diff --git a/flake.lock b/flake.lock
index 936f0ed..a023ac2 100644
--- a/flake.lock
+++ b/flake.lock
@@ -5,11 +5,11 @@
         "nixpkgs-lib": "nixpkgs-lib"
       },
       "locked": {
-        "lastModified": 1767609335,
-        "narHash": "sha256-feveD98mQpptwrAEggBQKJTYbvwwglSbOv53uCfH9PY=",
+        "lastModified": 1769996383,
+        "narHash": "sha256-AnYjnFWgS49RlqX7LrC4uA+sCCDBj0Ry/WOJ5XWAsa0=",
         "owner": "hercules-ci",
         "repo": "flake-parts",
-        "rev": "250481aafeb741edfe23d29195671c19b36b6dca",
+        "rev": "57928607ea566b5db3ad13af0e57e921e6b12381",
         "type": "github"
       },
       "original": {
@@ -36,36 +36,82 @@
         "type": "github"
       }
     },
-    "gepetto": {
+    "gazebros2nix": {
       "inputs": {
         "flake-parts": "flake-parts",
+        "gepetto-lib": "gepetto-lib",
         "nix-ros-overlay": "nix-ros-overlay",
-        "nix-system-graphics": "nix-system-graphics",
         "nixpkgs": [
           "gepetto",
+          "gazebros2nix",
+          "nix-ros-overlay",
+          "nixpkgs"
+        ],
+        "pyproject-build-systems": "pyproject-build-systems",
+        "pyproject-nix": "pyproject-nix",
+        "systems": [
+          "gepetto",
+          "gazebros2nix",
           "nix-ros-overlay",
+          "flake-utils",
+          "systems"
+        ],
+        "treefmt-nix": "treefmt-nix",
+        "uv2nix": "uv2nix"
+      },
+      "locked": {
+        "lastModified": 1771153446,
+        "narHash": "sha256-mnGDP/PLwbrsHZPzLLojGpoudp+f+So36OXtoa3nffo=",
+        "owner": "gepetto",
+        "repo": "gazebros2nix",
+        "rev": "dd7eb27cfd0f14bc52191fd2bc4934b801a1bafd",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "gazebros2nix",
+        "type": "github"
+      }
+    },
+    "gepetto": {
+      "inputs": {
+        "flake-parts": [
+          "gepetto",
+          "gazebros2nix",
+          "flake-parts"
+        ],
+        "gazebros2nix": "gazebros2nix",
+        "nix-ros-overlay": [
+          "gepetto",
+          "gazebros2nix",
+          "nix-ros-overlay"
+        ],
+        "nix-system-graphics": "nix-system-graphics",
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
           "nixpkgs"
         ],
-        "src-agimus-controller": "src-agimus-controller",
-        "src-agimus-msgs": "src-agimus-msgs",
-        "src-franka-description": "src-franka-description",
         "src-odri-control-interface": "src-odri-control-interface",
         "src-odri-masterboard-sdk": "src-odri-masterboard-sdk",
         "system-manager": "system-manager",
         "systems": [
           "gepetto",
-          "nix-ros-overlay",
-          "flake-utils",
+          "gazebros2nix",
           "systems"
         ],
-        "treefmt-nix": "treefmt-nix"
+        "treefmt-nix": [
+          "gepetto",
+          "gazebros2nix",
+          "treefmt-nix"
+        ]
       },
       "locked": {
-        "lastModified": 1768842644,
-        "narHash": "sha256-D7adrwxZv5XhlnrMpfX7IdSd3D7Xa2msfUcw6dXJkK4=",
+        "lastModified": 1772062311,
+        "narHash": "sha256-dlQPCkDicgQGc6/rAXL1gHxNvnWzhRoHYpbe8RkHDSQ=",
         "owner": "gepetto",
         "repo": "nix",
-        "rev": "ca50e5bb7bc3e0aa348c84f9629416fd797904f9",
+        "rev": "d099ee5c1ee3db52df42fc7c36c2a64337f78e4a",
         "type": "github"
       },
       "original": {
@@ -74,17 +120,32 @@
         "type": "github"
       }
     },
+    "gepetto-lib": {
+      "locked": {
+        "lastModified": 1770945346,
+        "narHash": "sha256-L88f+oJbpIkMm9Ln1GP9SFyGztMvnOowbdshQHBeGGs=",
+        "owner": "Gepetto",
+        "repo": "nix-lib",
+        "rev": "82ef58cdf50514f6b1fde96b9d5b38fd8d3e83f5",
+        "type": "github"
+      },
+      "original": {
+        "owner": "Gepetto",
+        "repo": "nix-lib",
+        "type": "github"
+      }
+    },
     "nix-ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils",
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1768042480,
-        "narHash": "sha256-MY81n7N8mn6We+PxGBq9eJJweg/j0vgEDhKLp9gs4IM=",
+        "lastModified": 1770998552,
+        "narHash": "sha256-CQ9vNu2VnZ5FCfVri2hrf3ZJ20UjELBGDoDZ9NDc9Go=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "cbd23fc7766de218051c79d4df6848303a915ee0",
+        "rev": "65c47109870069fc7322a41a0ea77df276965bb3",
         "type": "github"
       },
       "original": {
@@ -133,11 +194,11 @@
     },
     "nixpkgs-lib": {
       "locked": {
-        "lastModified": 1765674936,
-        "narHash": "sha256-k00uTP4JNfmejrCLJOwdObYC9jHRrr/5M/a/8L2EIdo=",
+        "lastModified": 1769909678,
+        "narHash": "sha256-cBEymOf4/o3FD5AZnzC3J9hLbiZ+QDT/KDuyHXVJOpM=",
         "owner": "nix-community",
         "repo": "nixpkgs.lib",
-        "rev": "2075416fcb47225d9b68ac469a5c4801a9c4dd85",
+        "rev": "72716169fe93074c333e8d0173151350670b824c",
         "type": "github"
       },
       "original": {
@@ -146,77 +207,83 @@
         "type": "github"
       }
     },
-    "root": {
+    "pyproject-build-systems": {
       "inputs": {
-        "flake-parts": [
-          "gepetto",
-          "flake-parts"
-        ],
-        "gepetto": "gepetto",
-        "nix-ros-overlay": [
-          "gepetto",
-          "nix-ros-overlay"
-        ],
         "nixpkgs": [
           "gepetto",
+          "gazebros2nix",
           "nixpkgs"
         ],
-        "systems": [
+        "pyproject-nix": [
           "gepetto",
-          "systems"
+          "gazebros2nix",
+          "pyproject-nix"
         ],
-        "treefmt-nix": [
+        "uv2nix": [
           "gepetto",
-          "treefmt-nix"
+          "gazebros2nix",
+          "uv2nix"
         ]
-      }
-    },
-    "src-agimus-controller": {
-      "flake": false,
+      },
       "locked": {
-        "lastModified": 1765937017,
-        "narHash": "sha256-aAURRGwKom7pssu48I1io8giykUMNftNGTv72YIH5n8=",
-        "owner": "agimus-project",
-        "repo": "agimus_controller",
-        "rev": "5ef41cd0a64feeaafdb7bdebe0f0308fa07bf734",
+        "lastModified": 1771039651,
+        "narHash": "sha256-WZOfX4APbc6vmL14ZWJXgBeRfEER8H+OIX0D0nSmv0M=",
+        "owner": "pyproject-nix",
+        "repo": "build-system-pkgs",
+        "rev": "69bc2b53b79cbd6ce9f66f506fc962b45b5e68b9",
         "type": "github"
       },
       "original": {
-        "owner": "agimus-project",
-        "repo": "agimus_controller",
+        "owner": "pyproject-nix",
+        "repo": "build-system-pkgs",
         "type": "github"
       }
     },
-    "src-agimus-msgs": {
-      "flake": false,
+    "pyproject-nix": {
+      "inputs": {
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ]
+      },
       "locked": {
-        "lastModified": 1767943618,
-        "narHash": "sha256-zOaDYbuG46SzNCjBibzIgsIkZkPpg7wjxTQ1ETVVe+g=",
-        "owner": "agimus-project",
-        "repo": "agimus_msgs",
-        "rev": "9f3bcea94b5824b06530bc006b9afd2590a37db0",
+        "lastModified": 1769936401,
+        "narHash": "sha256-kwCOegKLZJM9v/e/7cqwg1p/YjjTAukKPqmxKnAZRgA=",
+        "owner": "pyproject-nix",
+        "repo": "pyproject.nix",
+        "rev": "b0d513eeeebed6d45b4f2e874f9afba2021f7812",
         "type": "github"
       },
       "original": {
-        "owner": "agimus-project",
-        "repo": "agimus_msgs",
+        "owner": "pyproject-nix",
+        "repo": "pyproject.nix",
         "type": "github"
       }
     },
-    "src-franka-description": {
-      "flake": false,
-      "locked": {
-        "lastModified": 1765937047,
-        "narHash": "sha256-mTIQJnQLZN3UMyPq7Btu6SYWv8JuXMSjdkzXbRdGEh4=",
-        "owner": "agimus-project",
-        "repo": "franka_description",
-        "rev": "2bdc8da187040d2e85da9d5d302698ff30de3d11",
-        "type": "github"
-      },
-      "original": {
-        "owner": "agimus-project",
-        "repo": "franka_description",
-        "type": "github"
+    "root": {
+      "inputs": {
+        "flake-parts": [
+          "gepetto",
+          "flake-parts"
+        ],
+        "gepetto": "gepetto",
+        "nix-ros-overlay": [
+          "gepetto",
+          "nix-ros-overlay"
+        ],
+        "nixpkgs": [
+          "gepetto",
+          "nixpkgs"
+        ],
+        "systems": [
+          "gepetto",
+          "systems"
+        ],
+        "treefmt-nix": [
+          "gepetto",
+          "treefmt-nix"
+        ]
       }
     },
     "src-odri-control-interface": {
@@ -261,11 +328,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1768082042,
-        "narHash": "sha256-6HjFn+tJi2C4xByHD0CZwPSnRHgKZNVqVCYRDdVHvSA=",
+        "lastModified": 1770135975,
+        "narHash": "sha256-J3qmZ4rTfmgyjrsQRrQWT7ZIYVtYqtLomMNDUibuw2k=",
         "owner": "numtide",
         "repo": "system-manager",
-        "rev": "2646bbcb730fbd2a38d3d20948373ec5cd6271ef",
+        "rev": "413f296fb1fd210c44e38744e270b3afc4c733d7",
         "type": "github"
       },
       "original": {
@@ -293,15 +360,16 @@
       "inputs": {
         "nixpkgs": [
           "gepetto",
+          "gazebros2nix",
           "nixpkgs"
         ]
       },
       "locked": {
-        "lastModified": 1768031762,
-        "narHash": "sha256-b2gJDJfi+TbA7Hu2sKip+1mWqya0GJaWrrXQjpbOVTU=",
+        "lastModified": 1770228511,
+        "narHash": "sha256-wQ6NJSuFqAEmIg2VMnLdCnUc0b7vslUohqqGGD+Fyxk=",
         "owner": "numtide",
         "repo": "treefmt-nix",
-        "rev": "0c445aa21b01fd1d4bb58927f7b268568af87b20",
+        "rev": "337a4fe074be1042a35086f15481d763b8ddc0e7",
         "type": "github"
       },
       "original": {
@@ -309,6 +377,33 @@
         "repo": "treefmt-nix",
         "type": "github"
       }
+    },
+    "uv2nix": {
+      "inputs": {
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ],
+        "pyproject-nix": [
+          "gepetto",
+          "gazebros2nix",
+          "pyproject-nix"
+        ]
+      },
+      "locked": {
+        "lastModified": 1770770348,
+        "narHash": "sha256-A2GzkmzdYvdgmMEu5yxW+xhossP+txrYb7RuzRaqhlg=",
+        "owner": "pyproject-nix",
+        "repo": "uv2nix",
+        "rev": "5d1b2cb4fe3158043fbafbbe2e46238abbc954b0",
+        "type": "github"
+      },
+      "original": {
+        "owner": "pyproject-nix",
+        "repo": "uv2nix",
+        "type": "github"
+      }
     }
   },
   "root": "root",
diff --git a/flake.nix b/flake.nix
index e350b14..a7a89b0 100644
--- a/flake.nix
+++ b/flake.nix
@@ -3,6 +3,7 @@
 
   inputs = {
     gepetto.url = "github:gepetto/nix";
+    gazebros2nix.follows = "gepetto/gazebros2nix";
     flake-parts.follows = "gepetto/flake-parts";
     nixpkgs.follows = "gepetto/nixpkgs";
     nix-ros-overlay.follows = "gepetto/nix-ros-overlay";