diff --git a/flake.lock b/flake.lock
index f0240a3..548cbd8 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,15 +1,54 @@
 {
   "nodes": {
+    "flake-compat": {
+      "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-parts": {
       "inputs": {
         "nixpkgs-lib": "nixpkgs-lib"
       },
       "locked": {
-        "lastModified": 1767609335,
-        "narHash": "sha256-feveD98mQpptwrAEggBQKJTYbvwwglSbOv53uCfH9PY=",
+        "lastModified": 1769996383,
+        "narHash": "sha256-AnYjnFWgS49RlqX7LrC4uA+sCCDBj0Ry/WOJ5XWAsa0=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "57928607ea566b5db3ad13af0e57e921e6b12381",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "flake-parts_2": {
+      "inputs": {
+        "nixpkgs-lib": [
+          "gepetto",
+          "system-manager",
+          "userborn",
+          "nixpkgs"
+        ]
+      },
+      "locked": {
+        "lastModified": 1768135262,
+        "narHash": "sha256-PVvu7OqHBGWN16zSi6tEmPwwHQ4rLPU9Plvs8/1TUBY=",
         "owner": "hercules-ci",
         "repo": "flake-parts",
-        "rev": "250481aafeb741edfe23d29195671c19b36b6dca",
+        "rev": "80daad04eddbbf5a4d883996a73f3f542fa437ac",
         "type": "github"
       },
       "original": {
@@ -61,11 +100,11 @@
         "treefmt-nix": "treefmt-nix"
       },
       "locked": {
-        "lastModified": 1768097331,
-        "narHash": "sha256-RRY9GSpSiWfzo7P/v/R9xLJPdsvUzQdpuNq5gwAdFsM=",
+        "lastModified": 1770768792,
+        "narHash": "sha256-+XXMGK5AwI5n1QhiQB/yVC/AXCUha2MgFFXXgRMkk6s=",
         "owner": "gepetto",
         "repo": "nix",
-        "rev": "d1226cdb8ae6e489c28eb2d39dacf7fc905fce95",
+        "rev": "9ff78e3760efbd9f30232398674e71594fa79c00",
         "type": "github"
       },
       "original": {
@@ -74,17 +113,41 @@
         "type": "github"
       }
     },
+    "gitignore": {
+      "inputs": {
+        "nixpkgs": [
+          "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"
+      }
+    },
     "nix-ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils",
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1768042480,
-        "narHash": "sha256-MY81n7N8mn6We+PxGBq9eJJweg/j0vgEDhKLp9gs4IM=",
+        "lastModified": 1770622967,
+        "narHash": "sha256-1LYjTugPSCa/5NkP6/dcZLH5TQYj3R8mAZ/9dgd7jDM=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "cbd23fc7766de218051c79d4df6848303a915ee0",
+        "rev": "d1b9f17eba909116356436d46b5192d299c6b49a",
         "type": "github"
       },
       "original": {
@@ -133,11 +196,11 @@
     },
     "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": {
@@ -146,6 +209,36 @@
         "type": "github"
       }
     },
+    "pre-commit-hooks-nix": {
+      "inputs": {
+        "flake-compat": [
+          "gepetto",
+          "system-manager",
+          "userborn",
+          "flake-compat"
+        ],
+        "gitignore": "gitignore",
+        "nixpkgs": [
+          "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"
+      }
+    },
     "root": {
       "inputs": {
         "flake-parts": [
@@ -174,11 +267,11 @@
     "src-agimus-controller": {
       "flake": false,
       "locked": {
-        "lastModified": 1765937017,
-        "narHash": "sha256-aAURRGwKom7pssu48I1io8giykUMNftNGTv72YIH5n8=",
+        "lastModified": 1770376027,
+        "narHash": "sha256-ZSOgLgsBS73d0gVbna2WzWkC7fhORPu3/KaktOr8CzA=",
         "owner": "agimus-project",
         "repo": "agimus_controller",
-        "rev": "5ef41cd0a64feeaafdb7bdebe0f0308fa07bf734",
+        "rev": "00ccabbad6ab4a55bad18c094e8fc608fd8e0aed",
         "type": "github"
       },
       "original": {
@@ -190,11 +283,11 @@
     "src-agimus-msgs": {
       "flake": false,
       "locked": {
-        "lastModified": 1767943618,
-        "narHash": "sha256-zOaDYbuG46SzNCjBibzIgsIkZkPpg7wjxTQ1ETVVe+g=",
+        "lastModified": 1770623573,
+        "narHash": "sha256-gOTxAqOKx7B+tpaDrhEOf+0afWUBQj3RVXeIDZb0+nE=",
         "owner": "agimus-project",
         "repo": "agimus_msgs",
-        "rev": "9f3bcea94b5824b06530bc006b9afd2590a37db0",
+        "rev": "241d82d5bcffac00de83397c29347ab5bce45088",
         "type": "github"
       },
       "original": {
@@ -206,11 +299,11 @@
     "src-franka-description": {
       "flake": false,
       "locked": {
-        "lastModified": 1765937047,
-        "narHash": "sha256-mTIQJnQLZN3UMyPq7Btu6SYWv8JuXMSjdkzXbRdGEh4=",
+        "lastModified": 1770385506,
+        "narHash": "sha256-A+UFglPEHA2deOI06EyG+NF1+ejMRRAOEUj4yldDo/o=",
         "owner": "agimus-project",
         "repo": "franka_description",
-        "rev": "2bdc8da187040d2e85da9d5d302698ff30de3d11",
+        "rev": "535aa51107bf990abd92404d2517b09e4b6417a3",
         "type": "github"
       },
       "original": {
@@ -258,14 +351,15 @@
         "nixpkgs": [
           "gepetto",
           "nixpkgs"
-        ]
+        ],
+        "userborn": "userborn"
       },
       "locked": {
-        "lastModified": 1768082042,
-        "narHash": "sha256-6HjFn+tJi2C4xByHD0CZwPSnRHgKZNVqVCYRDdVHvSA=",
+        "lastModified": 1770630329,
+        "narHash": "sha256-Q0/JNws9SxY9wE/mCQ6WTA85MIgrJ+M0HDcJVUlk9Ds=",
         "owner": "numtide",
         "repo": "system-manager",
-        "rev": "2646bbcb730fbd2a38d3d20948373ec5cd6271ef",
+        "rev": "442db31401bdbdadc59356232153448e05bce1db",
         "type": "github"
       },
       "original": {
@@ -289,6 +383,21 @@
         "type": "github"
       }
     },
+    "systems_2": {
+      "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": [
@@ -297,11 +406,11 @@
         ]
       },
       "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 +418,33 @@
         "repo": "treefmt-nix",
         "type": "github"
       }
+    },
+    "userborn": {
+      "inputs": {
+        "flake-compat": "flake-compat",
+        "flake-parts": "flake-parts_2",
+        "nixpkgs": [
+          "gepetto",
+          "system-manager",
+          "nixpkgs"
+        ],
+        "pre-commit-hooks-nix": "pre-commit-hooks-nix",
+        "systems": "systems_2"
+      },
+      "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"
+      }
     }
   },
   "root": "root",