diff --git a/flake.lock b/flake.lock
index 37d354f..63cabc8 100644
--- a/flake.lock
+++ b/flake.lock
@@ -5,11 +5,11 @@
         "systems": "systems"
       },
       "locked": {
-        "lastModified": 1689068808,
-        "narHash": "sha256-6ixXo3wt24N/melDWjq70UuHQLxGV8jZvooRanIHXw0=",
+        "lastModified": 1705309234,
+        "narHash": "sha256-uNRRNRKmJyCRC/8y1RqBkqWBLM034y4qN7EprSdmgyA=",
         "owner": "numtide",
         "repo": "flake-utils",
-        "rev": "919d646de7be200f3bf08cb76ae1f09402b6f9b4",
+        "rev": "1ef2e671c3b0c19053962c07dbda38332dcebf26",
         "type": "github"
       },
       "original": {
@@ -20,27 +20,11 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1695298503,
-        "narHash": "sha256-eDuN/+479v5gfVqwmJRYVX/Skh+TYSifAXdJ9xMqiP4=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "b1370f72c01cee73c8648baf158453d60f3127e2",
-        "type": "github"
-      },
-      "original": {
-        "owner": "NixOS",
-        "ref": "master",
-        "repo": "nixpkgs",
-        "type": "github"
-      }
-    },
-    "nixpkgs_2": {
-      "locked": {
-        "lastModified": 1691006197,
-        "narHash": "sha256-DbtxVWPt+ZP5W0Usg7jAyTomIM//c3Jtfa59Ht7AV8s=",
+        "lastModified": 1707268954,
+        "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
         "owner": "lopsided98",
         "repo": "nixpkgs",
-        "rev": "66aedfd010204949cb225cf749be08cb13ce1813",
+        "rev": "f8e2ebd66d097614d51a56a755450d4ae1632df1",
         "type": "github"
       },
       "original": {
@@ -56,21 +40,24 @@
           "ros-flake",
           "flake-utils"
         ],
-        "nixpkgs": "nixpkgs",
+        "nixpkgs": [
+          "ros-flake",
+          "nixpkgs"
+        ],
         "ros-flake": "ros-flake"
       }
     },
     "ros-flake": {
       "inputs": {
         "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs_2"
+        "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1694916346,
-        "narHash": "sha256-3Fb5sRqFhpIVCK8hH0dtRNyJHV7zvVavZEbTGZWNy4g=",
+        "lastModified": 1709607719,
+        "narHash": "sha256-+oTI07ElC5VcaERw/DjPqhuazsUph01dnnBijHor9KU=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "148dc07305802c41369839fb2d4d5291571ddb69",
+        "rev": "4dc55d14c34472a47897b0b4b79cce7b2ebad7a4",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index c26db7c..e1f41f1 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.follows = "ros-flake/nixpkgs";
     flake-utils.follows = "ros-flake/flake-utils";
     ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=develop";
   };
@@ -99,6 +99,8 @@
           ansitable = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/ansitable { };
           megapose6d = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/megapose6d { inherit webdataset; };
           spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
+
+          test-system = pkgs.callPackage ./pkgs/systems/test { };
         in
         {
           inherit pkgs;
@@ -112,10 +114,29 @@
 
           packages = {
             inherit mayo pysdf fstl unified-planning test-script blender;
-            zoz = pkgs.btop;
           };
 
-          devShells.ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
+          devices = {
+            inherit test-system;
+          };
+
+          devShells.camera = 
+            pkgs.mkShell {
+              buildInputs = (with humble-overrided; [
+                ros-core
+                realsense2-camera
+                realsense2-description
+              ]);
+            };
+
+          devShells.ci = pkgs.mkShell {
+            buildInputs = 
+              (with pkgs; [ jq ]) ++ 
+              (with humble-overrided; [ 
+                superflore
+                (python3.withPackages (p: with p; [ python3Packages.rosdep python3Packages.rosdistro ]))
+              ]); 
+          };
 
           devShells.ros = 
             pkgs.mkShell {
diff --git a/parse_step_file.py b/parse_step_file.py
new file mode 100644
index 0000000..3e59c8c
--- /dev/null
+++ b/parse_step_file.py
@@ -0,0 +1,33 @@
+import sys
+import SimpleITK
+from OCC.Exchange import STEPControl_Reader
+from OCC.IFSelect import IFSelect_RetDone
+from OCC.TopoDS import TopoDS_Shape
+
+def save_shape(shape, filename):
+    from OCC.STEPControl import STEPControl_Writer
+    writer = STEPControl_Writer()
+    writer.Transfer(shape, STEPControl_Reader().StepModel(), False)
+    writer.Write(filename)
+
+def parse_step_file(filepath):
+    reader = STEPControl_Reader()
+    status = reader.ReadFile(filepath.encode('utf-8'))
+
+    if status == IFSelect_RetDone:
+        nbr = reader.NbRootsForTransfer()
+        reader.TransferRoots()
+        shapes = [reader.Shape(i) for i in range(1, nbr + 1)]
+
+        solids = []
+        for i, shape in enumerate(shapes, start=1):
+            filename = f"solid_{i}.step"
+            save_shape(shape, filename)
+            solids.append({"name": f"solid_{i}", "file": filename})
+
+        return solids
+
+if __name__ == "__main__":
+    step_file_path = sys.argv[1]
+    solids = parse_step_file(step_file_path)
+    print(solids)  # This print is simplistic; in practice, you might write this to a file or handle differently.
diff --git a/pkgs/systems/test/default.nix b/pkgs/systems/test/default.nix
new file mode 100644
index 0000000..7992da3
--- /dev/null
+++ b/pkgs/systems/test/default.nix
@@ -0,0 +1,36 @@
+{ lib
+, stdenv
+, fetchgit
+}:
+
+stdenv.mkDerivation rec {
+  pname = "grip-tool";
+  version = "unstable";
+
+  src = fetchgit {
+    url = "https://gitlab.com/robossembler/assets-library";
+    rev = "876ad8c479c6043089e1cf08b2b8a456560a512c";
+    hash = "sha256-3pAbfO0stHTt3drOgVJ44Al/rZc+XQ9/KGUJqxQIhl8=";
+    fetchLFS = true;
+  };
+
+  device = true;
+  
+  outputs = [ "out" "blend" "doc" ];
+ 
+  installPhase = ''
+    mkdir $doc
+    cp '${src}/README.md' $doc
+    mkdir $blend
+    ln -s ${src}/blender/assets/robossembler-asset.blend $blend
+    mkdir $out
+    cp -r ${src} $out
+  '';
+
+  meta = with lib; {
+    description = "Robossembler Assets Library";
+    homepage = "https://gitlab.com/robossembler/forks/robossembler-stuff";
+    license = with licenses; [ ];
+    maintainers = with maintainers; [ ];
+  };
+}