diff --git a/flake.lock b/flake.lock
index 306a559..4696916 100644
--- a/flake.lock
+++ b/flake.lock
@@ -20,11 +20,11 @@
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1705309234,
-        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
+        "lastModified": 1726560853,
+        "narHash": "sha256-X6rJYSESBVr3hBoH0WbKE5KvhPU5bloyZ2L4K60/fPQ=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
+        "rev": "c1dfcf08411b08f6b8615f7d8971a2bfa81d5e8a",
         "type": "github"
       },
       "original": {
@@ -95,27 +95,27 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1712307699,
-        "narHash": "sha256-/PzHcPvBvJeZTY9JCEtbNljYLecwggveHQ2oHPlTycA=",
-        "owner": "NixOS",
+        "lastModified": 1725556229,
+        "narHash": "sha256-7gaswQP81pDcri4naPXQuZBvqklWfGO3Os8QOl38nsg=",
+        "owner": "nixos",
         "repo": "nixpkgs",
-        "rev": "3541c7628de9414f999ced044c95a284584f4ec1",
+        "rev": "4764ce988357a7f7ce0b4a562145977c5efbc712",
         "type": "github"
       },
       "original": {
-        "owner": "NixOS",
-        "ref": "master",
+        "owner": "nixos",
         "repo": "nixpkgs",
+        "rev": "4764ce988357a7f7ce0b4a562145977c5efbc712",
         "type": "github"
       }
     },
     "nixpkgs_3": {
       "locked": {
-        "lastModified": 1707268954,
-        "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
+        "lastModified": 1726243404,
+        "narHash": "sha256-sjiGsMh+1cWXb53Tecsm4skyFNag33GPbVgCdfj3n9I=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
+        "rev": "345c263f2f53a3710abe117f28a5cb86d0ba4059",
         "type": "github"
       },
       "original": {
@@ -146,11 +146,11 @@
         "nixpkgs": "nixpkgs_3"
       },
       "locked": {
-        "lastModified": 1715462692,
-        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
+        "lastModified": 1728663989,
+        "narHash": "sha256-UEe1F1gmSOeTdJKfaZt/OFQtqghgtTFSodSn3TnV+Zc=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
+        "rev": "9ddc986b4dfc9655040563ad07f53cf71e75d6a8",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index d3a0835..6cb3b9b 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,7 +1,7 @@
 {
   description = "Robossembler Development Environments on Nix";
   inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
+    nixpkgs.url = "github:nixos/nixpkgs/4764ce988357a7f7ce0b4a562145977c5efbc712";
     flake-utils.follows = "ros-overlay/flake-utils";
     ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
     ros-nixpkgs.follows = "ros-overlay/nixpkgs";
@@ -85,10 +85,12 @@
             perception =
               let
                 perception-packages = p: with p; [
-                  torch
+                  pytorchWithCuda
                   torchvision
                   torchaudio
                   detectron2
+                  scipy
+                  pyrr
                 ];
               in
               pkgs.mkShell {