diff --git a/flake.lock b/flake.lock
index 1d7f127..306a559 100644
--- a/flake.lock
+++ b/flake.lock
@@ -20,11 +20,11 @@
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1731533236,
-        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
+        "lastModified": 1705309234,
+        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
+        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
         "type": "github"
       },
       "original": {
@@ -95,26 +95,27 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1737552376,
-        "narHash": "sha256-Dh3mcaPiZr/1Bd3+LXDO0Izxku3w1mXKEkCr3hVs8Jg=",
-        "owner": "nixos",
+        "lastModified": 1712307699,
+        "narHash": "sha256-/PzHcPvBvJeZTY9JCEtbNljYLecwggveHQ2oHPlTycA=",
+        "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "a910ca0ea5b9ae5079d689e641a368d819f2b710",
+        "rev": "3541c7628de9414f999ced044c95a284584f4ec1",
         "type": "github"
       },
       "original": {
-        "owner": "nixos",
+        "owner": "NixOS",
+        "ref": "master",
         "repo": "nixpkgs",
         "type": "github"
       }
     },
     "nixpkgs_3": {
       "locked": {
-        "lastModified": 1733581040,
-        "narHash": "sha256-Qn3nPMSopRQJgmvHzVqPcE3I03zJyl8cSbgnnltfFDY=",
+        "lastModified": 1707268954,
+        "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "22c3f2cf41a0e70184334a958e6b124fb0ce3e01",
+        "rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
         "type": "github"
       },
       "original": {
@@ -145,11 +146,11 @@
         "nixpkgs": "nixpkgs_3"
       },
       "locked": {
-        "lastModified": 1736986092,
-        "narHash": "sha256-HdVJ5cCIORyy7m57VnunC8kBd6r5B680M8sUhAr7mzo=",
+        "lastModified": 1715462692,
+        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "503be406769b14b7907c52000d41a3e6a3531f08",
+        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 504a0d3..451a443 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,7 +1,7 @@
 {
   description = "Robossembler Development Environments on Nix";
   inputs = {
-    nixpkgs.url = "github:nixos/nixpkgs";
+    nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
     flake-utils.follows = "ros-overlay/flake-utils";
     ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
     ros-nixpkgs.follows = "ros-overlay/nixpkgs";
@@ -20,66 +20,59 @@
     flake-utils.lib.eachDefaultSystem
       (system:
         let
-          pkgs = import nixpkgs { inherit system; overlays = [ 
-            (import ./overlay.nix)
-            gazebo-overlay.overlays.default
+          pkgs = import nixpkgs { inherit system;
+            overlays = [ 
+              (import ./overlay.nix)
+              gazebo-overlay.overlays.default
+            ];
+            config.allowUnfree = true; # for cuda
+          };
+          ros = import ros-nixpkgs { inherit system;
+            overlays = [
+              ros-overlay.overlays.default
+              (import ./ros)
             ];
-            config.allowUnfree = true;
           };
-          ros = import ros-nixpkgs { inherit system; overlays = [
-            ros-overlay.overlays.default
-            (import ./ros)
-          ];};
         in
         {
 
           rlib = import ./. { 
             inherit pkgs;
-            inherit (pkgs) lib rbs-workbench cad-gen cg-gen;
+            inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
             inherit (pkgs.stdenv) mkDerivation;
             inherit (pkgs.libsForQt5) wrapQtAppsHook;
           };
 
           packages = {
-            inherit (pkgs) cad-gen cg-gen blender cad-gen-docker;
+            inherit (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
           };
 
           inherit ros pkgs;
 
           devShells = {
             default =
-              let
-                my-python-packages = p: with p; [ 
-                  unified-planning
-                  scipy
-                  spatialmath
-                  rcg-pipeline
-                  rbs-workbench
-                ];
-              in
-              pkgs.mkShell {
-                packages = (with pkgs; [ freecad ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
-              };
-
-            test =
-              let
-                my-python-packages = p: with p; [ scenario ];
-              in
-              pkgs.mkShell {
-                packages = [ (pkgs.python3.withPackages my-python-packages) ];
-              };            
+            let
+              my-python-packages = p: with p; [ 
+                unified-planning
+                pybullet
+                scipy
+                spatialmath
+                rcg-pipeline
+                rbs-workbench
+              ];
+            in
+            pkgs.mkShell {
+              packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
+            };
 
             ros = pkgs.mkShell {
               name = "ROS environment";
               packages = [
-                pkgs.vcstool
                 ros.colcon
-                pkgs.scenario
                 (with ros.rosPackages.humble; buildEnv {
                   paths = [
                     ros-core
                     rmw-fastrtps-dynamic-cpp
-                    rviz2
                   ];
                 })
               ];
@@ -87,7 +80,7 @@
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
             };
 
-            all = pkgs.mkShell { packages = with pkgs; [ fstl cad-gen cg-gen ]; };
+            all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
 
             ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
 
@@ -96,36 +89,24 @@
             perception =
               let
                 perception-packages = p: with p; [
-                  pytorchWithCuda
+                  torch
                   torchvision
                   torchaudio
                   detectron2
-                  scipy
-                  pyrr
-                  pillow
-                  numpy
-                  opencv4
-                  boto3
-                  tensorboardx
-                  albumentations
-                  simplejson
-
-                  ultralytics
                 ];
               in
               pkgs.mkShell {
-                packages = [ pkgs.s3cmd pkgs.libGL ] ++ [ (pkgs.python3.withPackages perception-packages) ];
+                packages = [ (pkgs.python3.withPackages perception-packages) ];
               };
-          };
+          }; 
         }
       );
 
   nixConfig = {
-    extra-substituters = [ "https://ros.cachix.org" "https://robossembler.cachix.org" "https://cuda-maintainers.cachix.org" ];
+    extra-substituters = [ "https://ros.cachix.org" "https://robossembler.cachix.org" ];
     extra-trusted-public-keys = [ 
       "ros.cachix.org-1:dSyZxI8geDCJrwgvCOHDoAfOm5sV1wCPjBkKL+38Rvo="
       "robossembler.cachix.org-1:56jBJHroRQSGpZFkW8XMquuzQTjAF/XTo6MogmBM7SQ="
-      "cuda-maintainers.cachix.org-1:0dq3bujKpuEPMCX6U4WylrUDZ9JyUG0VpVZa7CNfq5E="
     ];
   };
 }
diff --git a/pkgs/cmake-build-extension/default.nix b/pkgs/cmake-build-extension/default.nix
deleted file mode 100644
index 92cb381..0000000
--- a/pkgs/cmake-build-extension/default.nix
+++ /dev/null
@@ -1,50 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  setuptools,
-  setuptools-scm,
-  wheel,
-  gitpython,
-  cmake,
-  ninja,
-  pkg-config
-}:
-
-buildPythonPackage rec {
-  pname = "cmake-build-extension";
-  version = "0.6.1";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "diegoferigo";
-    repo = "cmake-build-extension";
-    rev = "v${version}";
-    hash = "sha256-taAwxa7Sv+xc8xJRnNM6V7WPcL+TWZOkngwuqjAslzc=";
-  };
-
-  # nativeBuildInputs = [ cmake ];
-  # buildInputs = [ cmake ninja ];
-  dontUseCmakeConfigure = true;
-
-  propagatedBuildInputs = [ gitpython ];
-
-  build-system = [
-    cmake
-    ninja
-    setuptools
-    setuptools-scm
-    wheel
-  ];
-
-  pythonImportsCheck = [
-    "cmake_build_extension"
-  ];
-
-  meta = {
-    description = "Setuptools extension to build and package CMake projects";
-    homepage = "https://github.com/diegoferigo/cmake-build-extension";
-    license = lib.licenses.mit;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/coremltools/default.nix b/pkgs/coremltools/default.nix
deleted file mode 100644
index a714377..0000000
--- a/pkgs/coremltools/default.nix
+++ /dev/null
@@ -1,36 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  setuptools,
-  wheel,
-}:
-
-buildPythonPackage rec {
-  pname = "coremltools";
-  version = "8.0";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "apple";
-    repo = "coremltools";
-    rev = version;
-    hash = "sha256-nMrOtG8kAvz7DxYcf2Dh5f65zbTPSuUfoU7XL2Cx1Aw=";
-  };
-
-  build-system = [
-    setuptools
-    wheel
-  ];
-
-  pythonImportsCheck = [
-    "coremltools"
-  ];
-
-  meta = {
-    description = "Core ML tools contain supporting tools for Core ML model conversion, editing, and validation";
-    homepage = "https://github.com/apple/coremltools";
-    license = lib.licenses.bsd3;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/default.nix b/pkgs/default.nix
index 70ec705..9d915e4 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -4,15 +4,21 @@ self: super: with self.lib; let
 
   rbsFrameworkSrc = self.fetchgit {
     url = "https://gitlab.com/robossembler/framework";
-    hash = "sha256-K6vnCQn129TWiMEKe81eBx/1H6PaIriCnkHGRwL8fg0=";
-    rev = "e8bb59124d56c5aee0180b4c7d5c7bfeec9cb1ea";
+    hash = "sha256-q1032Lu2xnMWZkr+T0rLhbpdmceDHygHC6BN3AKbFVk=";
+    rev = "69b8512d6b5dafe0571b5d73a910a26bbc6a84a5";
+  };
+
+  pddlSpecGeneratorSrc = self.fetchgit {
+    url = "https://gitlab.com/robossembler/pddl-spec-generator";
+    hash = "sha256-g/yaaIHRJriPwvVr2pVytQZmJG/BYvsg4q64yEps0T8=";
+    rev = "61dcd1553365436f13107f395d1ee7e7b012c3e6";
   };
   
   bpy = self.blender.overrideAttrs (old: {
     pname = "bpy";
     src = self.fetchurl {
       url = "https://download.blender.org/source/${old.pname}-${old.version}.tar.xz";
-      hash = "sha256-4LfgcP9wbSNma6kOuZqFutuN+oC4SNro0zUb8l1Hr/k=";
+      hash = "sha256-3AAtguPDQMk4VcZoRzDQGAG2aaKbHMa3XuuZC6aecj8=";
     };
     cmakeFlags = old.cmakeFlags ++ [
       "-DWITH_PYTHON_INSTALL=OFF"
@@ -44,21 +50,6 @@ in {
     };
   };
 
-  # Docker Images
-
-  cad-gen-docker = self.dockerTools.buildImage {
-    name = "cad-gen-docker";
-    tag = "latest";
-    copyToRoot = self.buildEnv {
-      name = "image-root";
-      paths = with self; [ cad-gen ];
-      pathsToLink = [ "/bin" ];
-    };
-  };
-
-  tiny-process-library = self.callPackage ./scenario/tiny-process-library.nix { };
-  ycm = self.callPackage ./scenario/ycm-cmake-modules.nix { };
-
   # Python packages
 
 
@@ -75,39 +66,6 @@ in {
             hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
           };
         });
-        # torchWithCuda = python-prev.torchWithCuda.overridePythonAttrs (oldAttrs: {
-        #   extraRunpaths = [ "${super.lib.getLib self.cudaPackages.cuda_nvrtc}/lib" ];
-        #   postPhases = super.lib.optionals self.stdenv.hostPlatform.isUnix ["postPatchelfPhase" ];
-        #   postPatchelfPhase = ''
-        #     while IFS= read -r -d $'\0' elf ; do
-        #       for extra in $extraRunpaths ; do
-        #         echo patchelf "$elf" --add-rpath "$extra" >&2
-        #         patchelf "$elf" --add-rpath "$extra"
-        #       done
-        #     done < <(
-        #       find "''${!outputLib}" "$out" -type f -iname '*.so' -print0
-        #     )
-        #   '';
-        # });
-        torchvision = python-prev.torchvision.override {
-          torch = python-final.pytorchWithCuda;
-        };
-        torchaudio = python-prev.torchaudio.override {
-          torch = python-final.pytorchWithCuda;
-        };
-        detectron2 = python-prev.detectron2.override {
-          torch = python-final.pytorchWithCuda;
-          torchvision = python-final.torchvision;
-        };
-        ultralytics-thop = self.python3Packages.callPackage ./ultralytics-thop { torch = python-final.pytorchWithCuda; };
-        coremltools = self.python3Packages.callPackage ./coremltools { };
-        lap = self.python3Packages.callPackage ./lap { };
-        pybboxes = self.python3Packages.callPackage ./pybboxes { };
-        sahi = self.python3Packages.callPackage ./sahi { inherit (python-final) pybboxes; };
-        ultralytics = self.python3Packages.callPackage ./ultralytics {
-          inherit (python-final) coremltools lap ultralytics-thop; 
-          torch = python-final.pytorchWithCuda; 
-        };
         unified-planning = self.python3Packages.callPackage ./unified-planning { };
         bpy-wheel = self.python3Packages.callPackage ./bpy-wheel { };
         pysdf = self.python3Packages.callPackage ./pysdf { };
@@ -122,9 +80,6 @@ in {
         rbs-workbench = self.python3Packages.callPackage ./freecad.robossembler { inherit (python-final) freecad-lib; inherit rbsFrameworkSrc; };
         freecad-lib = self.python3Packages.toPythonModule (self.callPackage ./freecad-lib { });
         bpy-lib = self.python3Packages.toPythonModule bpy;
-        cmake-build-extension = self.python3Packages.callPackage ./cmake-build-extension { };
-        scenario = self.python3Packages.callPackage ./scenario { inherit (python-final) cmake-build-extension; };
-        idyntree = self.python3Packages.callPackage ./idyntree { inherit (python-final) cmake-build-extension; };
       }
     )
   ];
@@ -159,4 +114,8 @@ in {
     import sys
     rcg_full_pipeline(sys.argv[1])
     '';
+
+  pddl-spec-gen = pddlSpecGeneratorSrc;
+  dataset-gen = rbsFrameworkSrc;
+
 }
diff --git a/pkgs/freecad.robossembler/default.nix b/pkgs/freecad.robossembler/default.nix
index 83adcdf..dafd9f8 100644
--- a/pkgs/freecad.robossembler/default.nix
+++ b/pkgs/freecad.robossembler/default.nix
@@ -32,7 +32,7 @@ buildPythonPackage rec {
     freecad-lib
   ];
   
-  # pythonImportsCheck = [ "freecad.robossembler" ];
+  pythonImportsCheck = [ "freecad.robossembler" ];
 
   doCheck = false;
   
diff --git a/pkgs/idyntree/cmake-fix-libxml2-find-package.patch b/pkgs/idyntree/cmake-fix-libxml2-find-package.patch
deleted file mode 100644
index 8c2010d..0000000
--- a/pkgs/idyntree/cmake-fix-libxml2-find-package.patch
+++ /dev/null
@@ -1,13 +0,0 @@
-diff --color -ur a/CMakeLists.txt b/CMakeLists.txt
---- a/CMakeLists.txt	2021-05-30 13:46:22.256040282 +0200
-+++ b/CMakeLists.txt	2021-05-30 14:15:42.530181216 +0200
-@@ -333,7 +333,7 @@
- # So, try first to find the CMake module provided by libxml2 package, then fallback
- # on the CMake's FindLibXml2.cmake module (which can lack some definition, especially
- # in static build case).
--find_package(LibXml2 QUIET NO_MODULE)
-+find_package(LibXml2 QUIET MODULE)
- if(DEFINED LIBXML2_VERSION_STRING)
- 	set(LIBXML2_FOUND ON)
- 	set(LIBXML2_INCLUDE_DIR ${LIBXML2_INCLUDE_DIRS})
-Seulement dans b: good.patch
\ No newline at end of file
diff --git a/pkgs/idyntree/default.nix b/pkgs/idyntree/default.nix
deleted file mode 100644
index 66a4b8d..0000000
--- a/pkgs/idyntree/default.nix
+++ /dev/null
@@ -1,62 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  cmake,
-  ninja,
-  cmake-build-extension,
-  numpy,
-  setuptools,
-  setuptools-scm,
-  wheel,
-  eigen,
-  libxml2,
-  assimp,
-  swig,
-  pybind11,
-}:
-
-buildPythonPackage rec {
-  pname = "idyntree";
-  version = "13.1.1";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "robotology";
-    repo = "idyntree";
-    rev = "v${version}";
-    hash = "sha256-OD00X5xjcti7GthAkluM7GxUHZ9tl0ne4HhflHsW2qk=";
-  };
-
-  nativeBuildInputs = [ swig pybind11 ];
-
-  buildInputs = [ assimp eigen libxml2.dev ];
-
-  build-system = [
-    cmake
-    ninja
-    cmake-build-extension
-    numpy
-    setuptools
-    setuptools-scm
-    wheel
-  ];
-
-  dontUseCmakeConfigure = true;
-
-  cmakeFlags = [
-    "-DIDYNTREE_USES_PYTHON_PYBIND11='ON'"
-  ];
-
-  pythonImportsCheck = [
-    "idyntree"
-  ];
-
-  meta = {
-    description = "Multibody Dynamics Library designed for Free Floating Robots";
-    homepage = "https://github.com/robotology/idyntree";
-    changelog = "https://github.com/robotology/idyntree/blob/${src.rev}/CHANGELOG.md";
-    license = lib.licenses.bsd3;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/lap/default.nix b/pkgs/lap/default.nix
deleted file mode 100644
index 0ed0160..0000000
--- a/pkgs/lap/default.nix
+++ /dev/null
@@ -1,38 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  cython,
-  numpy,
-  setuptools,
-}:
-
-buildPythonPackage rec {
-  pname = "lap";
-  version = "0.5.12";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "gatagat";
-    repo = "lap";
-    rev = "v${version}";
-    hash = "sha256-ktLwdeb7UWhdihOhdeYIi6Geyp7aJsVPPec22MtI9Jo=";
-  };
-
-  build-system = [
-    cython
-    numpy
-    setuptools
-  ];
-
-  pythonImportsCheck = [
-    "lap"
-  ];
-
-  meta = {
-    description = "Linear Assignment Problem solver (LAPJV/LAPMOD";
-    homepage = "https://github.com/gatagat/lap";
-    license = lib.licenses.bsd2;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/pybboxes/default.nix b/pkgs/pybboxes/default.nix
deleted file mode 100644
index 8d401da..0000000
--- a/pkgs/pybboxes/default.nix
+++ /dev/null
@@ -1,47 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  setuptools,
-  wheel,
-  numpy,
-  pycocotools,
-  pyyaml,
-}:
-
-buildPythonPackage rec {
-  pname = "pybboxes";
-  version = "0.2.0";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "devrimcavusoglu";
-    repo = "pybboxes";
-    rev = version;
-    hash = "sha256-3JP6gLm62Atq8RJYb4AMPUcGyzyrXMG/ayqvMCNk9g8=";
-  };
-
-  build-system = [
-    setuptools
-    wheel
-  ];
-
-  dependencies = [
-    numpy
-    pycocotools
-    pyyaml
-  ];
-
-  doCheck = false;
-
-  pythonImportsCheck = [
-    "pybboxes"
-  ];
-
-  meta = {
-    description = "Light weight toolkit for bounding boxes providing conversion between bounding box types and simple computations";
-    homepage = "https://github.com/devrimcavusoglu/pybboxes";
-    license = lib.licenses.mit;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/sahi/default.nix b/pkgs/sahi/default.nix
deleted file mode 100644
index 38f2194..0000000
--- a/pkgs/sahi/default.nix
+++ /dev/null
@@ -1,61 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  setuptools,
-  wheel,
-  click,
-  fire,
-  numpy,
-  opencv-python,
-  pillow,
-  pybboxes,
-  pyyaml,
-  requests,
-  shapely,
-  terminaltables,
-  tqdm,
-}:
-
-buildPythonPackage rec {
-  pname = "sahi";
-  version = "0.11.20";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "obss";
-    repo = "sahi";
-    rev = version;
-    hash = "sha256-TFphsF55El32siGdE1WJLnyVXGfaE32Nttvdcy/oqk0=";
-  };
-
-  build-system = [
-    setuptools
-    wheel
-  ];
-
-  dependencies = [
-    click
-    fire
-    numpy
-    opencv-python
-    pillow
-    pybboxes
-    pyyaml
-    requests
-    shapely
-    terminaltables
-    tqdm
-  ];
-
-  pythonImportsCheck = [
-    "sahi"
-  ];
-
-  meta = {
-    description = "Framework agnostic sliced/tiled inference + interactive ui + error analysis plots";
-    homepage = "https://github.com/obss/sahi";
-    license = lib.licenses.mit;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/scenario/default.nix b/pkgs/scenario/default.nix
deleted file mode 100644
index a71b7b8..0000000
--- a/pkgs/scenario/default.nix
+++ /dev/null
@@ -1,70 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  cmake,
-  ninja,
-  cmake-build-extension,
-  #idyntree,
-  setuptools,
-  setuptools-scm,
-  wheel,
-  tiny-process-library,
-  ycm,
-  pkg-config,
-  fetchgit
-}:
-
-buildPythonPackage rec {
-  pname = "scenario";
-  version = "1.4.0";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "movefasta";
-    repo = "scenario";
-    rev = "6bf8f7227778a55aef335599e8d127c061af5bf6";
-    hash = "sha256-QWBVIr4WaPHLzoRNm8p781k3obvywP+s0YbqP1+Tzd0=";
-  };
-
-  patches = [ ./ignition.patch ];
-
-  postPatch = ''
-    substituteInPlace deps/CMakeLists.txt \
-      --replace "GIT_REPOSITORY https://github.com/robotology/ycm.git" "SOURCE_DIR ${ycm.src}" \
-      --replace "GIT_REPOSITORY https://gitlab.com/eidheim/tiny-process-library.git" "SOURCE_DIR ${tiny-process-library.src}" \
-      --replace "SCENARIO_CALL_FROM_SETUP_PY AND NOT USE_IGNITION" "FALSE"
-    substituteInPlace pyproject.toml --replace-fail '"idyntree>=3.1",' ""
-    substituteInPlace setup.py --replace-fail 'cmake_depends_on=["idyntree"],' ""
-  '';
-
-  # nativeBuildInputs = [ pkg-config ];
-
-  build-system = [
-    cmake
-    ninja
-    cmake-build-extension
-    #idyntree
-    setuptools
-    setuptools-scm
-    wheel
-  ];
-
-  cmakeFlags = [
-    "-DSCENARIO_USE_IGNITION=FALSE"
-    "-DSCENARIO_BUILD_SHARED_LIBRARY=ON"
-  ];
-
-  dontUseCmakeConfigure = true;
-
-  pythonImportsCheck = [
-    "scenario"
-  ];
-
-  meta = {
-    description = "";
-    homepage = "https://github.com/movefasta/scenario";
-    license = lib.licenses.mit;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/scenario/ignition.patch b/pkgs/scenario/ignition.patch
deleted file mode 100644
index 20e950d..0000000
--- a/pkgs/scenario/ignition.patch
+++ /dev/null
@@ -1,12 +0,0 @@
-diff --git a/setup.py b/setup.py
-index 9352f44..e204b0d 100644
---- a/setup.py
-+++ b/setup.py
-@@ -16,6 +16,7 @@ setuptools.setup(
-             cmake_configure_options=[
-                 "-DSCENARIO_CALL_FROM_SETUP_PY:BOOL=ON",
-                 "-DSCENARIO_BUILD_SHARED_LIBRARY:BOOL=OFF",
-+                '-DIGNITION_DISTRIBUTION="ignition-gazebo"',
-                 f"-DPython3_EXECUTABLE:PATH={sys.executable}",
-             ],
-             disable_editable=True,
diff --git a/pkgs/scenario/mkder.nix b/pkgs/scenario/mkder.nix
deleted file mode 100644
index b882230..0000000
--- a/pkgs/scenario/mkder.nix
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  lib,
-  stdenv,
-  fetchFromGitHub,
-  cmake,
-}:
-
-stdenv.mkDerivation rec {
-  pname = "scenario";
-  version = "unstable-2024-10-08";
-
-  src = fetchFromGitHub {
-    owner = "movefasta";
-    repo = "scenario";
-    rev = "6bf8f7227778a55aef335599e8d127c061af5bf6";
-    hash = "sha256-QWBVIr4WaPHLzoRNm8p781k3obvywP+s0YbqP1+Tzd0=";
-  };
-
-  nativeBuildInputs = [
-    cmake
-  ];
-
-  meta = {
-    description = "";
-    homepage = "https://github.com/movefasta/scenario";
-    license = lib.licenses.unfree; # FIXME: nix-init did not find a license
-    maintainers = with lib.maintainers; [ ];
-    mainProgram = "scenario";
-    platforms = lib.platforms.all;
-  };
-}
diff --git a/pkgs/scenario/tiny-process-library.nix b/pkgs/scenario/tiny-process-library.nix
deleted file mode 100644
index 646a233..0000000
--- a/pkgs/scenario/tiny-process-library.nix
+++ /dev/null
@@ -1,31 +0,0 @@
-{
-  lib,
-  stdenv,
-  fetchFromGitLab,
-  cmake,
-}:
-
-stdenv.mkDerivation rec {
-  pname = "tiny-process-library";
-  version = "2.0.4";
-
-  src = fetchFromGitLab {
-    owner = "eidheim";
-    repo = "tiny-process-library";
-    rev = "v${version}";
-    hash = "sha256-ntg0e3Ox5swCoimZG6gwpD2eKKFQx5+vXq77cK+wT1Y=";
-  };
-
-  nativeBuildInputs = [
-    cmake
-  ];
-
-  meta = {
-    description = "A small platform independent library making it simple to create and stop new processes in C++, as well as writing to stdin and reading from stdout and stderr of a new process";
-    homepage = "https://gitlab.com/eidheim/tiny-process-library";
-    license = lib.licenses.mit;
-    maintainers = with lib.maintainers; [ ];
-    mainProgram = "tiny-process-library";
-    platforms = lib.platforms.all;
-  };
-}
diff --git a/pkgs/scenario/ycm-cmake-modules.nix b/pkgs/scenario/ycm-cmake-modules.nix
deleted file mode 100644
index 13435c7..0000000
--- a/pkgs/scenario/ycm-cmake-modules.nix
+++ /dev/null
@@ -1,32 +0,0 @@
-{
-  lib,
-  stdenv,
-  fetchFromGitHub,
-  cmake,
-}:
-
-stdenv.mkDerivation rec {
-  pname = "ycm-cmake-modules";
-  version = "0.18.1";
-
-  src = fetchFromGitHub {
-    owner = "robotology";
-    repo = "ycm-cmake-modules";
-    rev = "v${version}";
-    hash = "sha256-7kmXvFrb4HFZyie5FurYeChCEivfkxBe+X5bYXirQqc=";
-  };
-
-  nativeBuildInputs = [
-    cmake
-  ];
-
-  meta = {
-    description = "YCM (YCM CMake modules) is a collection of various useful CMake modules";
-    homepage = "https://github.com/robotology/ycm-cmake-modules";
-    changelog = "https://github.com/robotology/ycm-cmake-modules/blob/${src.rev}/CHANGELOG.md";
-    license = lib.licenses.unfree; # FIXME: nix-init did not find a license
-    maintainers = with lib.maintainers; [ ];
-    mainProgram = "ycm-cmake-modules";
-    platforms = lib.platforms.all;
-  };
-}
diff --git a/pkgs/ultralytics-thop/default.nix b/pkgs/ultralytics-thop/default.nix
deleted file mode 100644
index 9be3b2c..0000000
--- a/pkgs/ultralytics-thop/default.nix
+++ /dev/null
@@ -1,44 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  setuptools,
-  wheel,
-  numpy,
-  torch,
-}:
-
-buildPythonPackage rec {
-  pname = "thop";
-  version = "2.0.13";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "ultralytics";
-    repo = "thop";
-    rev = "v${version}";
-    hash = "sha256-VgHRDXKRZjCE8RR+77GgTGiXeq5e1Bo4l4N72DMRc+s=";
-  };
-
-  build-system = [
-    setuptools
-    wheel
-  ];
-
-  dependencies = [
-    numpy
-    setuptools
-    torch
-  ];
-
-  pythonImportsCheck = [
-    "thop"
-  ];
-
-  meta = {
-    description = "Profile PyTorch models for FLOPs and parameters, helping to evaluate computational efficiency and memory usage";
-    homepage = "https://github.com/ultralytics/thop";
-    license = lib.licenses.agpl3Only;
-    maintainers = with lib.maintainers; [ ];
-  };
-}
diff --git a/pkgs/ultralytics/default.nix b/pkgs/ultralytics/default.nix
deleted file mode 100644
index 51195ef..0000000
--- a/pkgs/ultralytics/default.nix
+++ /dev/null
@@ -1,159 +0,0 @@
-{
-  lib,
-  buildPythonPackage,
-  fetchFromGitHub,
-  setuptools,
-  wheel,
-  beautifulsoup4,
-  onnxruntime,
-  # sahi,
-  lap,
-  matplotlib,
-  numpy,
-  opencv-python,
-  pandas,
-  pillow,
-  psutil,
-  py-cpuinfo,
-  pyyaml,
-  requests,
-  scipy,
-  seaborn,
-  torch,
-  torchvision,
-  tqdm,
-  ultralytics-thop,
-  coverage,
-  ipython,
-  mkdocs,
-  mkdocs-jupyter,
-  #mkdocs-macros-plugin,
-  mkdocs-material,
-  mkdocs-redirects,
-  #mkdocs-ultralytics-plugin,
-  mkdocstrings,
-  pytest,
-  pytest-cov,
-  coremltools,
-  flatbuffers,
-  h5py,
-  keras,
-  onnx,
-  openvino,
-  scikit-learn,
-  tensorflow,
-  #tensorflowjs,
-  tensorstore,
-  albumentations,
-  #hub-sdk,
-  pycocotools,
-  #comet,
-  dvclive,
-  tensorboard,
-  shapely,
-  streamlit,
-  pytestCheckHook,
-}:
-
-buildPythonPackage rec {
-  pname = "ultralytics";
-  version = "8.3.61";
-  pyproject = true;
-
-  src = fetchFromGitHub {
-    owner = "ultralytics";
-    repo = "ultralytics";
-    rev = "v${version}";
-    hash = "sha256-0BMOFjVSYDFj3vfDccMCHnM1FqHesXYMWR4yCSs4oac=";
-  };
-
-  build-system = [
-    setuptools
-    wheel
-  ];
-
-  dependencies = [
-    lap
-    matplotlib
-    numpy
-    opencv-python
-    pandas
-    pillow
-    psutil
-    py-cpuinfo
-    pyyaml
-    requests
-    scipy
-    seaborn
-    torch
-    torchvision
-    tqdm
-    ultralytics-thop
-  ];
-
-  optional-dependencies = {
-    dev = [
-      coverage
-      ipython
-      mkdocs
-      mkdocs-jupyter
-      #mkdocs-macros-plugin
-      mkdocs-material
-      mkdocs-redirects
-      #mkdocs-ultralytics-plugin
-      mkdocstrings
-      pytest
-      pytest-cov
-    ];
-    export = [
-      coremltools
-      flatbuffers
-      h5py
-      keras
-      numpy
-      onnx
-      openvino
-      scikit-learn
-      tensorflow
-      #tensorflowjs
-      tensorstore
-    ];
-    extra = [
-      albumentations
-      #hub-sdk
-      ipython
-      pycocotools
-    ];
-    logging = [
-      # comet
-      dvclive
-      tensorboard
-    ];
-    solutions = [
-      shapely
-      streamlit
-    ];
-  };
-
-  preBuild = ''
-    sed -i '/torchvision>=0.9.0/d' pyproject.toml
-  '';
-
-  nativeCheckInputs = [ 
-    beautifulsoup4
-    onnxruntime
-    shapely
-    # sahi
-  ];
-
-  pythonImportsCheck = [
-    "ultralytics"
-  ];
-
-  meta = {
-    description = "Ultralytics YOLO11";
-    homepage = "https://github.com/ultralytics/ultralytics";
-    license = lib.licenses.agpl3Only;
-    maintainers = with lib.maintainers; [ ];
-  };
-}