diff --git a/launch/test_attacher.py b/launch/test_attacher.py
index d473209..0fd9fc9 100644
--- a/launch/test_attacher.py
+++ b/launch/test_attacher.py
@@ -23,7 +23,7 @@
 from launch.actions import OpaqueFunction
 
 
-def launch_setup():
+def launch_setup(context, *args, **kwargs):
     # Start Gazebo with an empty world file
     gazebo_launch = os.path.join(
         get_package_share_directory('gazebo_ros'), 'launch/gazebo.launch.py')
diff --git a/package.xml b/package.xml
index ac419db..b6fb112 100644
--- a/package.xml
+++ b/package.xml
@@ -17,7 +17,7 @@
   <build_depend>gazebo</build_depend>
   <build_depend>std_msgs</build_depend>
 
-  <build_depend>python-transforms3d-pip</build_depend>
+  <build_depend>transforms3d</build_depend>
 
   <exec_depend>rclcpp</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
diff --git a/scripts/attach.py b/scripts/attach.py
index 879bb87..d89f686 100755
--- a/scripts/attach.py
+++ b/scripts/attach.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright (c) 2023, SENAI Cimatec
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# !/usr/bin/env python3
 
 import sys
 import rclpy
diff --git a/scripts/demo.py b/scripts/demo.py
index 96e0971..6a9ccf7 100755
--- a/scripts/demo.py
+++ b/scripts/demo.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright (c) 2023, SENAI Cimatec
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# !/usr/bin/env python3
 
 import sys
 from copy import deepcopy
diff --git a/scripts/demo_multiple.py b/scripts/demo_multiple.py
index 83ce658..b463d41 100755
--- a/scripts/demo_multiple.py
+++ b/scripts/demo_multiple.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright (c) 2023, SENAI Cimatec
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,7 +14,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# !/usr/bin/env python3
+
 from copy import deepcopy
 import sys
 import rclpy
diff --git a/scripts/detach.py b/scripts/detach.py
index abcbe77..a68ee20 100755
--- a/scripts/detach.py
+++ b/scripts/detach.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright (c) 2023, SENAI Cimatec
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,7 +14,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# !/usr/bin/env python3
 
 import sys
 import rclpy
diff --git a/scripts/spawn_models.py b/scripts/spawn_models.py
index 1f4a56b..e18ebbb 100755
--- a/scripts/spawn_models.py
+++ b/scripts/spawn_models.py
@@ -1,3 +1,5 @@
+#!/usr/bin/env python3
+
 # Copyright (c) 2023, SENAI Cimatec
 #
 # Licensed under the Apache License, Version 2.0 (the "License");
@@ -12,10 +14,8 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-# !/usr/bin/env python3
-
-from copy import deepcopy
 import sys
+from copy import deepcopy
 import rclpy
 from gazebo_msgs.srv import SpawnEntity
 from transforms3d.euler import euler2quat