diff --git a/flake.nix b/flake.nix
index e929e5e..ebed3d4 100644
--- a/flake.nix
+++ b/flake.nix
@@ -38,7 +38,9 @@
           unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
           blenderproc = pkgs.python3Packages.callPackage ./blenderproc.nix { };
           webdataset = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/webdataset { };
+          ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
           megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { webdataset = webdataset; };
+          spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { ansitable = ansitable; };
           slic3r = pkgs.callPackage ./pkgs/misc/slic3r { };
         in
         {
@@ -90,18 +92,24 @@
                 image-transport
                 cv-bridge
                 example-interfaces
-              ]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat ]) ++ [ megapose6d ];
+              ]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat ]);
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
             };
 
           devShells.all = pkgs.mkShell { 
             packages = [ mayo blender bpy pysdf fstl darknet slic3r ];
           };
-          devShells.bpy = pkgs.mkShell { packages = [ bpy pysdf pkgs.freecad blender ]; };
-          devShells.up =
+          devShells.rbs-framework =
             let
-              my-python-packages = p: with p; [ unified-planning ]; 
-            in 
+              my-python-packages = p: with p; [ 
+                bpy
+                pysdf
+                unified-planning 
+                pybullet
+                scipy
+                spatialmath
+              ];
+            in
             pkgs.mkShell {
               packages = [ (pkgs.python3.withPackages my-python-packages) ];
             };
diff --git a/pkgs/development/python-modules/ansitable/default.nix b/pkgs/development/python-modules/ansitable/default.nix
new file mode 100644
index 0000000..86e78a4
--- /dev/null
+++ b/pkgs/development/python-modules/ansitable/default.nix
@@ -0,0 +1,33 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, colored
+, numpy
+}:
+
+buildPythonPackage rec {
+  pname = "ansitable";
+  version = "0.9.7";
+  format = "setuptools";
+
+  src = fetchFromGitHub {
+    owner = "petercorke";
+    repo = "ansitable";
+    rev = version;
+    hash = "sha256-LRSdnHLcmQfwSpxnd3JjaLzpECWWnzi8aWLanu9qRUI=";
+  };
+
+  propagatedBuildInputs = [
+    colored
+    numpy
+  ];
+
+  pythonImportsCheck = [ "ansitable" ];
+
+  meta = with lib; {
+    description = "Quick, easy and pretty display of tabular data or matrices, with optional ANSI color and borders";
+    homepage = "https://github.com/petercorke/ansitable";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}
diff --git a/pkgs/development/python-modules/spatialmath/default.nix b/pkgs/development/python-modules/spatialmath/default.nix
new file mode 100644
index 0000000..9d4101a
--- /dev/null
+++ b/pkgs/development/python-modules/spatialmath/default.nix
@@ -0,0 +1,71 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, setuptools
+, ansitable
+, matplotlib
+, numpy
+, scipy
+, typing-extensions
+, coverage
+, flake8
+, pytest
+, pytest-timeout
+, pytest-xvfb
+, sympy
+, sphinx
+, sphinx-autodoc-typehints
+, sphinx-rtd-theme
+, sphinxcontrib-jsmath
+}:
+
+buildPythonPackage rec {
+  pname = "spatialmath";
+  version = "unstable-2023-06-07";
+  format = "pyproject";
+
+  src = fetchFromGitHub {
+    owner = "petercorke";
+    repo = "spatialmath-python";
+    rev = "0a7761dcd563e91eb55e75d8f0b2a93198762315";
+    hash = "sha256-kawe9yHX7T+Bvy7BfuKbotEjlnpynQAooBsynGJSfjo=";
+  };
+
+  nativeBuildInputs = [
+    setuptools
+  ];
+
+  propagatedBuildInputs = [
+    ansitable
+    matplotlib
+    numpy
+    scipy
+    typing-extensions
+  ];
+
+  passthru.optional-dependencies = {
+    dev = [
+      coverage
+      flake8
+      pytest
+      pytest-timeout
+      pytest-xvfb
+      sympy
+    ];
+    docs = [
+      sphinx
+      sphinx-autodoc-typehints
+      sphinx-rtd-theme
+      sphinxcontrib-jsmath
+    ];
+  };
+
+  pythonImportsCheck = [ "spatialmath" ];
+
+  meta = with lib; {
+    description = "Create,  manipulate and convert representations of position and orientation in 2D or 3D using Python";
+    homepage = "https://github.com/petercorke/spatialmath-python";
+    license = licenses.mit;
+    maintainers = with maintainers; [ ];
+  };
+}