diff --git a/flake.lock b/flake.lock
index f42fca5..bea6543 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,5 +1,20 @@
 {
   "nodes": {
+    "ccache-trigger": {
+      "locked": {
+        "lastModified": 1657739266,
+        "narHash": "sha256-vLy8GQr0noEcoA+jX24FgUVBA/poV36zDWAUChN3hIY=",
+        "owner": "boolean-option",
+        "repo": "false",
+        "rev": "d06b4794a134686c70a1325df88a6e6768c6b212",
+        "type": "github"
+      },
+      "original": {
+        "owner": "boolean-option",
+        "repo": "false",
+        "type": "github"
+      }
+    },
     "flake-compat": {
       "flake": false,
       "locked": {
@@ -16,16 +31,48 @@
         "type": "github"
       }
     },
+    "flake-compat_2": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1767039857,
+        "narHash": "sha256-vNpUSpF5Nuw8xvDLj2KCwwksIbjua2LZCqhV1LNRDns=",
+        "owner": "edolstra",
+        "repo": "flake-compat",
+        "rev": "5edf11c44bc78a0d334f6334cdaf7d60d732daab",
+        "type": "github"
+      },
+      "original": {
+        "owner": "edolstra",
+        "repo": "flake-compat",
+        "type": "github"
+      }
+    },
+    "flake-compat_3": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1696426674,
+        "narHash": "sha256-kvjfFW7WAETZlt09AgDn1MrtKzP7t90Vf7vypd3OL1U=",
+        "owner": "edolstra",
+        "repo": "flake-compat",
+        "rev": "0f9255e01c2351cc7d116c072cb317785dd33b33",
+        "type": "github"
+      },
+      "original": {
+        "owner": "edolstra",
+        "repo": "flake-compat",
+        "type": "github"
+      }
+    },
     "flake-parts": {
       "inputs": {
         "nixpkgs-lib": "nixpkgs-lib"
       },
       "locked": {
-        "lastModified": 1775087534,
-        "narHash": "sha256-91qqW8lhL7TLwgQWijoGBbiD4t7/q75KTi8NxjVmSmA=",
+        "lastModified": 1778716662,
+        "narHash": "sha256-m1Yf0wZ8j1OHjTc2UwHwyQRSnNeSgLJOd7q5Y45hzi4=",
         "owner": "hercules-ci",
         "repo": "flake-parts",
-        "rev": "3107b77cd68437b9a76194f0f7f9c55f2329ca5b",
+        "rev": "f7c1a2d347e4c52d5fb8d10cb4d94b5884e546fb",
         "type": "github"
       },
       "original": {
@@ -76,6 +123,31 @@
         "type": "github"
       }
     },
+    "flake-parts_4": {
+      "inputs": {
+        "nixpkgs-lib": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "system-manager",
+          "userborn",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1768135262,
+        "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
     "flake-utils": {
       "inputs": {
         "systems": "systems"
@@ -94,6 +166,24 @@
         "type": "github"
       }
     },
+    "flake-utils_2": {
+      "inputs": {
+        "systems": "systems_3"
+      },
+      "locked": {
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
     "flakoboros": {
       "inputs": {
         "flake-parts": "flake-parts",
@@ -117,6 +207,45 @@
         ],
         "treefmt-nix": "treefmt-nix"
       },
+      "locked": {
+        "lastModified": 1781324212,
+        "narHash": "sha256-lqIEMqeuJ450S7JdWTo8JjF3YlahGNR2FCz/AlA9ZhM=",
+        "owner": "gepetto",
+        "repo": "flakoboros",
+        "rev": "78aa318051a5345d82931df66c5c8d0844edcb2a",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "flakoboros",
+        "type": "github"
+      }
+    },
+    "flakoboros_2": {
+      "inputs": {
+        "flake-parts": "flake-parts_3",
+        "nix-ros-overlay": "nix-ros-overlay_2",
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nix-ros-overlay",
+          "nixpkgs"
+        ],
+        "systems": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nix-ros-overlay",
+          "flake-utils",
+          "systems"
+        ],
+        "treefmt-nix": "treefmt-nix_2"
+      },
       "locked": {
         "lastModified": 1776113076,
         "narHash": "sha256-rQp/6mgQc4szevay50RbGXOXwL3xC7oHktywFPrmbAM=",
@@ -174,11 +303,72 @@
         "uv2nix": "uv2nix"
       },
       "locked": {
-        "lastModified": 1776113232,
-        "narHash": "sha256-VtzAiez4xLmUY/TrQ31ECKjnOFDrnorQcu6WfsAF2nk=",
+        "lastModified": 1781362845,
+        "narHash": "sha256-IxhhDOW/aLRltOGHiYTP+Oqr2baRPqtrJYIVvfuw5aE=",
         "owner": "gepetto",
         "repo": "gazebros2nix",
-        "rev": "43783392a112e894b857bdb56ede7044437069f4",
+        "rev": "f45bbdedc06ae9060a14834ee2896199f979d062",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "gazebros2nix",
+        "type": "github"
+      }
+    },
+    "gazebros2nix_2": {
+      "inputs": {
+        "flake-parts": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "flake-parts"
+        ],
+        "flakoboros": "flakoboros_2",
+        "nix-ros-overlay": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nix-ros-overlay"
+        ],
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nixpkgs"
+        ],
+        "pyproject-build-systems": "pyproject-build-systems_2",
+        "pyproject-nix": "pyproject-nix_2",
+        "systems": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "systems"
+        ],
+        "treefmt-nix": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "treefmt-nix"
+        ],
+        "uv2nix": "uv2nix_2"
+      },
+      "locked": {
+        "lastModified": 1777754176,
+        "narHash": "sha256-bnR2Aor+qSLVCcUUV/IjjHM5AnJR6cpf0AljUSiUuco=",
+        "owner": "gepetto",
+        "repo": "gazebros2nix",
+        "rev": "29d82bf45d91a5e9ca9f8c40f963ad20168e6ae1",
         "type": "github"
       },
       "original": {
@@ -231,11 +421,74 @@
         ]
       },
       "locked": {
-        "lastModified": 1776333572,
-        "narHash": "sha256-c6HTsPfnJO50dxc2IYm3QhXiq+m/84a+DXP1iSG2wbI=",
+        "lastModified": 1781410865,
+        "narHash": "sha256-EC0VzThwka/bPooGIN63c8dEXVaEshw61bm5lNYmI54=",
         "owner": "gepetto",
         "repo": "nix",
-        "rev": "4b50161bbf3ba4091e83ef097a8c4f9a1421b8ba",
+        "rev": "ae989cac5c2b3f51131dd54b8fb949ee1b7b2563",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "nix",
+        "type": "github"
+      }
+    },
+    "gepetto_2": {
+      "inputs": {
+        "flake-parts": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flake-parts"
+        ],
+        "flakoboros": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros"
+        ],
+        "gazebros2nix": "gazebros2nix_2",
+        "home-manager": "home-manager_2",
+        "nix-ros-overlay": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "nix-ros-overlay"
+        ],
+        "nix-system-graphics": "nix-system-graphics_2",
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ],
+        "system-manager": "system-manager_2",
+        "systems": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "systems"
+        ],
+        "treefmt-nix": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "treefmt-nix"
+        ]
+      },
+      "locked": {
+        "lastModified": 1777773493,
+        "narHash": "sha256-6zivX47/UVo1dR9iGNRBETvz7/igFrc2SrqCbJqxtWY=",
+        "owner": "gepetto",
+        "repo": "nix",
+        "rev": "506ba63b0f3f7f1b1ac5e215f957feb4b12013d6",
         "type": "github"
       },
       "original": {
@@ -269,6 +522,32 @@
         "type": "github"
       }
     },
+    "gitignore_2": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "system-manager",
+          "userborn",
+          "pre-commit-hooks-nix",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1709087332,
+        "narHash": "sha256-HG2cCnktfHsKV0s4XW83gU3F57gaTljL9KNSuG6bnQs=",
+        "owner": "hercules-ci",
+        "repo": "gitignore.nix",
+        "rev": "637db329424fd7e46cf4185293b9cc8c88c95394",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "gitignore.nix",
+        "type": "github"
+      }
+    },
     "home-manager": {
       "inputs": {
         "nixpkgs": [
@@ -278,11 +557,35 @@
         ]
       },
       "locked": {
-        "lastModified": 1775425411,
-        "narHash": "sha256-KY6HsebJHEe5nHOWP7ur09mb0drGxYSzE3rQxy62rJo=",
+        "lastModified": 1779506708,
+        "narHash": "sha256-QOD/CNm196nCJRheux/URi4/HE66fthdOMqCJoPP1Y0=",
+        "owner": "nix-community",
+        "repo": "home-manager",
+        "rev": "3ee51fbdac8c8bdfe1e7e1fcaba6520a563f394f",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-community",
+        "ref": "release-25.11",
+        "repo": "home-manager",
+        "type": "github"
+      }
+    },
+    "home-manager_2": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1777771528,
+        "narHash": "sha256-YycygK6n7KeW1YCobdFJcORWzkmrvNcp6xT+IovA0d4=",
         "owner": "nix-community",
         "repo": "home-manager",
-        "rev": "0d02ec1d0a05f88ef9e74b516842900c41f0f2fe",
+        "rev": "0585fbf645640973e3398863bbaf3bd1ddce4a51",
         "type": "github"
       },
       "original": {
@@ -294,15 +597,14 @@
     },
     "jrl-cmakemodulesv2": {
       "inputs": {
-        "flake-parts": "flake-parts_3",
-        "nixpkgs": "nixpkgs_2"
+        "gepetto": "gepetto_2"
       },
       "locked": {
-        "lastModified": 1775813418,
-        "narHash": "sha256-bzC87q+GD4gCT6wv/KYllLgppumAqQ7CxAZ3i0K52xY=",
+        "lastModified": 1781271796,
+        "narHash": "sha256-ib/hYwNKA5ibWn7ufQ45Gy+VRKNfR552xkr80OsCPhk=",
         "owner": "ahoarau",
         "repo": "jrl-cmakemodules",
-        "rev": "a96e159c31365b462c7aafdae3255e58fee201e9",
+        "rev": "4cfa6b85b49e5b6b2e0f02a9076892afd1050fb1",
         "type": "github"
       },
       "original": {
@@ -312,32 +614,60 @@
         "type": "github"
       }
     },
+    "make-shell": {
+      "inputs": {
+        "flake-compat": "flake-compat_3"
+      },
+      "locked": {
+        "lastModified": 1733933815,
+        "narHash": "sha256-9JjM7eT66W4NJAXpGUsdyAFXhBxFWR2Z9LZwUa7Hli0=",
+        "owner": "nicknovitski",
+        "repo": "make-shell",
+        "rev": "ffeceae9956df03571ea8e96ef77c2924f13a63c",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nicknovitski",
+        "repo": "make-shell",
+        "type": "github"
+      }
+    },
     "mc-rtc-nix": {
       "inputs": {
+        "ccache-trigger": "ccache-trigger",
         "flake-parts": [
           "mc-rtc-nix",
           "gepetto",
           "flake-parts"
         ],
+        "flakoboros": [
+          "mc-rtc-nix",
+          "gepetto",
+          "flakoboros"
+        ],
         "gepetto": "gepetto",
         "jrl-cmakemodulesv2": "jrl-cmakemodulesv2",
+        "make-shell": "make-shell",
         "nixpkgs": [
           "mc-rtc-nix",
           "gepetto",
           "nixpkgs"
         ],
+        "private-trigger": "private-trigger",
         "systems": [
           "mc-rtc-nix",
           "gepetto",
           "systems"
-        ]
+        ],
+        "with-python-trigger": "with-python-trigger",
+        "with-ros-trigger": "with-ros-trigger"
       },
       "locked": {
-        "lastModified": 1780416476,
-        "narHash": "sha256-RUnk+VLZ1+R9vHBKyut5fcRvNBhJvwfOzgxTAEr3LW8=",
+        "lastModified": 1782210979,
+        "narHash": "sha256-3TSYQ9sq0Q/REjuJjI5EgI+yGYsQxThjo9DgI32tFSY=",
         "owner": "mc-rtc",
         "repo": "nixpkgs",
-        "rev": "08d2fe8899824cd3d6e1ab456c2bb29cd2d42be0",
+        "rev": "c2625a35552acb7f59f062ca82db3ef84b3cb1da",
         "type": "github"
       },
       "original": {
@@ -349,27 +679,71 @@
     "nix-ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs"
+        "nixpkgs": "nixpkgs",
+        "rosdistro": "rosdistro"
+      },
+      "locked": {
+        "lastModified": 1781297240,
+        "narHash": "sha256-OpYxlrSlcqJyknjgIuvv8dtEEbHuuZoe+fJzclrBgmg=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "9e9b9a2953a195985e1e6c99e353fbb767380a2d",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "develop",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nix-ros-overlay_2": {
+      "inputs": {
+        "flake-utils": "flake-utils_2",
+        "nixpkgs": "nixpkgs_2"
+      },
+      "locked": {
+        "lastModified": 1775764892,
+        "narHash": "sha256-l1UbHppd5KaU4K/TQPIXf9wnVifH4Tgrx5z2GFoq/bw=",
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "0a4e8cf51001d2d1c613f95dadd3853da42c0164",
+        "type": "github"
+      },
+      "original": {
+        "owner": "lopsided98",
+        "ref": "develop",
+        "repo": "nix-ros-overlay",
+        "type": "github"
+      }
+    },
+    "nix-system-graphics": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "gepetto",
+          "nixpkgs"
+        ]
       },
       "locked": {
-        "lastModified": 1775764892,
-        "narHash": "sha256-l1UbHppd5KaU4K/TQPIXf9wnVifH4Tgrx5z2GFoq/bw=",
-        "owner": "lopsided98",
-        "repo": "nix-ros-overlay",
-        "rev": "0a4e8cf51001d2d1c613f95dadd3853da42c0164",
+        "lastModified": 1763296639,
+        "narHash": "sha256-K9JBscC7ApwCnl0wR0sVkxrKFsoDYVqXN5fOujvyBWA=",
+        "owner": "soupglasses",
+        "repo": "nix-system-graphics",
+        "rev": "ac37f0f3ec0cb15d63a520918433c794d01d9dac",
         "type": "github"
       },
       "original": {
-        "owner": "lopsided98",
-        "ref": "develop",
-        "repo": "nix-ros-overlay",
+        "owner": "soupglasses",
+        "repo": "nix-system-graphics",
         "type": "github"
       }
     },
-    "nix-system-graphics": {
+    "nix-system-graphics_2": {
       "inputs": {
         "nixpkgs": [
           "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
           "gepetto",
           "nixpkgs"
         ]
@@ -390,11 +764,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1771369470,
-        "narHash": "sha256-0NBlEBKkN3lufyvFegY4TYv5mCNHbi5OmBDrzihbBMQ=",
+        "lastModified": 1778869304,
+        "narHash": "sha256-30sZNZoA1cqF5JNO9fVX+wgiQYjB7HJqqJ4ztCDeBZE=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "0182a361324364ae3f436a63005877674cf45efb",
+        "rev": "d233902339c02a9c334e7e593de68855ad26c4cb",
         "type": "github"
       },
       "original": {
@@ -406,11 +780,11 @@
     },
     "nixpkgs-lib": {
       "locked": {
-        "lastModified": 1774748309,
-        "narHash": "sha256-+U7gF3qxzwD5TZuANzZPeJTZRHS29OFQgkQ2kiTJBIQ=",
+        "lastModified": 1777168982,
+        "narHash": "sha256-GOkGPcboWE9BmGCRMLX3worL4EMnsnG8MyKmXNeYuhQ=",
         "owner": "nix-community",
         "repo": "nixpkgs.lib",
-        "rev": "333c4e0545a6da976206c74db8773a1645b5870a",
+        "rev": "f5901329dade4a6ea039af1433fb087bd9c1fe14",
         "type": "github"
       },
       "original": {
@@ -436,11 +810,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1775036866,
-        "narHash": "sha256-ZojAnPuCdy657PbTq5V0Y+AHKhZAIwSIT2cb8UgAz/U=",
+        "lastModified": 1771369470,
+        "narHash": "sha256-0NBlEBKkN3lufyvFegY4TYv5mCNHbi5OmBDrzihbBMQ=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "6201e203d09599479a3b3450ed24fa81537ebc4e",
+        "rev": "0182a361324364ae3f436a63005877674cf45efb",
         "type": "github"
       },
       "original": {
@@ -482,6 +856,55 @@
         "type": "github"
       }
     },
+    "pre-commit-hooks-nix_2": {
+      "inputs": {
+        "flake-compat": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "system-manager",
+          "userborn",
+          "flake-compat"
+        ],
+        "gitignore": "gitignore_2",
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "system-manager",
+          "userborn",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1769069492,
+        "narHash": "sha256-Efs3VUPelRduf3PpfPP2ovEB4CXT7vHf8W+xc49RL/U=",
+        "owner": "cachix",
+        "repo": "pre-commit-hooks.nix",
+        "rev": "a1ef738813b15cf8ec759bdff5761b027e3e1d23",
+        "type": "github"
+      },
+      "original": {
+        "owner": "cachix",
+        "repo": "pre-commit-hooks.nix",
+        "type": "github"
+      }
+    },
+    "private-trigger": {
+      "locked": {
+        "lastModified": 1657739266,
+        "narHash": "sha256-vLy8GQr0noEcoA+jX24FgUVBA/poV36zDWAUChN3hIY=",
+        "owner": "boolean-option",
+        "repo": "false",
+        "rev": "d06b4794a134686c70a1325df88a6e6768c6b212",
+        "type": "github"
+      },
+      "original": {
+        "owner": "boolean-option",
+        "repo": "false",
+        "type": "github"
+      }
+    },
     "pyproject-build-systems": {
       "inputs": {
         "nixpkgs": [
@@ -504,11 +927,49 @@
         ]
       },
       "locked": {
-        "lastModified": 1773870109,
-        "narHash": "sha256-ZoTdqZP03DcdoyxvpFHCAek4bkPUTUPUF3oCCgc3dP4=",
+        "lastModified": 1779676664,
+        "narHash": "sha256-MbXylBTkWqVm8/VYjoULtMoVRgWBN1gSHbeRKsOsPlU=",
         "owner": "pyproject-nix",
         "repo": "build-system-pkgs",
-        "rev": "b6e74f433b02fa4b8a7965ee24680f4867e2926f",
+        "rev": "7bff980f37fc24e09dbc986643719900c139bf12",
+        "type": "github"
+      },
+      "original": {
+        "owner": "pyproject-nix",
+        "repo": "build-system-pkgs",
+        "type": "github"
+      }
+    },
+    "pyproject-build-systems_2": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ],
+        "pyproject-nix": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "pyproject-nix"
+        ],
+        "uv2nix": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "uv2nix"
+        ]
+      },
+      "locked": {
+        "lastModified": 1776659114,
+        "narHash": "sha256-qapCOQmR++yZSY43dzrp3wCrkOTLpod+ONtJWBk6iKU=",
+        "owner": "pyproject-nix",
+        "repo": "build-system-pkgs",
+        "rev": "ffaa2161dd5d63e0e94591f86b54fc239660fb2e",
         "type": "github"
       },
       "original": {
@@ -527,11 +988,35 @@
         ]
       },
       "locked": {
-        "lastModified": 1775439158,
-        "narHash": "sha256-NHY9SJNU019n+8NCabBDtmuzRFeE2gZlYKHowp9bV24=",
+        "lastModified": 1780416763,
+        "narHash": "sha256-rRK3IFixgsrK6S3e14Xz9HAZm7+kMAIl3oi5zZlcwYI=",
+        "owner": "pyproject-nix",
+        "repo": "pyproject.nix",
+        "rev": "ad83f1ead0e78e57b188f35cb57298affb06fc5f",
+        "type": "github"
+      },
+      "original": {
+        "owner": "pyproject-nix",
+        "repo": "pyproject.nix",
+        "type": "github"
+      }
+    },
+    "pyproject-nix_2": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1776715674,
+        "narHash": "sha256-Gs1VnEkCkkRZxJQAC/Dhz0Jbfi22mFXChbtNg9w/Ybg=",
         "owner": "pyproject-nix",
         "repo": "pyproject.nix",
-        "rev": "fb6b728260f3f32761367e9fd1e1a25b4245bcd0",
+        "rev": "69f57f27e52a87c54e28138a75ec741cd46663c9",
         "type": "github"
       },
       "original": {
@@ -545,6 +1030,22 @@
         "mc-rtc-nix": "mc-rtc-nix"
       }
     },
+    "rosdistro": {
+      "flake": false,
+      "locked": {
+        "lastModified": 1780665549,
+        "narHash": "sha256-QzobMKNpcpS4uWETzPxXkt0F66Sji15N+xsK1JcEWDU=",
+        "owner": "ros",
+        "repo": "rosdistro",
+        "rev": "bcec45c05427f0ad6860cb323695995d8cb1e4bd",
+        "type": "github"
+      },
+      "original": {
+        "owner": "ros",
+        "repo": "rosdistro",
+        "type": "github"
+      }
+    },
     "system-manager": {
       "inputs": {
         "flake-compat": "flake-compat",
@@ -556,11 +1057,36 @@
         "userborn": "userborn"
       },
       "locked": {
-        "lastModified": 1776108115,
-        "narHash": "sha256-QDa17vvigUyEAk/kTkDHOBFqmbWIe7aZDCjSgl9BG2c=",
+        "lastModified": 1778508009,
+        "narHash": "sha256-mp63mt+EwfKiVZX+4BC/59g5oTbsXNtSYESVci3opso=",
+        "owner": "numtide",
+        "repo": "system-manager",
+        "rev": "dc1baae12eed1758755e73f8aff7fca5502c6e9f",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "system-manager",
+        "type": "github"
+      }
+    },
+    "system-manager_2": {
+      "inputs": {
+        "flake-compat": "flake-compat_2",
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "nixpkgs"
+        ],
+        "userborn": "userborn_2"
+      },
+      "locked": {
+        "lastModified": 1777545354,
+        "narHash": "sha256-T3u9Ixg0SX6bYYXHYEZ7O+MW0pQ1qxnjIQKCPM+irN4=",
         "owner": "numtide",
         "repo": "system-manager",
-        "rev": "e028253c2f1ea1b3eba2ce84ae8f770d823fe4ac",
+        "rev": "6eac5ac077960363d3807b1c74f47103d1f62efd",
         "type": "github"
       },
       "original": {
@@ -599,6 +1125,36 @@
         "type": "github"
       }
     },
+    "systems_3": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    },
+    "systems_4": {
+      "locked": {
+        "lastModified": 1681028828,
+        "narHash": "sha256-Vy1rq5AaRuLzOxct8nz4T6wlgyUR7zLU309k9mBC768=",
+        "owner": "nix-systems",
+        "repo": "default",
+        "rev": "da67096a3b9bf56a91d16901293e51ba5b49a27e",
+        "type": "github"
+      },
+      "original": {
+        "owner": "nix-systems",
+        "repo": "default",
+        "type": "github"
+      }
+    },
     "treefmt-nix": {
       "inputs": {
         "nixpkgs": [
@@ -609,6 +1165,31 @@
           "nixpkgs"
         ]
       },
+      "locked": {
+        "lastModified": 1780220602,
+        "narHash": "sha256-eynAfOmbmxJnkp7YewvCEbShNnnYJ9gLLqkzsYtBPeM=",
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "rev": "db947814a175b7ca6ded66e21383d938df01c227",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "treefmt-nix",
+        "type": "github"
+      }
+    },
+    "treefmt-nix_2": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nixpkgs"
+        ]
+      },
       "locked": {
         "lastModified": 1775636079,
         "narHash": "sha256-pc20NRoMdiar8oPQceQT47UUZMBTiMdUuWrYu2obUP0=",
@@ -656,6 +1237,41 @@
         "type": "github"
       }
     },
+    "userborn_2": {
+      "inputs": {
+        "flake-compat": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "system-manager",
+          "flake-compat"
+        ],
+        "flake-parts": "flake-parts_4",
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "system-manager",
+          "nixpkgs"
+        ],
+        "pre-commit-hooks-nix": "pre-commit-hooks-nix_2",
+        "systems": "systems_4"
+      },
+      "locked": {
+        "lastModified": 1770377964,
+        "narHash": "sha256-q2pnlX2IW0kg80GLFnwWd/GigIpkuZnyKPLhrgJql3E=",
+        "owner": "jfroche",
+        "repo": "userborn",
+        "rev": "55c2cd7952c207a62736a5bbd9499ea73da18d24",
+        "type": "github"
+      },
+      "original": {
+        "owner": "jfroche",
+        "ref": "system-manager",
+        "repo": "userborn",
+        "type": "github"
+      }
+    },
     "uv2nix": {
       "inputs": {
         "nixpkgs": [
@@ -672,11 +1288,42 @@
         ]
       },
       "locked": {
-        "lastModified": 1775706324,
-        "narHash": "sha256-BTb4sydzX2B5/oNbvCdQFeSbk97xEnbb8bk84CiKCOs=",
+        "lastModified": 1781249037,
+        "narHash": "sha256-Us5r9461lhAZ0cR4oTf7NQuNbp8ETFu0d683AF3mIPE=",
+        "owner": "pyproject-nix",
+        "repo": "uv2nix",
+        "rev": "ca656fb2cf1c2834e83413c7b2caa2b2d0c2b366",
+        "type": "github"
+      },
+      "original": {
+        "owner": "pyproject-nix",
+        "repo": "uv2nix",
+        "type": "github"
+      }
+    },
+    "uv2nix_2": {
+      "inputs": {
+        "nixpkgs": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "nixpkgs"
+        ],
+        "pyproject-nix": [
+          "mc-rtc-nix",
+          "jrl-cmakemodulesv2",
+          "gepetto",
+          "gazebros2nix",
+          "pyproject-nix"
+        ]
+      },
+      "locked": {
+        "lastModified": 1777463177,
+        "narHash": "sha256-1PcD0+IZPQXyvmXJ1OYH+23sRc9IyOKrUUBYZonVBm8=",
         "owner": "pyproject-nix",
         "repo": "uv2nix",
-        "rev": "5707df99097375896a3dda811d492a2fabe63500",
+        "rev": "6c53dcf4d3f63240f57e0b0c826cb15eda61f249",
         "type": "github"
       },
       "original": {
@@ -684,6 +1331,36 @@
         "repo": "uv2nix",
         "type": "github"
       }
+    },
+    "with-python-trigger": {
+      "locked": {
+        "lastModified": 1657739253,
+        "narHash": "sha256-L9eyTL7njtPBUYmZRYFKCzQFDgua9U9oE7UwCzjZfl8=",
+        "owner": "boolean-option",
+        "repo": "true",
+        "rev": "6ecb49143ca31b140a5273f1575746ba93c3f698",
+        "type": "github"
+      },
+      "original": {
+        "owner": "boolean-option",
+        "repo": "true",
+        "type": "github"
+      }
+    },
+    "with-ros-trigger": {
+      "locked": {
+        "lastModified": 1657739253,
+        "narHash": "sha256-L9eyTL7njtPBUYmZRYFKCzQFDgua9U9oE7UwCzjZfl8=",
+        "owner": "boolean-option",
+        "repo": "true",
+        "rev": "6ecb49143ca31b140a5273f1575746ba93c3f698",
+        "type": "github"
+      },
+      "original": {
+        "owner": "boolean-option",
+        "repo": "true",
+        "type": "github"
+      }
     }
   },
   "root": "root",