diff --git a/flake.nix b/flake.nix
index 79bb37a..5e8e25a 100644
--- a/flake.nix
+++ b/flake.nix
@@ -108,6 +108,7 @@
               buildPythonPath $out/lib/python${pkgs.python3.pythonVersion}/site-packages
             '';
           });
+          bpy-wheel = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy-wheel { };
           pysdf = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pysdf { };
           pytorch3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/pytorch3d { };
           mayo = pkgs.libsForQt5.callPackage ./pkgs/misc/mayo { };
@@ -120,6 +121,7 @@
           ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
           megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
           spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
+          rcg-pipeline = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/rcg-pipeline { inherit bpy-wheel; };
         in
         {
           inherit pkgs;
@@ -132,7 +134,7 @@
           };
 
           packages = {
-            inherit mayo pysdf fstl unified-planning test-script blender bpy;
+            inherit mayo pysdf fstl unified-planning test-script blender bpy bpy-wheel rcg-pipeline;
           };
 
           devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
@@ -199,7 +201,7 @@
                 pybullet
                 scipy
                 spatialmath
-                bpy
+                rcg-pipeline
               ];
             in
             pkgs.mkShell {
diff --git a/pkgs/development/python-modules/bpy-wheel/default.nix b/pkgs/development/python-modules/bpy-wheel/default.nix
new file mode 100644
index 0000000..5b2f05e
--- /dev/null
+++ b/pkgs/development/python-modules/bpy-wheel/default.nix
@@ -0,0 +1,31 @@
+{ buildPythonPackage, fetchPypi, python3Packages, lib, autoPatchelfHook, blender, pythonImportsCheckHook, config, cudaSupport ? config.cudaSupport }:
+buildPythonPackage rec {
+  format = "wheel";
+  pname = "bpy";
+  version = "4.1.0";
+
+  src = fetchPypi rec {
+    inherit pname version format;
+    sha256 = "sha256-bGOlo3NvYMdbXw0UaKGkP7gRVdilKHdwfPtoAF27dLQ=";
+    dist = python;
+    python = "cp311";
+    abi = "cp311";
+    platform = "manylinux_2_28_x86_64";
+  };
+  propagatedBuildInputs = with python3Packages; [ requests numpy cython zstandard ];
+  buildInputs = blender.buildInputs;
+  nativeBuildInputs = [ autoPatchelfHook pythonImportsCheckHook ];
+  autoPatchelfIgnoreMissingDeps = true;
+  pythonImportsCheck = [ "bpy" ];
+
+  meta = with lib; {
+    description = "3D Creation/Animation/Publishing System";
+    homepage = "https://www.blender.org";
+    # They comment two licenses: GPLv2 and Blender License, but they
+    # say: "We've decided to cancel the BL offering for an indefinite period."
+    # OptiX, enabled with cudaSupport, is non-free.
+    license = with licenses; [ gpl2Plus ] ++ optional cudaSupport unfree;
+    platforms = [ "x86_64-linux" ];
+    maintainers = with maintainers; [ brothermechanic ];
+  };
+}
diff --git a/pkgs/development/python-modules/rcg-pipeline/default.nix b/pkgs/development/python-modules/rcg-pipeline/default.nix
new file mode 100644
index 0000000..b62d747
--- /dev/null
+++ b/pkgs/development/python-modules/rcg-pipeline/default.nix
@@ -0,0 +1,45 @@
+{ buildPythonPackage
+, fetchgit
+, python3Packages
+, lib
+, autoPatchelfHook
+, pythonImportsCheckHook
+, config
+, cudaSupport ? config.cudaSupport
+, numpy
+, setuptools
+, bpy-wheel
+, ... }:
+
+buildPythonPackage rec {
+  name = "rcg_pipeline";
+  version = "1.0.0";
+  format = "pyproject";
+
+  # src = /home/movefasta/Documents/robossembler/framework;
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/framework";
+    hash = "sha256-iLPphGbIGf7IRdedBSC2yJ2M3ttsHATvtOLot/04AZU=";
+    rev = "8268db0dec793bfa42d4fcba24c7d442938b7a25";
+  };
+  sourceRoot = "${src.name}/rcg_pipeline";
+
+  nativeBuildInputs = [
+    setuptools
+  ];
+
+  propagatedBuildInputs = [
+    numpy
+    bpy-wheel
+  ];
+
+  pythonImportsCheck = [ "rcg_pipeline" ];
+
+  meta = with lib; {
+    description = "Robossembler CG Pipeline Python Module";
+    homepage = "https://gitlab.com/robossembler/framework/rcg_pipeline";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}