diff --git a/flake.nix b/flake.nix
index b92fb7d..66154dd 100644
--- a/flake.nix
+++ b/flake.nix
@@ -137,9 +137,37 @@
           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 { bpy = bpy-lib; inherit rbsFrameworkSrc; };
-          rbs-workbench = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/freecad.robossembler { inherit freecad-py; inherit rbsFrameworkSrc; };
-          freecad-py = pkgs.python3Packages.toPythonModule (pkgs.callPackage ./pkgs/misc/freecad-lib { });
+          rbs-workbench = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/freecad.robossembler { inherit freecad-lib; inherit rbsFrameworkSrc; };
+          freecad-lib = pkgs.python3Packages.toPythonModule (pkgs.callPackage ./pkgs/misc/freecad-lib { });
           bpy-lib = pkgs.python3Packages.toPythonModule bpy;
+          cad-gen = 
+          let
+            cad_export_script = pkgs.writers.writePython3 "cad_export_script.py"
+            { libraries = [ rbs-workbench ]; }
+            ''
+            import FreeCAD as App
+            import freecad.robossembler.utils.freecad_exporters as rbs
+            import sys
+
+            path = sys.argv[4]
+            print(path)
+            doc = App.openDocument(path)
+            rbs.publish_project_database(doc)
+            App.closeDocument(doc.Name)
+            '';
+          in
+          pkgs.writeShellScriptBin "cad-gen"
+            ''
+            export PYTHONPATH="${rbs-workbench}/${pkgs.python3.sitePackages}"
+            ${pkgs.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
+            '';
+          cg-gen = pkgs.writers.writePython3Bin "cg-gen"
+            { libraries = [ rcg-pipeline ]; }
+            ''
+            from rcg_pipeline import rcg_full_pipeline
+            import sys
+            rcg_full_pipeline(sys.argv[1])
+            '';
         in
         {
           inherit pkgs;
@@ -152,7 +180,7 @@
           };
 
           packages = {
-            inherit mayo pysdf fstl unified-planning test-script blender bpy bpy-wheel rcg-pipeline freecad-py bpy-lib;
+            inherit unified-planning test-script cad-gen cg-gen;
           };
 
           devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
diff --git a/pkgs/development/python-modules/freecad.robossembler/default.nix b/pkgs/development/python-modules/freecad.robossembler/default.nix
index 6eff57a..dafd9f8 100644
--- a/pkgs/development/python-modules/freecad.robossembler/default.nix
+++ b/pkgs/development/python-modules/freecad.robossembler/default.nix
@@ -6,7 +6,7 @@
 , pythonImportsCheckHook
 , config
 , setuptools
-, freecad-py
+, freecad-lib
 , pytestCheckHook
 , toPythonModule
 , python
@@ -26,10 +26,10 @@ buildPythonPackage rec {
     setuptools
   ];
 
-  buildInputs = [ freecad-py ];
+  buildInputs = [ freecad-lib ];
 
   propagatedBuildInputs = [
-    freecad-py
+    freecad-lib
   ];
   
   pythonImportsCheck = [ "freecad.robossembler" ];