diff --git a/flake.lock b/flake.lock
index 85a3495..522d98d 100644
--- a/flake.lock
+++ b/flake.lock
@@ -4,6 +4,24 @@
       "inputs": {
         "systems": "systems"
       },
+      "locked": {
+        "lastModified": 1694529238,
+        "narHash": "sha256-zsNZZGTGnMOf9YpHKJqMSsa0dXbfmxeoJ7xHlrt+xmY=",
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "rev": "ff7b65b44d01cf9ba6a71320833626af21126384",
+        "type": "github"
+      },
+      "original": {
+        "owner": "numtide",
+        "repo": "flake-utils",
+        "type": "github"
+      }
+    },
+    "flake-utils_2": {
+      "inputs": {
+        "systems": "systems_2"
+      },
       "locked": {
         "lastModified": 1689068808,
         "narHash": "sha256-6ixXo3wt24N/melDWjq70UuHQLxGV8jZvooRanIHXw0=",
@@ -18,31 +36,13 @@
         "type": "github"
       }
     },
-    "flake-utils_2": {
-      "inputs": {
-        "systems": "systems_2"
-      },
-      "locked": {
-        "lastModified": 1685518550,
-        "narHash": "sha256-o2d0KcvaXzTrPRIo0kOLV0/QXHhDQ5DTi+OxcjO8xqY=",
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "rev": "a1720a10a6cfe8234c0e93907ffe81be440f4cef",
-        "type": "github"
-      },
-      "original": {
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "type": "github"
-      }
-    },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1690924695,
-        "narHash": "sha256-1yshNzds/qJztMoJk0Sa2xhKwSLaOAuepR6ABWbrgRU=",
+        "lastModified": 1695298503,
+        "narHash": "sha256-eDuN/+479v5gfVqwmJRYVX/Skh+TYSifAXdJ9xMqiP4=",
         "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "7282565b1ca9ba7b293b899411e70167f4a7c1ff",
+        "rev": "b1370f72c01cee73c8648baf158453d60f3127e2",
         "type": "github"
       },
       "original": {
@@ -54,11 +54,11 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1687112859,
-        "narHash": "sha256-oJhMiKnJeb47gTxyyIgAJf+aWC4IbVmG3wgL3ZVJ0Eg=",
+        "lastModified": 1691006197,
+        "narHash": "sha256-DbtxVWPt+ZP5W0Usg7jAyTomIM//c3Jtfa59Ht7AV8s=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "f68a0d0fd7539d93c7454989f71fd1c824f3b46f",
+        "rev": "66aedfd010204949cb225cf749be08cb13ce1813",
         "type": "github"
       },
       "original": {
@@ -81,11 +81,11 @@
         "nixpkgs": "nixpkgs_2"
       },
       "locked": {
-        "lastModified": 1690347395,
-        "narHash": "sha256-FUAvjcpVyDMZ2zCqUrpGlLtRZlF3PqW2alpyi82bMa8=",
+        "lastModified": 1691109346,
+        "narHash": "sha256-TtmW6aWNITZDpmwTZhTka7DnT1b6FdgY0sgcT8s6tRg=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "3205dadcff4e1fbc779ce3962bafcf3e9f3e931b",
+        "rev": "c89eed8b34d2947c851df29c09c1cb444282b63e",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index f11e76e..b8965d3 100644
--- a/flake.nix
+++ b/flake.nix
@@ -18,6 +18,21 @@
             # freecad = prev.freecad.overrideAttrs
             #   (old: { cmakeFlags = old.cmakeFlags ++ [ "-DBUILD_GUI=OFF" ]; });
             # cmakeFlag -BUILD_GUI=OFF for build without gui
+            pythonPackagesExtensions = prev.pythonPackagesExtensions ++ [
+              (
+                python-final: python-prev: {
+                  iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
+                    version = "unstable";
+                    src = pkgs.fetchFromGitHub {
+                      owner = "facebookresearch";
+                      repo = "iopath";
+                      rev = "9dcb63a46447556460fdb65c21aa6d094a7a788c";
+                      hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
+                    };
+                  });
+                }
+              )
+            ];
           };
 
           # overrided packages and attributes for nix-ros-overlay
@@ -38,17 +53,18 @@
           blender = pkgs.callPackage ./pkgs/misc/blender { };
           bpy = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/bpy { };
           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 { };
           darknet = pkgs.callPackage ./pkgs/misc/darknet { };
           fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
-          open3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/open3d { };
+          open3d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/open3d {  };
           unified-planning = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/unified-planning { };
           blenderproc = pkgs.python3Packages.callPackage ./blenderproc.nix { };
           test-script = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/test-script { };
           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; };
+          megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
+          spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
           slic3r = pkgs.callPackage ./pkgs/misc/slic3r { };
         in
         {
@@ -62,7 +78,7 @@
           };
 
           packages = {
-            inherit mayo blender bpy pysdf fstl darknet unified-planning slic3r megapose6d test-script;
+            inherit mayo blender bpy pysdf fstl unified-planning slic3r megapose6d test-script pytorch3d;
             gazebo = ros.humble.gazebo;
           };
 
@@ -108,6 +124,20 @@
             packages = [ mayo blender bpy pysdf fstl darknet slic3r ];
           };
 
+          devShells.perception =
+            let
+              rbs-packages = p: with p; [
+                pytorch3d
+                torch
+                torchvision
+                torchaudio
+                detectron2
+              ];
+            in
+            pkgs.mkShell {
+              packages = [ (pkgs.python3.withPackages rbs-packages) ];
+            };
+
           devShells.default =
             let
               my-python-packages = p: with p; [ 
diff --git a/pkgs/development/python-modules/pytorch3d/default.nix b/pkgs/development/python-modules/pytorch3d/default.nix
new file mode 100644
index 0000000..4f17ed4
--- /dev/null
+++ b/pkgs/development/python-modules/pytorch3d/default.nix
@@ -0,0 +1,72 @@
+{ lib
+, pkgs
+, buildPythonPackage
+, fetchFromGitHub
+, torch
+, fvcore
+, pyopengl
+, pyopengl-accelerate
+, pybind11
+, python3
+, scikit-image
+, black
+, usort
+, flake8
+, matplotlib
+, tqdm
+, jupyter
+, imageio
+, plotly
+, opencv
+, iopath
+, ninja
+}:
+buildPythonPackage rec {
+  pname = "pytorch3d";
+  version = "0.7.3";
+  format = "setuptools";
+
+  src = fetchFromGitHub {
+    owner = "facebookresearch";
+    repo = "pytorch3d";
+    rev = "v${version}";
+    hash = "sha256-lI3z4Z7j4zJNSXsqueBQqBe8gslmLJRjW4DM8CQ9A0A=";
+  };
+
+  preBuild = ''
+    export MAX_JOBS=$NIX_BUILD_CORES;
+  '';
+
+  nativeBuildInputs = with pkgs; [ which pybind11 ninja ];
+
+  propagatedBuildInputs = [
+    torch
+    fvcore
+    iopath
+    pyopengl
+    pyopengl-accelerate
+    pybind11
+    scikit-image
+    black
+    usort
+    flake8
+    matplotlib
+    tqdm
+    jupyter
+    imageio
+    plotly
+    opencv
+  ];
+
+  pythonImportsCheck = [ "pytorch3d" ];
+  doCheck = false;
+  
+  enableParallelBuilding = true;
+
+  meta = with lib; {
+    description = "PyTorch3D is FAIR's library of reusable components for deep learning with 3D data";
+    homepage = "https://github.com/facebookresearch/pytorch3d";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ ];
+  };
+}