diff --git a/flake.lock b/flake.lock
index 3a74704..66edfb3 100644
--- a/flake.lock
+++ b/flake.lock
@@ -75,16 +75,16 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1678246785,
-        "narHash": "sha256-ma+ToZZddLpGed7pPBfG0CFYjP66QU/m0Yn4JM1Ezl4=",
+        "lastModified": 1678455318,
+        "narHash": "sha256-CGO1l4UMkBRaUE2uCVWjtNGD5MaCWlEPU4eZGMRl8dQ=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "155fc6ac233c64eb9fa07a1a81d6c6726441271c",
+        "rev": "da01dd9a2be0001c193acf1aa25b0e2b1fe9d060",
         "type": "github"
       },
       "original": {
         "owner": "lopsided98",
-        "ref": "staging",
+        "ref": "nix-bot-nueuxlFifM",
         "repo": "nix-ros-overlay",
         "type": "github"
       }
diff --git a/flake.nix b/flake.nix
index 9f5daaa..c7fb072 100644
--- a/flake.nix
+++ b/flake.nix
@@ -3,7 +3,7 @@
   inputs = {
     nixpkgs.url = "github:NixOS/nixpkgs/22.11";
     flake-utils.url = "github:numtide/flake-utils";
-    ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=staging";
+    ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=nix-bot-nueuxlFifM";
   };
 
   outputs = { self, nixpkgs, ros-flake, flake-utils }:
@@ -26,7 +26,11 @@
           mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
           darknet = pkgs.callPackage ./pkgs/misc/darknet { };
           fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
+          open3d = pkgs.callPackage ./open3d.nix { };
           unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
+          tamer = pkgs.python3Packages.callPackage ./tamer.nix { };
+          blenderproc = pkgs.python3Packages.callPackage ./blenderproc.nix { };
+          slic3r = pkgs.callPackage ./pkgs/misc/slic3r { };
         in
         {
           inherit pkgs;
@@ -39,7 +43,7 @@
           };
 
           packages = {
-            inherit mayo blender bpy pysdf fstl darknet;
+            inherit mayo blender bpy pysdf fstl darknet unified-planning slic3r;
             gazebo = ros.humble.gazebo;
           };
 
@@ -68,12 +72,13 @@
                 ament-flake8
                 tf2-ros
                 rclcpp
-                gazebo-ros2-control
                 moveit-core
                 moveit-msgs
                 moveit-ros-planning
                 moveit-ros-planning-interface
-                gazebo
+                # gazebo
+                # gazebo-ros2-control
+                plansys2-bringup
                 # rbs-skill-interfaces
               ]) ++ (with pkgs; [ nlohmann_json ]);
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
@@ -84,13 +89,7 @@
           devShells.blender = pkgs.mkShell { packages = [ blender ]; };
           devShells.up =
             let
-              my-python-packages = p: with p; [
-                # python-gitlab
-                # jinja2
-                # unified-planning
-                # tamer
-                blenderproc
-              ]; 
+              my-python-packages = p: with p; [ unified-planning ]; 
             in 
             pkgs.mkShell {
               packages = [ (pkgs.python3.withPackages my-python-packages) ];