diff --git a/BUILD.bazel b/BUILD.bazel
index f0a711fa9..ab0733b0d 100644
--- a/BUILD.bazel
+++ b/BUILD.bazel
@@ -7,6 +7,10 @@ load(
     "gz_export_header",
     "gz_include_header",
 )
+load(
+    "@gz//bazel/lint:lint.bzl",
+    "add_lint_tests",
+)
 load("@rules_license//rules:license.bzl", "license")
 
 package(
@@ -132,3 +136,5 @@ test_sources = glob(["src/*_TEST.cc"])
         "@gtest//:gtest_main",
     ],
 ) for src in test_sources]
+
+add_lint_tests()
diff --git a/bullet-featherstone/BUILD.bazel b/bullet-featherstone/BUILD.bazel
index 362ecd345..8f2e9bc57 100644
--- a/bullet-featherstone/BUILD.bazel
+++ b/bullet-featherstone/BUILD.bazel
@@ -3,6 +3,10 @@ load(
     "GZ_ROOT",
     "GZ_VISIBILITY",
 )
+load(
+    "@gz//bazel/lint:lint.bzl",
+    "add_lint_tests",
+)
 
 private_headers = glob(["src/*.hh"])
 
@@ -42,3 +46,5 @@ cc_binary(
         GZ_ROOT + "plugin:register",
     ],
 )
+
+add_lint_tests()
diff --git a/dartsim/BUILD.bazel b/dartsim/BUILD.bazel
index 363725ba4..c460ceba1 100644
--- a/dartsim/BUILD.bazel
+++ b/dartsim/BUILD.bazel
@@ -67,11 +67,14 @@ cc_test(
         "GZ_BAZEL": "1",
         "GZ_BAZEL_PATH": "physics",
     },
-    includes = ["src", "include"],
+    includes = [
+        "include",
+        "src",
+    ],
     local_defines = [
         "TEST_WORLD_DIR='\"physics/dartsim/worlds/\"'",
         "GZ_PHYSICS_RESOURCE_DIR='\"physics/test/resources/\"'",
-        "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'"
+        "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'",
     ],
     deps = [
         GZ_ROOT + "common/geospatial",
@@ -101,7 +104,10 @@ cc_test(
         "GZ_BAZEL": "1",
         "GZ_BAZEL_PATH": "physics",
     },
-    includes = ["src", "include"],
+    includes = [
+        "include",
+        "src",
+    ],
     deps = [
         ":dartsim",
         GZ_ROOT + "physics/test:common_test",
@@ -124,11 +130,14 @@ cc_test(
         "GZ_BAZEL": "1",
         "GZ_BAZEL_PATH": "physics",
     },
-    includes = ["src", "include"],
+    includes = [
+        "include",
+        "src",
+    ],
     local_defines = [
         "TEST_WORLD_DIR='\"physics/dartsim/worlds/\"'",
         "GZ_PHYSICS_RESOURCE_DIR='\"physics/test/resources/\"'",
-        "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'"
+        "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'",
     ],
     deps = [
         GZ_ROOT + "common/geospatial",
@@ -143,9 +152,14 @@ cc_test(
         "@gtest//:gtest_main",
     ],
 )
+
 test_sources = glob(
-  include = ["src/*_TEST.cc"],
-  exclude = ["src/AddedMassFeatures_TEST.cc", "src/Base_TEST.cc", "src/SDFFeatures_TEST.cc"]
+    include = ["src/*_TEST.cc"],
+    exclude = [
+        "src/AddedMassFeatures_TEST.cc",
+        "src/Base_TEST.cc",
+        "src/SDFFeatures_TEST.cc",
+    ],
 )
 
 [cc_test(
@@ -161,11 +175,14 @@ test_sources = glob(
         "GZ_BAZEL": "1",
         "GZ_BAZEL_PATH": "physics",
     },
-    includes = ["src", "include"],
+    includes = [
+        "include",
+        "src",
+    ],
     local_defines = [
         "TEST_WORLD_DIR='\"physics/dartsim/worlds/\"'",
         "GZ_PHYSICS_RESOURCE_DIR='\"physics/test/resources/\"'",
-        "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'"
+        "dartsim_plugin_LIB='\"physics/dartsim/libgz-physics-dartsim-plugin.so\"'",
     ],
     deps = [
         GZ_ROOT + "common/geospatial",
diff --git a/test/BUILD.bazel b/test/BUILD.bazel
index 2960c5d8c..28bb60e04 100644
--- a/test/BUILD.bazel
+++ b/test/BUILD.bazel
@@ -17,18 +17,18 @@ cc_library(
 )
 
 cc_library(
-  name = "common_test",
-  hdrs = ["common_test/Worlds.hh"],
-  includes = ["common_test"],
-  visibility = GZ_VISIBILITY,
-  include_prefix = "test",
-  data = [
-    ":resources",
-    "common_test/worlds",
-  ],
-  deps = [
-    ":test_headers",
-  ]
+    name = "common_test",
+    hdrs = ["common_test/Worlds.hh"],
+    data = [
+        "common_test/worlds",
+        ":resources",
+    ],
+    include_prefix = "test",
+    includes = ["common_test"],
+    visibility = GZ_VISIBILITY,
+    deps = [
+        ":test_headers",
+    ],
 )
 
 cc_library(
@@ -37,8 +37,8 @@ cc_library(
         GZ_ROOT + "physics/dartsim:libgz-physics-dartsim-plugin.so",
     ],
     deps = [
-      ":common_test"
-    ]
+        ":common_test",
+    ],
 )
 
 cc_library(
@@ -47,8 +47,8 @@ cc_library(
         GZ_ROOT + "physics/bullet-featherstone:libgz-physics-bullet-featherstone-plugin.so",
     ],
     deps = [
-      ":common_test"
-    ]
+        ":common_test",
+    ],
 )
 
 physics_engines = [