diff --git a/flake.lock b/flake.lock
index 306a559..1d7f127 100644
--- a/flake.lock
+++ b/flake.lock
@@ -20,11 +20,11 @@
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1705309234,
-        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
+        "lastModified": 1731533236,
+        "narHash": "sha256-l0KFg5HjrsfsO/JpG+r7fRrqm12kzFHyUHqHCVpMMbI=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
+        "rev": "11707dc2f618dd54ca8739b309ec4fc024de578b",
         "type": "github"
       },
       "original": {
@@ -95,27 +95,26 @@
     },
     "nixpkgs_2": {
       "locked": {
-        "lastModified": 1712307699,
-        "narHash": "sha256-/PzHcPvBvJeZTY9JCEtbNljYLecwggveHQ2oHPlTycA=",
-        "owner": "NixOS",
+        "lastModified": 1737552376,
+        "narHash": "sha256-Dh3mcaPiZr/1Bd3+LXDO0Izxku3w1mXKEkCr3hVs8Jg=",
+        "owner": "nixos",
         "repo": "nixpkgs",
-        "rev": "3541c7628de9414f999ced044c95a284584f4ec1",
+        "rev": "a910ca0ea5b9ae5079d689e641a368d819f2b710",
         "type": "github"
       },
       "original": {
-        "owner": "NixOS",
-        "ref": "master",
+        "owner": "nixos",
         "repo": "nixpkgs",
         "type": "github"
       }
     },
     "nixpkgs_3": {
       "locked": {
-        "lastModified": 1707268954,
-        "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
+        "lastModified": 1733581040,
+        "narHash": "sha256-Qn3nPMSopRQJgmvHzVqPcE3I03zJyl8cSbgnnltfFDY=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
+        "rev": "22c3f2cf41a0e70184334a958e6b124fb0ce3e01",
         "type": "github"
       },
       "original": {
@@ -146,11 +145,11 @@
         "nixpkgs": "nixpkgs_3"
       },
       "locked": {
-        "lastModified": 1715462692,
-        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
+        "lastModified": 1736986092,
+        "narHash": "sha256-HdVJ5cCIORyy7m57VnunC8kBd6r5B680M8sUhAr7mzo=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
+        "rev": "503be406769b14b7907c52000d41a3e6a3531f08",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index d3a0835..504a0d3 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,7 +1,7 @@
 {
   description = "Robossembler Development Environments on Nix";
   inputs = {
-    nixpkgs.url = "github:NixOS/nixpkgs?ref=master";
+    nixpkgs.url = "github:nixos/nixpkgs";
     flake-utils.follows = "ros-overlay/flake-utils";
     ros-overlay.url = "github:lopsided98/nix-ros-overlay?ref=develop";
     ros-nixpkgs.follows = "ros-overlay/nixpkgs";
@@ -24,6 +24,7 @@
             (import ./overlay.nix)
             gazebo-overlay.overlays.default
             ];
+            config.allowUnfree = true;
           };
           ros = import ros-nixpkgs { inherit system; overlays = [
             ros-overlay.overlays.default
@@ -34,41 +35,51 @@
 
           rlib = import ./. { 
             inherit pkgs;
-            inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
+            inherit (pkgs) lib rbs-workbench cad-gen cg-gen;
             inherit (pkgs.stdenv) mkDerivation;
             inherit (pkgs.libsForQt5) wrapQtAppsHook;
           };
 
           packages = {
-            inherit (pkgs) cad-gen cg-gen blender;
+            inherit (pkgs) cad-gen cg-gen blender cad-gen-docker;
           };
 
           inherit ros pkgs;
 
           devShells = {
             default =
-            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) ];
-            };
+              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) ];
+              };            
 
             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
                   ];
                 })
               ];
@@ -76,7 +87,7 @@
               RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
             };
 
-            all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
+            all = pkgs.mkShell { packages = with pkgs; [ fstl cad-gen cg-gen ]; };
 
             ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
 
@@ -85,24 +96,36 @@
             perception =
               let
                 perception-packages = p: with p; [
-                  torch
+                  pytorchWithCuda
                   torchvision
                   torchaudio
                   detectron2
+                  scipy
+                  pyrr
+                  pillow
+                  numpy
+                  opencv4
+                  boto3
+                  tensorboardx
+                  albumentations
+                  simplejson
+
+                  ultralytics
                 ];
               in
               pkgs.mkShell {
-                packages = [ (pkgs.python3.withPackages perception-packages) ];
+                packages = [ pkgs.s3cmd pkgs.libGL ] ++ [ (pkgs.python3.withPackages perception-packages) ];
               };
-          }; 
+          };
         }
       );
 
   nixConfig = {
-    extra-substituters = [ "https://ros.cachix.org" "https://robossembler.cachix.org" ];
+    extra-substituters = [ "https://ros.cachix.org" "https://robossembler.cachix.org" "https://cuda-maintainers.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
new file mode 100644
index 0000000..92cb381
--- /dev/null
+++ b/pkgs/cmake-build-extension/default.nix
@@ -0,0 +1,50 @@
+{
+  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${version}";
+    hash = "sha256-taAwxa7Sv+xc8xJRnNM6V7WPcL+TWZOkngwuqjAslzc=";
+  };
+
+  # nativeBuildInputs = [ cmake ];
+  # buildInputs = [ cmake ninja ];
+  dontUseCmakeConfigure = true;
+
+  propagatedBuildInputs = [ gitpython ];
+
+  build-system = [
+    cmake
+    ninja
+    setuptools
+    setuptools-scm
+    wheel
+  ];
+
+  pythonImportsCheck = [
+    "cmake_build_extension"
+  ];
+
+  meta = {
+    description = "Setuptools extension to build and package CMake projects";
+    homepage = "https://github.com/diegoferigo/cmake-build-extension";
+    license = lib.licenses.mit;
+    maintainers = with lib.maintainers; [ ];
+  };
+}
diff --git a/pkgs/coremltools/default.nix b/pkgs/coremltools/default.nix
new file mode 100644
index 0000000..a714377
--- /dev/null
+++ b/pkgs/coremltools/default.nix
@@ -0,0 +1,36 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+  setuptools,
+  wheel,
+}:
+
+buildPythonPackage rec {
+  pname = "coremltools";
+  version = "8.0";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "apple";
+    repo = "coremltools";
+    rev = version;
+    hash = "sha256-nMrOtG8kAvz7DxYcf2Dh5f65zbTPSuUfoU7XL2Cx1Aw=";
+  };
+
+  build-system = [
+    setuptools
+    wheel
+  ];
+
+  pythonImportsCheck = [
+    "coremltools"
+  ];
+
+  meta = {
+    description = "Core ML tools contain supporting tools for Core ML model conversion, editing, and validation";
+    homepage = "https://github.com/apple/coremltools";
+    license = lib.licenses.bsd3;
+    maintainers = with lib.maintainers; [ ];
+  };
+}
diff --git a/pkgs/default.nix b/pkgs/default.nix
index b4319af..70ec705 100644
--- a/pkgs/default.nix
+++ b/pkgs/default.nix
@@ -12,7 +12,7 @@ self: super: with self.lib; let
     pname = "bpy";
     src = self.fetchurl {
       url = "https://download.blender.org/source/${old.pname}-${old.version}.tar.xz";
-      hash = "sha256-3AAtguPDQMk4VcZoRzDQGAG2aaKbHMa3XuuZC6aecj8=";
+      hash = "sha256-4LfgcP9wbSNma6kOuZqFutuN+oC4SNro0zUb8l1Hr/k=";
     };
     cmakeFlags = old.cmakeFlags ++ [
       "-DWITH_PYTHON_INSTALL=OFF"
@@ -44,6 +44,21 @@ 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
 
 
@@ -60,6 +75,39 @@ 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 { };
@@ -74,6 +122,9 @@ 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; };
       }
     )
   ];
diff --git a/pkgs/freecad.robossembler/default.nix b/pkgs/freecad.robossembler/default.nix
index dafd9f8..83adcdf 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
new file mode 100644
index 0000000..8c2010d
--- /dev/null
+++ b/pkgs/idyntree/cmake-fix-libxml2-find-package.patch
@@ -0,0 +1,13 @@
+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 ${LIBXML2_INCLUDE_DIRS})
+Seulement dans b: good.patch
\ No newline at end of file
diff --git a/pkgs/idyntree/default.nix b/pkgs/idyntree/default.nix
new file mode 100644
index 0000000..66a4b8d
--- /dev/null
+++ b/pkgs/idyntree/default.nix
@@ -0,0 +1,62 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+  cmake,
+  ninja,
+  cmake-build-extension,
+  numpy,
+  setuptools,
+  setuptools-scm,
+  wheel,
+  eigen,
+  libxml2,
+  assimp,
+  swig,
+  pybind11,
+}:
+
+buildPythonPackage rec {
+  pname = "idyntree";
+  version = "13.1.1";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "robotology";
+    repo = "idyntree";
+    rev = "v${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/${src.rev}/CHANGELOG.md";
+    license = lib.licenses.bsd3;
+    maintainers = with lib.maintainers; [ ];
+  };
+}
diff --git a/pkgs/lap/default.nix b/pkgs/lap/default.nix
new file mode 100644
index 0000000..0ed0160
--- /dev/null
+++ b/pkgs/lap/default.nix
@@ -0,0 +1,38 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+  cython,
+  numpy,
+  setuptools,
+}:
+
+buildPythonPackage rec {
+  pname = "lap";
+  version = "0.5.12";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "gatagat";
+    repo = "lap";
+    rev = "v${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
new file mode 100644
index 0000000..8d401da
--- /dev/null
+++ b/pkgs/pybboxes/default.nix
@@ -0,0 +1,47 @@
+{
+  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
new file mode 100644
index 0000000..38f2194
--- /dev/null
+++ b/pkgs/sahi/default.nix
@@ -0,0 +1,61 @@
+{
+  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
new file mode 100644
index 0000000..a71b7b8
--- /dev/null
+++ b/pkgs/scenario/default.nix
@@ -0,0 +1,70 @@
+{
+  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
new file mode 100644
index 0000000..20e950d
--- /dev/null
+++ b/pkgs/scenario/ignition.patch
@@ -0,0 +1,12 @@
+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
new file mode 100644
index 0000000..b882230
--- /dev/null
+++ b/pkgs/scenario/mkder.nix
@@ -0,0 +1,31 @@
+{
+  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
new file mode 100644
index 0000000..646a233
--- /dev/null
+++ b/pkgs/scenario/tiny-process-library.nix
@@ -0,0 +1,31 @@
+{
+  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
new file mode 100644
index 0000000..13435c7
--- /dev/null
+++ b/pkgs/scenario/ycm-cmake-modules.nix
@@ -0,0 +1,32 @@
+{
+  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
new file mode 100644
index 0000000..9be3b2c
--- /dev/null
+++ b/pkgs/ultralytics-thop/default.nix
@@ -0,0 +1,44 @@
+{
+  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${version}";
+    hash = "sha256-VgHRDXKRZjCE8RR+77GgTGiXeq5e1Bo4l4N72DMRc+s=";
+  };
+
+  build-system = [
+    setuptools
+    wheel
+  ];
+
+  dependencies = [
+    numpy
+    setuptools
+    torch
+  ];
+
+  pythonImportsCheck = [
+    "thop"
+  ];
+
+  meta = {
+    description = "Profile PyTorch models for FLOPs and parameters, helping to evaluate computational efficiency and memory usage";
+    homepage = "https://github.com/ultralytics/thop";
+    license = lib.licenses.agpl3Only;
+    maintainers = with lib.maintainers; [ ];
+  };
+}
diff --git a/pkgs/ultralytics/default.nix b/pkgs/ultralytics/default.nix
new file mode 100644
index 0000000..51195ef
--- /dev/null
+++ b/pkgs/ultralytics/default.nix
@@ -0,0 +1,159 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+  setuptools,
+  wheel,
+  beautifulsoup4,
+  onnxruntime,
+  # sahi,
+  lap,
+  matplotlib,
+  numpy,
+  opencv-python,
+  pandas,
+  pillow,
+  psutil,
+  py-cpuinfo,
+  pyyaml,
+  requests,
+  scipy,
+  seaborn,
+  torch,
+  torchvision,
+  tqdm,
+  ultralytics-thop,
+  coverage,
+  ipython,
+  mkdocs,
+  mkdocs-jupyter,
+  #mkdocs-macros-plugin,
+  mkdocs-material,
+  mkdocs-redirects,
+  #mkdocs-ultralytics-plugin,
+  mkdocstrings,
+  pytest,
+  pytest-cov,
+  coremltools,
+  flatbuffers,
+  h5py,
+  keras,
+  onnx,
+  openvino,
+  scikit-learn,
+  tensorflow,
+  #tensorflowjs,
+  tensorstore,
+  albumentations,
+  #hub-sdk,
+  pycocotools,
+  #comet,
+  dvclive,
+  tensorboard,
+  shapely,
+  streamlit,
+  pytestCheckHook,
+}:
+
+buildPythonPackage rec {
+  pname = "ultralytics";
+  version = "8.3.61";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "ultralytics";
+    repo = "ultralytics";
+    rev = "v${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; [ ];
+  };
+}