \
+        "$REPO_ROOT/npm/ide-docs/LICENSE" \
+        "$REPO_ROOT/npm/ide-docs/README.md" \
+        "$REPO_ROOT/npm/ide-docs/html" \
+        "$DEST/ide-docs/"
+    echo "Copied @pybricks/jedi and @pybricks/ide-docs. Restart the dev server to pick them up."
+fi
+
diff --git a/src/pybricks/_common.py b/src/pybricks/_common.py
index 3529a00..13cb068 100644
--- a/src/pybricks/_common.py
+++ b/src/pybricks/_common.py
@@ -1114,7 +1114,8 @@ class IMU:
         heading_correction: float | None = None,
         angular_velocity_bias: tuple[float, float, float] | None = None,
         angular_velocity_scale: tuple[float, float, float] | None = None,
-        acceleration_correction: tuple[float, float, float, float, float, float] | None = None,
+        acceleration_correction: tuple[float, float, float, float, float, float]
+        | None = None,
     ) -> None: ...
 
     @overload