diff --git a/flake.lock b/flake.lock
index b511429..286fbe2 100644
--- a/flake.lock
+++ b/flake.lock
@@ -148,11 +148,11 @@
         "uv2nix": "uv2nix"
       },
       "locked": {
-        "lastModified": 1776113232,
-        "narHash": "sha256-VtzAiez4xLmUY/TrQ31ECKjnOFDrnorQcu6WfsAF2nk=",
+        "lastModified": 1777121546,
+        "narHash": "sha256-isDE7E0qeMYIp53/hZSVD8kcKtkodeysx0nkk2bzrdA=",
         "owner": "gepetto",
         "repo": "gazebros2nix",
-        "rev": "43783392a112e894b857bdb56ede7044437069f4",
+        "rev": "03c3edd8f78619100adeafb92041c168cfd54994",
         "type": "github"
       },
       "original": {
@@ -199,11 +199,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1776351070,
-        "narHash": "sha256-sHbumFcaksKKksN+ZkUeS64llNG+kXkHC6sPk00gjQw=",
+        "lastModified": 1777560712,
+        "narHash": "sha256-6SQMoUgRmNtPEplYYWL0bWfB8cDjTpNnnbbK4hj3smo=",
         "owner": "gepetto",
         "repo": "nix",
-        "rev": "fc10d1772e120e1a4cdf1666e983125ecfd3a6ea",
+        "rev": "47947ee7b70006ded98cf21ab0134816a80edefe",
         "type": "github"
       },
       "original": {
@@ -379,11 +379,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1773870109,
-        "narHash": "sha256-ZoTdqZP03DcdoyxvpFHCAek4bkPUTUPUF3oCCgc3dP4=",
+        "lastModified": 1776659114,
+        "narHash": "sha256-qapCOQmR++yZSY43dzrp3wCrkOTLpod+ONtJWBk6iKU=",
         "owner": "pyproject-nix",
         "repo": "build-system-pkgs",
-        "rev": "b6e74f433b02fa4b8a7965ee24680f4867e2926f",
+        "rev": "ffaa2161dd5d63e0e94591f86b54fc239660fb2e",
         "type": "github"
       },
       "original": {
@@ -401,11 +401,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1775439158,
-        "narHash": "sha256-NHY9SJNU019n+8NCabBDtmuzRFeE2gZlYKHowp9bV24=",
+        "lastModified": 1776715674,
+        "narHash": "sha256-Gs1VnEkCkkRZxJQAC/Dhz0Jbfi22mFXChbtNg9w/Ybg=",
         "owner": "pyproject-nix",
         "repo": "pyproject.nix",
-        "rev": "fb6b728260f3f32761367e9fd1e1a25b4245bcd0",
+        "rev": "69f57f27e52a87c54e28138a75ec741cd46663c9",
         "type": "github"
       },
       "original": {
@@ -429,11 +429,11 @@
         "userborn": "userborn"
       },
       "locked": {
-        "lastModified": 1776108115,
-        "narHash": "sha256-QDa17vvigUyEAk/kTkDHOBFqmbWIe7aZDCjSgl9BG2c=",
+        "lastModified": 1776960992,
+        "narHash": "sha256-reaI3djQIIbTFRbnVVdvmOO7dwUN9PoboJIsIe12HY0=",
         "owner": "numtide",
         "repo": "system-manager",
-        "rev": "e028253c2f1ea1b3eba2ce84ae8f770d823fe4ac",
+        "rev": "6e8da9de4c937d5f8c2211406e2790c2cd219bb7",
         "type": "github"
       },
       "original": {
@@ -540,11 +540,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1775706324,
-        "narHash": "sha256-BTb4sydzX2B5/oNbvCdQFeSbk97xEnbb8bk84CiKCOs=",
+        "lastModified": 1776718528,
+        "narHash": "sha256-XeGmo/BhkFXd8vVyendr3X4mQmw7CEkeQcpy7AHbVcg=",
         "owner": "pyproject-nix",
         "repo": "uv2nix",
-        "rev": "5707df99097375896a3dda811d492a2fabe63500",
+        "rev": "60982c30e16db3e0cba6c0ed13f0894b06ab2bf1",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 4e8eda3..6fe1b69 100644
--- a/flake.nix
+++ b/flake.nix
@@ -15,6 +15,7 @@
               ./CMakeLists.txt
               ./doc
               ./include
+              ./launch
               ./Media
               ./meshes
               ./package.xml
@@ -22,6 +23,8 @@
               ./script
               ./src
               ./srdf
+              ./tutorial_6
+              ./tutorial_7
               ./urdf
             ];
           };
diff --git a/launch/tutorial_6_launch.py b/launch/tutorial_6_launch.py
index ad1adf6..30e81f5 100644
--- a/launch/tutorial_6_launch.py
+++ b/launch/tutorial_6_launch.py
@@ -8,7 +8,6 @@
 
 import xacro
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchContext, LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -18,6 +17,8 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+from launch import LaunchContext, LaunchDescription
+
 
 def get_robot_description_and_controllers(context: LaunchContext, robot_type):
     robot_type_str = context.perform_substitution(robot_type)
diff --git a/launch/tutorial_7_launch.py b/launch/tutorial_7_launch.py
index 5e904ab..cbd1453 100644
--- a/launch/tutorial_7_launch.py
+++ b/launch/tutorial_7_launch.py
@@ -8,7 +8,6 @@
 
 import xacro
 from ament_index_python.packages import get_package_share_directory
-from launch import LaunchContext, LaunchDescription
 from launch.actions import (
     DeclareLaunchArgument,
     IncludeLaunchDescription,
@@ -18,6 +17,8 @@
 from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
+from launch import LaunchContext, LaunchDescription
+
 
 def get_robot_description_and_controllers(context: LaunchContext, robot_type):
     robot_type_str = context.perform_substitution(robot_type)