diff --git a/.envrc b/.envrc
deleted file mode 100644
index cffc922..0000000
--- a/.envrc
+++ /dev/null
@@ -1 +0,0 @@
-use flake . --impure
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index d7274a9..1a2f7b0 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -10,7 +10,6 @@ default:
   before_script:
     - mkdir -p /etc/nix
     - echo "experimental-features = nix-command flakes" >> /etc/nix/nix.conf
-    - export NIXPKGS_ALLOW_UNFREE=1
     - cachix use "$CACHIX_CACHE_NAME"
 
 general-packages:
@@ -18,23 +17,18 @@ general-packages:
   inherit:
     default: [before_script, image]
   script:
-    - cachix watch-exec robossembler -- nix develop .#all --impure -c echo "General Packages is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#all  -c echo "General Packages is BUILT"
 
 ros-packages:
   stage: build
   inherit:
     default: [before_script, image]
   script:
-    # Gazebo security freeimage-unstable-2021-11-01’ is marked as insecure
-    #   /nix/store/28gcncrir6wd8n6n762y92lbm632cxcy-gazebo-sim
-    # └───/nix/store/bw3nx4nrvwbnj9b6hdg4p0iyxnakqca8-gz-common5-5.4.2
-    #     └───/nix/store/hwr0f25hiqv1pjnqyg0sp1gv9grb198b-freeimage-unstable-2021-11-01
-    - export NIXPKGS_ALLOW_INSECURE=1
-    - cachix watch-exec robossembler -- nix develop .#ros --impure -c echo "ROS environment is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#ros -c echo "ROS environment is BUILT"
 
 perception-packages:
   stage: build
   inherit:
     default: [before_script, image]
   script:
-    - cachix watch-exec robossembler -- nix develop .#perception --impure -c echo "PERCEPTION packages is BUILT"
+    - cachix watch-exec robossembler -- nix develop .#perception -c echo "PERCEPTION packages is BUILT"
diff --git a/README.md b/README.md
index 932ae4e..b2ac77a 100644
--- a/README.md
+++ b/README.md
@@ -2,11 +2,11 @@
 
 [Cachix Cache](https://robossembler.cachix.org)
 
-Для установки в свою систему Blender с настройками Robossembler
+Для установки в свою систему blender 3.4.1
 * `nix profile install gitlab:robossembler/nix-robossembler-overlay#blender`
 
 Запуск локальных окружений для разработки
-* Python-окружение для Perception навыков робота: `nix develop gitlab:robossembler/nix-robossembler-overlay#perception`
+* Python-модуль bpy: `nix develop gitlab:robossembler/nix-robossembler-overlay#bpy`
 * ROS2 Rolling `nix develop gitlab:robossembler/nix-robossembler-overlay#ros`
 
 Для внесения изменений в репозиторий:
diff --git a/default.nix b/default.nix
index f7c4dbc..1f45141 100644
--- a/default.nix
+++ b/default.nix
@@ -1,4 +1,4 @@
-{ mkDerivation, pkgs, mayo, wrapQtAppsHook, lib, rbs-workbench, cad-gen, cg-gen }:
+{ mkDerivation, mayo, wrapQtAppsHook, lib }:
 let
   step2stl = 
     name: file:
@@ -20,63 +20,6 @@ let
         rm ${pname}
       '';
     };
-
-  freecad2parts =
-    file:
-    let
-      pname = "${file}-parts";
-      extension = lib.last (lib.strings.splitString "." file);
-      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
-    lib.throwIfNot
-      (lib.elem extension ["FCStd"])
-      ''Input file have a "${extension}" extension, but valid FreeCAD file should have "FCStd" extention''
-    mkDerivation rec {
-      inherit pname;
-      version = "unstable";
-      src = ./.;
-      nativeBuildInputs = [ cad-gen pkgs.freecad ] ++ pkgs.freecad.buildInputs;
-      buildInputs = [ ];
-      dontWrapQtApps = true;
-      buildPhase = ''
-        export PYTHONPATH="${rbs-workbench}/${pkgs.python3.sitePackages}"
-        ${pkgs.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
-        #${pkgs.freecad}/bin/freecadcmd -h
-        #${cad-gen}/bin/cad-gen ${file}
-        mv parts* trees* $out
-      '';
-    };
-
-  parts-packages =
-    parts-package:
-    let
-      parts = lib.trivial.importJSON "${parts-package.src}/parts.json";
-      pkgSet = builtins.listToAttrs (map ({ material_path, name, part_path }: { inherit name; value = part_path; }) parts );
-      mkPkg =
-        { name, value }:
-        mkDerivation {
-          src = "${parts-package}";
-          pname = name;
-          installPhase = ''
-            outputs = [ "stl" ];
-            ln ${parts-package}/${value} $stl
-          '';
-        };
-    in
-    lib.lists.forEach mkPkg pkgSet;
-
-  rlib = { inherit step2stl freecad2parts parts-packages; };
+  rlib = { inherit step2stl; };
 in
-rlib
+rlib
\ No newline at end of file
diff --git a/flake.lock b/flake.lock
index 306a559..63cabc8 100644
--- a/flake.lock
+++ b/flake.lock
@@ -1,21 +1,6 @@
 {
   "nodes": {
     "flake-utils": {
-      "locked": {
-        "lastModified": 1659877975,
-        "narHash": "sha256-zllb8aq3YO3h8B/U0/J1WBgAL8EX5yWf5pMj3G0NAmc=",
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "rev": "c0e246b9b83f637f4681389ecabcb2681b4f3af0",
-        "type": "github"
-      },
-      "original": {
-        "owner": "numtide",
-        "repo": "flake-utils",
-        "type": "github"
-      }
-    },
-    "flake-utils_2": {
       "inputs": {
         "systems": "systems"
       },
@@ -33,83 +18,7 @@
         "type": "github"
       }
     },
-    "gazebo-overlay": {
-      "inputs": {
-        "flake-utils": [
-          "ros-overlay",
-          "flake-utils"
-        ],
-        "nixgl": "nixgl",
-        "nixpkgs": [
-          "ros-overlay",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1711612492,
-        "narHash": "sha256-QEz9HZCth8kxz8nrqZ9/hhomAfSW6E0ngmoIb00NXQ8=",
-        "owner": "movefasta",
-        "repo": "gazebo-sim-overlay",
-        "rev": "4f1c3c115b55795ec7d7af43d0b16f7ef18dcc44",
-        "type": "github"
-      },
-      "original": {
-        "owner": "movefasta",
-        "repo": "gazebo-sim-overlay",
-        "type": "github"
-      }
-    },
-    "nixgl": {
-      "inputs": {
-        "flake-utils": "flake-utils",
-        "nixpkgs": "nixpkgs"
-      },
-      "locked": {
-        "lastModified": 1685908677,
-        "narHash": "sha256-E4zUPEUFyVWjVm45zICaHRpfGepfkE9Z2OECV9HXfA4=",
-        "owner": "guibou",
-        "repo": "nixGL",
-        "rev": "489d6b095ab9d289fe11af0219a9ff00fe87c7c5",
-        "type": "github"
-      },
-      "original": {
-        "owner": "guibou",
-        "repo": "nixGL",
-        "type": "github"
-      }
-    },
     "nixpkgs": {
-      "locked": {
-        "lastModified": 1660551188,
-        "narHash": "sha256-a1LARMMYQ8DPx1BgoI/UN4bXe12hhZkCNqdxNi6uS0g=",
-        "owner": "nixos",
-        "repo": "nixpkgs",
-        "rev": "441dc5d512153039f19ef198e662e4f3dbb9fd65",
-        "type": "github"
-      },
-      "original": {
-        "owner": "nixos",
-        "repo": "nixpkgs",
-        "type": "github"
-      }
-    },
-    "nixpkgs_2": {
-      "locked": {
-        "lastModified": 1712307699,
-        "narHash": "sha256-/PzHcPvBvJeZTY9JCEtbNljYLecwggveHQ2oHPlTycA=",
-        "owner": "NixOS",
-        "repo": "nixpkgs",
-        "rev": "3541c7628de9414f999ced044c95a284584f4ec1",
-        "type": "github"
-      },
-      "original": {
-        "owner": "NixOS",
-        "ref": "master",
-        "repo": "nixpkgs",
-        "type": "github"
-      }
-    },
-    "nixpkgs_3": {
       "locked": {
         "lastModified": 1707268954,
         "narHash": "sha256-2en1kvde3cJVc3ZnTy8QeD2oKcseLFjYPLKhIGDanQ0=",
@@ -128,29 +37,27 @@
     "root": {
       "inputs": {
         "flake-utils": [
-          "ros-overlay",
+          "ros-flake",
           "flake-utils"
         ],
-        "gazebo-overlay": "gazebo-overlay",
-        "nixpkgs": "nixpkgs_2",
-        "ros-nixpkgs": [
-          "ros-overlay",
+        "nixpkgs": [
+          "ros-flake",
           "nixpkgs"
         ],
-        "ros-overlay": "ros-overlay"
+        "ros-flake": "ros-flake"
       }
     },
-    "ros-overlay": {
+    "ros-flake": {
       "inputs": {
-        "flake-utils": "flake-utils_2",
-        "nixpkgs": "nixpkgs_3"
+        "flake-utils": "flake-utils",
+        "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1715462692,
-        "narHash": "sha256-ClDP5aXC46y4wyHhEETWHitqIoNLDrt6uRX2HpZtmd0=",
+        "lastModified": 1709607719,
+        "narHash": "sha256-+oTI07ElC5VcaERw/DjPqhuazsUph01dnnBijHor9KU=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "f1c32375c27e59a2e8107d52357a5ee44b3c4413",
+        "rev": "4dc55d14c34472a47897b0b4b79cce7b2ebad7a4",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 451a443..e1f41f1 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,104 +1,219 @@
 {
   description = "Robossembler Development Environments on Nix";
   inputs = {
-    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";
-    gazebo-overlay = {
-      url = "github:movefasta/gazebo-sim-overlay";
-      inputs.flake-utils.follows = "ros-overlay/flake-utils";
-      inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
-
-      # Transitive inputs "not in registry" https://github.com/NixOS/nix/issues/5790
-      # inputs.nixgl.inputs.nixpkgs.follows = "ros-overlay/nixpkgs";
-      # inputs.nixgl.inputs.flake-utils.follows = "ros-overlay/flake-utils";
-    };
+    nixpkgs.follows = "ros-flake/nixpkgs";
+    flake-utils.follows = "ros-flake/flake-utils";
+    ros-flake.url = "github:lopsided98/nix-ros-overlay?ref=develop";
   };
 
-  outputs = { self, nixpkgs, ros-overlay, ros-nixpkgs, gazebo-overlay, flake-utils }:
+  outputs = { self, nixpkgs, ros-flake, flake-utils }:
     flake-utils.lib.eachDefaultSystem
       (system:
         let
-          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)
+          pkgs = nixpkgs.legacyPackages.${system}.extend overlay;
+          ros = ros-flake.legacyPackages.${system};
+
+          overlay = final: prev: {
+            # -- PLACEHOLDER for overlay
+            # 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
+          humble-overrided = ros.humble.overrideScope (final: prev: {
+            # remove after update github:lopsided98/nixpkgs/nix-ros for https://github.com/NixOS/nixpkgs/pull/224099
+            behaviortree-cpp-v3 = prev.behaviortree-cpp-v3.overrideAttrs (old: { 
+              propagatedBuildInputs = old.propagatedBuildInputs ++ [ pkgs.zeromq ];
+            });
+            moveit-core = prev.moveit-core.overrideAttrs (old: { 
+              propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];
+            });
+            moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { 
+              propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];
+            });
+          });
+          
+          # robossembler custom packages; defined here for share between devShells and packages
+          cg_preferences = pkgs.fetchgit {
+            url = "https://gitflic.ru/project/brothermechanic/cg_preferences.git";
+            sha256 = "sha256-ahEakvluX7vd+OY6zaDeZIFS8WbsTevRzuEXlBu2/fg=";
+          };
+          rs_logo = pkgs.fetchgit {
+            url = "https://gitlab.com/robossembler/logo.git";
+            rev = "0a0235cd154a59b711e87456206ccd7ba69a7e4e";
+            sha256 = "sha256-/QsgKdtDHNymsTEmhIzSrOKNUqqkXl8coy+5LwIEkas=";
+            fetchLFS = true;
+          };
+          blender' = pkgs.blender.override {
+            python310Packages = pkgs.python311Packages;
+            cudaSupport = false;
+            spaceNavSupport = false;
+            waylandSupport = false;
+          };
+          blender = blender'.overrideAttrs (old: {
+            optix = pkgs.fetchzip {
+              # url taken from the archlinux blender PKGBUILD
+              url = "https://developer.download.nvidia.com/redist/optix/v7.4/OptiX-7.4.0-Include.zip";
+              sha256 = "sha256-ca08XetwaUYC9foeP5bff9kcDfuFgEzopvjspn2s8RY=";
+            };
+            patches = old.patches ++ [ "${cg_preferences}/patches/cg-defaults.patch" ];
+            buildInputs = old.buildInputs ++ [ pkgs.imath pkgs.git ];
+            postPatch = old.postPatch + ''
+              cp ${cg_preferences}/share/cg_preferences_service.py scripts/startup/
+              cp ${cg_preferences}/share/startup.blend release/datafiles/
+              cp ${rs_logo}/raster/robossembler_1024x512_roboty-rossii.png  release/datafiles/splash.png
+            '';
+            env.NIX_CFLAGS_COMPILE = old.env.NIX_CFLAGS_COMPILE + " -I${pkgs.imath}/include/Imath";
+            postInstall = old.postInstall + ''
+              cp -r ${cg_preferences}/cg_preferences $out/share/blender/${
+                pkgs.lib.versions.majorMinor pkgs.blender.version
+              }/scripts/addons/
+            '';
+          });
+          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 { };
+          fstl = pkgs.libsForQt5.callPackage ./pkgs/misc/fstl { };
+          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 { inherit webdataset; };
+          spatialmath = pkgs.python3Packages.callPackage ./pkgs/development/python-modules/spatialmath { inherit ansitable; };
+
+          test-system = pkgs.callPackage ./pkgs/systems/test { };
         in
         {
+          inherit pkgs;
 
           rlib = import ./. { 
-            inherit pkgs;
-            inherit (pkgs) lib mayo rbs-workbench cad-gen cg-gen;
             inherit (pkgs.stdenv) mkDerivation;
+            inherit (pkgs) lib;
+            inherit mayo;
             inherit (pkgs.libsForQt5) wrapQtAppsHook;
           };
 
           packages = {
-            inherit (pkgs) cad-gen cg-gen blender dataset-gen pddl-spec-gen;
+            inherit mayo pysdf fstl unified-planning test-script blender;
           };
 
-          inherit ros pkgs;
+          devices = {
+            inherit test-system;
+          };
 
-          devShells = {
-            default =
+          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 {
+              buildInputs = (with humble-overrided; [
+                ros2run
+                rmw-fastrtps-dynamic-cpp
+                urdf
+                ament-pep257
+                ament-lint-auto
+                xacro
+                ament-cmake
+                rclcpp-action
+                tf2
+                action-msgs
+                ament-copyright
+                pythonPackages.pytest
+                rosidl-default-generators
+                behaviortree-cpp-v3
+                geometry-msgs
+                rosidl-default-runtime
+                rclpy
+                std-msgs
+                ament-lint-common
+                ament-flake8
+                tf2-ros
+                rclcpp
+                moveit-core
+                moveit-msgs
+                moveit-ros-planning
+                moveit-ros-planning-interface
+                gazebo-ros2-control
+                plansys2-bringup
+                image-transport
+                cv-bridge
+                example-interfaces
+              ]) ++ (with pkgs; [ nlohmann_json glog lua5_3_compat ]);
+              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
+            };
+
+          devShells.all = pkgs.mkShell { 
+            packages = [ mayo blender bpy pysdf fstl ];
+          };
+
+          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; [ 
+                pysdf
                 unified-planning
                 pybullet
                 scipy
                 spatialmath
-                rcg-pipeline
-                rbs-workbench
+                bpy
               ];
             in
             pkgs.mkShell {
-              packages = (with pkgs; [ freecad mayo ]) ++ [ (pkgs.python3.withPackages my-python-packages) ];
+              packages = [ (pkgs.python3.withPackages my-python-packages) pkgs.freecad mayo pkgs.bashInteractive ];
+              buildInputs = [  ];
+
+              # Run when the shell is started up
+              shellHook = ''
+                ${pkgs.python3}/bin/python --version
+              '';
             };
-
-            ros = pkgs.mkShell {
-              name = "ROS environment";
-              packages = [
-                ros.colcon
-                (with ros.rosPackages.humble; buildEnv {
-                  paths = [
-                    ros-core
-                    rmw-fastrtps-dynamic-cpp
-                  ];
-                })
-              ];
-              # ROS 2 middleware variants, for Cyclone DDS replace with "rmw_cyclonedds_cpp" and add rmw-cyclonedds-cpp to paths
-              RMW_IMPLEMENTATION = "rmw_fastrtps_dynamic_cpp";
-            };
-
-            all = pkgs.mkShell { packages = with pkgs; [ fstl mayo cad-gen cg-gen ]; };
-
-            ci = pkgs.mkShell { buildInputs = [ pkgs.jq ]; };
-
-            gazebo = gazebo-overlay.devShells.${system}.default;
-
-            perception =
-              let
-                perception-packages = p: with p; [
-                  torch
-                  torchvision
-                  torchaudio
-                  detectron2
-                ];
-              in
-              pkgs.mkShell {
-                packages = [ (pkgs.python3.withPackages perception-packages) ];
-              };
-          }; 
         }
       );
 
diff --git a/overlay.nix b/overlay.nix
deleted file mode 100644
index 930163f..0000000
--- a/overlay.nix
+++ /dev/null
@@ -1,5 +0,0 @@
-final: prev: with prev.lib;
-foldr composeExtensions (_: _: {}) [
-  (import ./pkgs)
-  (import ./ros)
-] final prev
\ No newline at end of file
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/blender/default.nix b/pkgs/blender/default.nix
deleted file mode 100644
index 842757e..0000000
--- a/pkgs/blender/default.nix
+++ /dev/null
@@ -1,34 +0,0 @@
-{ fetchgit, fetchzip, blender, imath, git, lib, ... }:
-let
-  cg_preferences = fetchgit {
-    url = "https://gitflic.ru/project/brothermechanic/cg_preferences.git";
-    sha256 = "sha256-FkF1c5MhqtG2COIpSBdoJ1aE0r8/ABtmqFLqNkF0zT0=";
-  };
-
-  rs_logo = fetchgit {
-    url = "https://gitlab.com/robossembler/logo.git";
-    rev = "0a0235cd154a59b711e87456206ccd7ba69a7e4e";
-    sha256 = "sha256-/QsgKdtDHNymsTEmhIzSrOKNUqqkXl8coy+5LwIEkas=";
-    fetchLFS = true;
-  };
-in
-blender.overrideAttrs (old: {
-    optix = fetchzip {
-      # url taken from the archlinux blender PKGBUILD
-      url = "https://developer.download.nvidia.com/redist/optix/v7.4/OptiX-7.4.0-Include.zip";
-      sha256 = "sha256-ca08XetwaUYC9foeP5bff9kcDfuFgEzopvjspn2s8RY=";
-    };
-    patches = old.patches ++ [ "${cg_preferences}/patches/cg-defaults.patch" ];
-    buildInputs = old.buildInputs ++ [ imath git ];
-    postPatch = old.postPatch + ''
-      cp ${cg_preferences}/share/00_cg_preferences_service.py scripts/startup/
-      cp ${cg_preferences}/share/startup.blend release/datafiles/
-      cp ${rs_logo}/raster/robossembler_1024x512_roboty-rossii.png  release/datafiles/splash.png
-    '';
-    env.NIX_CFLAGS_COMPILE = old.env.NIX_CFLAGS_COMPILE + " -I${imath}/include/Imath";
-    postInstall = old.postInstall + ''
-      cp -r ${cg_preferences}/cg_preferences $out/share/blender/${
-        lib.versions.majorMinor blender.version
-      }/scripts/addons/
-    '';
-  })
\ No newline at end of file
diff --git a/pkgs/bpy-lib/default.nix b/pkgs/bpy-lib/default.nix
deleted file mode 100644
index 239f58f..0000000
--- a/pkgs/bpy-lib/default.nix
+++ /dev/null
@@ -1,14 +0,0 @@
-{ stdenv
-, bpy
-, python3
-}:
-stdenv.mkDerivation {
-  inherit (bpy) version;
-  pname = "bpy-lib";
-  src = bpy;
-  buildInputs = [ python3 ];
-  installPhase = ''
-    mkdir -p $out/lib/python${python3.pythonVersion}
-    ln -s ${bpy}/bpy $out/lib/python${python3.pythonVersion}/site-packages
-  '';
-}
diff --git a/pkgs/bpy-wheel/default.nix b/pkgs/bpy-wheel/default.nix
deleted file mode 100644
index 5b2f05e..0000000
--- a/pkgs/bpy-wheel/default.nix
+++ /dev/null
@@ -1,31 +0,0 @@
-{ buildPythonPackage, fetchPypi, python3Packages, lib, autoPatchelfHook, blender, pythonImportsCheckHook, config, cudaSupport ? config.cudaSupport }:
-buildPythonPackage rec {
-  format = "wheel";
-  pname = "bpy";
-  version = "4.1.0";
-
-  src = fetchPypi rec {
-    inherit pname version format;
-    sha256 = "sha256-bGOlo3NvYMdbXw0UaKGkP7gRVdilKHdwfPtoAF27dLQ=";
-    dist = python;
-    python = "cp311";
-    abi = "cp311";
-    platform = "manylinux_2_28_x86_64";
-  };
-  propagatedBuildInputs = with python3Packages; [ requests numpy cython zstandard ];
-  buildInputs = blender.buildInputs;
-  nativeBuildInputs = [ autoPatchelfHook pythonImportsCheckHook ];
-  autoPatchelfIgnoreMissingDeps = true;
-  pythonImportsCheck = [ "bpy" ];
-
-  meta = with lib; {
-    description = "3D Creation/Animation/Publishing System";
-    homepage = "https://www.blender.org";
-    # They comment two licenses: GPLv2 and Blender License, but they
-    # say: "We've decided to cancel the BL offering for an indefinite period."
-    # OptiX, enabled with cudaSupport, is non-free.
-    license = with licenses; [ gpl2Plus ] ++ optional cudaSupport unfree;
-    platforms = [ "x86_64-linux" ];
-    maintainers = with maintainers; [ brothermechanic ];
-  };
-}
diff --git a/pkgs/default.nix b/pkgs/default.nix
deleted file mode 100644
index 9d915e4..0000000
--- a/pkgs/default.nix
+++ /dev/null
@@ -1,121 +0,0 @@
-self: super: with self.lib; let
-  
-  # single source for Robossembler Framework packages
-
-  rbsFrameworkSrc = self.fetchgit {
-    url = "https://gitlab.com/robossembler/framework";
-    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 = "sha256-3AAtguPDQMk4VcZoRzDQGAG2aaKbHMa3XuuZC6aecj8=";
-    };
-    cmakeFlags = old.cmakeFlags ++ [
-      "-DWITH_PYTHON_INSTALL=OFF"
-      "-DWITH_AUDASPACE=OFF"
-      "-DWITH_PYTHON_MODULE=ON"
-      "-DWITH_MEM_JEMALLOC=OFF"
-      "-DWITH_INSTALL_PORTABLE=ON"
-    ];
-    postInstall = ''
-      mkdir -p $out/nix-support
-      mkdir -p $out/lib/python${self.python3.pythonVersion}/site-packages
-      ln -s $out/bpy $out/lib/python${self.python3.pythonVersion}/site-packages/bpy
-      echo ${self.python3} >> $out/nix-support/propagated-build-inputs
-    '';
-  });
-
-in {
-
-  # Robossembler custom packages; defined here for share between devShells and packages
-
-  # General packages
-
-  mayo = self.libsForQt5.callPackage ./mayo { };
-  fstl = self.libsForQt5.callPackage ./fstl { };
-  blender = self.callPackage ./blender { blender = super.blender.override {
-      cudaSupport = true;
-      spaceNavSupport = false;
-      waylandSupport = false;
-    };
-  };
-
-  # Python packages
-
-
-
-  pythonPackagesExtensions = super.pythonPackagesExtensions ++ [
-    (
-      python-final: python-prev: {
-        iopath = python-prev.iopath.overridePythonAttrs (oldAttrs: {
-          version = "unstable";
-          src = self.fetchFromGitHub {
-            owner = "facebookresearch";
-            repo = "iopath";
-            rev = "9dcb63a46447556460fdb65c21aa6d094a7a788c";
-            hash = "sha256-X1LTOfbIAMy6gToNYS0JpeJpHi0jHPsEjrnCq2c9U0E=";
-          };
-        });
-        unified-planning = self.python3Packages.callPackage ./unified-planning { };
-        bpy-wheel = self.python3Packages.callPackage ./bpy-wheel { };
-        pysdf = self.python3Packages.callPackage ./pysdf { };
-        pytorch3d = self.python3Packages.callPackage ./pytorch3d { };
-        blenderproc = self.python3Packages.callPackage ./blenderproc.nix { };
-        test-script = self.python3Packages.callPackage ./test-script { };
-        webdataset = self.python3Packages.callPackage ./webdataset { };
-        ansitable = self.python3Packages.callPackage ./ansitable { };
-        megapose6d = self.python3Packages.callPackage ./megapose6d { inherit (python-final) webdataset; };
-        spatialmath = self.python3Packages.callPackage ./spatialmath { inherit (python-final) ansitable; };
-        rcg-pipeline = self.python3Packages.callPackage ./rcg-pipeline { inherit (python-final) bpy-lib; inherit rbsFrameworkSrc; };
-        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;
-      }
-    )
-  ];
-
-  # Assets Generators
-  cad-gen = 
-    let
-      cad_export_script = self.writers.writePython3 "cad_export_script.py"
-        { libraries = [ self.python3Packages.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
-    self.writeShellScriptBin "cad-gen"
-      ''
-      export PYTHONPATH="${self.python3Packages.rbs-workbench}/${self.python3.sitePackages}"
-      ${self.freecad}/bin/freecadcmd ${cad_export_script} -- --pass $1
-      '';
-
-  cg-gen = self.writers.writePython3Bin "cg-gen"
-    { libraries = [ self.python3Packages.rcg-pipeline ]; }
-    ''
-    from rcg_pipeline import rcg_full_pipeline
-    import sys
-    rcg_full_pipeline(sys.argv[1])
-    '';
-
-  pddl-spec-gen = pddlSpecGeneratorSrc;
-  dataset-gen = rbsFrameworkSrc;
-
-}
diff --git a/pkgs/ansitable/default.nix b/pkgs/development/python-modules/ansitable/default.nix
similarity index 100%
rename from pkgs/ansitable/default.nix
rename to pkgs/development/python-modules/ansitable/default.nix
diff --git a/pkgs/development/python-modules/bpy/blender-fix-boost-1.81-iostream.patch b/pkgs/development/python-modules/bpy/blender-fix-boost-1.81-iostream.patch
new file mode 100644
index 0000000..bd2beed
--- /dev/null
+++ b/pkgs/development/python-modules/bpy/blender-fix-boost-1.81-iostream.patch
@@ -0,0 +1,10 @@
+--- a/intern/locale/boost_locale_wrapper.cpp
++++ b/intern/locale/boost_locale_wrapper.cpp
+@@ -7,6 +7,7 @@
+ 
+ #include <boost/locale.hpp>
+ #include <stdio.h>
++#include <iostream>
+ 
+ #include "boost_locale_wrapper.h"
+ 
diff --git a/pkgs/development/python-modules/bpy/blender-fix-desktop.patch b/pkgs/development/python-modules/bpy/blender-fix-desktop.patch
new file mode 100644
index 0000000..ed3b101
--- /dev/null
+++ b/pkgs/development/python-modules/bpy/blender-fix-desktop.patch
@@ -0,0 +1,10 @@
+--- a/release/freedesktop/blender.desktop
++++ b/release/freedesktop/blender.desktop
+@@ -84,6 +84,6 @@ Icon=blender
+ Terminal=false
+ Type=Application
+ PrefersNonDefaultGPU=true
+-X-KDE-RunOnDiscreteGpu=true
++X-PreferRunOnDiscreteGPU=true
+ Categories=Graphics;3DGraphics;
+ MimeType=application/x-blender;
diff --git a/pkgs/development/python-modules/bpy/cg-defaults.patch b/pkgs/development/python-modules/bpy/cg-defaults.patch
new file mode 100644
index 0000000..54439ea
--- /dev/null
+++ b/pkgs/development/python-modules/bpy/cg-defaults.patch
@@ -0,0 +1,84 @@
+diff -Naur a/source/blender/makesdna/DNA_modifier_defaults.h b/source/blender/makesdna/DNA_modifier_defaults.h
+--- a/source/blender/makesdna/DNA_modifier_defaults.h	2020-12-24 20:07:32.000000000 +0300
++++ b/source/blender/makesdna/DNA_modifier_defaults.h	2020-12-28 00:11:53.397550988 +0300
+@@ -43,7 +43,7 @@
+     .length = 0.0f, \
+     .merge_dist = 0.01f, \
+     .fit_type = MOD_ARR_FIXEDCOUNT, \
+-    .offset_type = MOD_ARR_OFF_RELATIVE, \
++    .offset_type = MOD_ARR_OFF_CONST, \
+     .flags = 0, \
+     .count = 2, \
+     .uv_offset = {0.0f, 0.0f}, \
+@@ -51,8 +51,8 @@
+ 
+ #define _DNA_DEFAULT_BevelModifierData \
+   { \
+-    .value = 0.1f, \
+-    .res = 1, \
++    .value = 0.01f, \
++    .res = 2, \
+     .flags = 0, \
+     .val_flags = MOD_BEVEL_AMT_OFFSET, \
+     .profile_type = MOD_BEVEL_PROFILE_SUPERELLIPSE, \
+@@ -93,7 +93,7 @@
+ #define _DNA_DEFAULT_CastModifierData \
+   { \
+     .object = NULL, \
+-    .fac = 0.5f, \
++    .fac = 1.0f, \
+     .radius = 0.0f, \
+     .size = 0.0f, \
+     .defgrp_name = "", \
+@@ -259,7 +259,7 @@
+ 
+ #define _DNA_DEFAULT_DecimateModifierData \
+   { \
+-    .percent = 1.0f, \
++    .percent = 0.1f, \
+     .iter = 0, \
+     .delimit = 0, \
+     .symmetry_axis = 0, \
+@@ -567,7 +567,7 @@
+     .vgroup_name = "", \
+     .factor = DEG2RADF(45.0f), \
+     .limit = {0.0f, 1.0f}, \
+-    .mode = MOD_SIMPLEDEFORM_MODE_TWIST, \
++    .mode = MOD_SIMPLEDEFORM_MODE_BEND, \
+     .axis = 0, \
+     .deform_axis = 0, \
+     .flag = 0, \
+@@ -608,7 +608,7 @@
+     .crease_inner = 0.0f, \
+     .crease_outer = 0.0f, \
+     .crease_rim = 0.0f, \
+-    .flag = MOD_SOLIDIFY_RIM, \
++    .flag = MOD_SOLIDIFY_RIM | MOD_SOLIDIFY_EVEN, \
+     .mat_ofs = 0, \
+     .mat_ofs_rim = 0, \
+     .merge_tolerance = 0.0001f, \
+@@ -619,7 +619,7 @@
+     .subdivType = 0, \
+     .levels = 1, \
+     .renderLevels = 2, \
+-    .flags = eSubsurfModifierFlag_UseCrease | eSubsurfModifierFlag_ControlEdges, \
++    .flags = eSubsurfModifierFlag_UseCrease | eSubsurfModifierFlag_ControlEdges | eSubsurfModifierFlag_UseRecursiveSubdivision, \
+     .uv_smooth = SUBSURF_UV_SMOOTH_PRESERVE_BOUNDARIES, \
+     .quality = 3, \
+     .boundary_smooth = SUBSURF_BOUNDARY_SMOOTH_ALL, \
+diff -Naur a/source/blender/makesdna/DNA_view3d_defaults.h b/source/blender/makesdna/DNA_view3d_defaults.h
+--- a/source/blender/makesdna/DNA_view3d_defaults.h	2020-12-24 20:07:32.000000000 +0300
++++ b/source/blender/makesdna/DNA_view3d_defaults.h	2020-12-27 22:52:32.467466785 +0300
+@@ -94,9 +94,9 @@
+     .flag = V3D_SELECT_OUTLINE, \
+     .flag2 = V3D_SHOW_RECONSTRUCTION | V3D_SHOW_ANNOTATION, \
+  \
+-    .lens = 50.0f, \
+-    .clip_start = 0.01f, \
+-    .clip_end = 1000.0f, \
++    .lens = 85.0f, \
++    .clip_start = 0.001f, \
++    .clip_end = 100.0f, \
+  \
+     .bundle_size = 0.2f, \
+     .bundle_drawtype = OB_PLAINAXES, \
diff --git a/pkgs/development/python-modules/bpy/cg_environment.patch b/pkgs/development/python-modules/bpy/cg_environment.patch
new file mode 100644
index 0000000..a2ac741
--- /dev/null
+++ b/pkgs/development/python-modules/bpy/cg_environment.patch
@@ -0,0 +1,45 @@
+--- /dev/null	2023-08-11 22:07:27.012000310 +0300
++++ b/scripts/startup/cg_environment.py	2023-08-11 00:44:51.704718595 +0300
+@@ -0,0 +1,42 @@
++#!/usr/bin/python3
++# -*- coding: utf-8 -*-
++# Copyright (C) 2023 Ilia Kurochkin <brothermechanic@gmail.com>
++#
++# This program is free software; you can redistribute it and/or modify
++# it under the terms of the GNU General Public License as published by
++# the Free Software Foundation; either version 3 of the License, or
++# (at your option) any later version.
++#
++# This program is distributed in the hope that it will be useful,
++# but WITHOUT ANY WARRANTY; without even the implied warranty of
++# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
++# GNU General Public License for more details.
++
++__doc__ = 'Environment for use CG Overlay'
++__version__ = '0.1'
++
++import bpy
++from bpy.app.handlers import persistent
++import addon_utils
++
++
++@persistent
++def cg_env(dummy):
++    '''Scripts environment'''
++    addon_utils.enable('cg_preferences', default_set=True)
++
++    print('CG Environment activated!')
++
++
++def register():
++    '''register blender module'''
++    bpy.app.handlers.load_post.append(cg_env)
++
++
++def unregister():
++    '''unregister blender module'''
++    bpy.app.handlers.load_post.remove(cg_env)
++
++
++if __name__ == '__main__':
++    register()
diff --git a/pkgs/development/python-modules/bpy/default.nix b/pkgs/development/python-modules/bpy/default.nix
new file mode 100644
index 0000000..f04d187
--- /dev/null
+++ b/pkgs/development/python-modules/bpy/default.nix
@@ -0,0 +1,213 @@
+# TODO WITH_CYCLES_OSL
+# TODO WITH_NANOVDB
+# TODO WITH_CLANG
+{ config, stdenv, lib, fetchurl, fetchzip, fetchgit, makeWrapper, cmake, git-lfs
+, boost, ocl-icd, gettext, zlib, zstd, pugixml, llvmPackages, clang
+, libepoxy, libXi, libX11, libXext, libXrender, libXxf86vm
+, libGLU, libGL, glew, addOpenGLRunpath, freeglut
+, openimageio, opencolorio, openexr, ilmbase, libjpeg, libpng, libtiff, libwebp, potrace
+, embree, gmp, openvdb, tbb, openimagedenoise, opensubdiv, freetype, libharu, brotli
+, ffmpeg, fftw, libsndfile
+, python310Packages, buildPythonPackage, fetchPypi, pkgs, lzma, freecad
+, cudaSupport ? config.cudaSupport or false, cudaPackages ? { }
+, hipSupport ? false, hip # comes with a significantly larger closure size
+, colladaSupport ? true, opencollada
+, waylandSupport ? stdenv.isLinux, pkg-config, wayland, wayland-protocols, libffi, libdecor, libxkbcommon, dbus
+}:
+
+let
+  python = python310Packages.python;
+  optix = fetchzip {
+    # url taken from the archlinux blender PKGBUILD
+    url = "https://developer.download.nvidia.com/redist/optix/v7.4/OptiX-7.4.0-Include.zip";
+    sha256 = "sha256-ca08XetwaUYC9foeP5bff9kcDfuFgEzopvjspn2s8RY=";
+  };
+  cg_preferences = fetchgit {
+    url = "https://gitlab.com/brothermechanic/cg_preferences.git";
+    rev = "db192525ff41dfae4c063dc914a2c3fe5850d480";
+    sha256 = "sha256-+eLWdokH/5odzOTykgrmG36U8h+Wf8YGOxe1oIy4dJo=";
+    fetchLFS = true;
+  };
+
+
+in
+stdenv.mkDerivation rec {
+  pname = "bpy";
+  version = "3.6.1";
+
+  src = fetchurl {
+    url = "https://download.blender.org/source/blender-${version}.tar.xz";
+    hash = "sha256-JJF+cbyya0kAJXBU2do4tiMWx0J9cyNTO0HKmztFrE0=";
+  };
+
+  patches = [
+    ./cg-defaults.patch
+    ./x112.patch
+    ./blender-fix-desktop.patch
+    ./blender-fix-boost-1.81-iostream.patch
+  ];
+
+  nativeBuildInputs =
+    [ cmake makeWrapper python310Packages.wrapPython llvmPackages.llvm.dev
+    ]
+    ++ lib.optionals cudaSupport [ addOpenGLRunpath ]
+    ++ lib.optionals waylandSupport [ pkg-config ];
+  buildInputs =
+    [ boost ffmpeg gettext glew ilmbase
+      freetype libjpeg libpng libsndfile libtiff libwebp
+      opencolorio openexr openimageio python zlib pkgs.zstd.dev fftw
+      (opensubdiv.override { inherit cudaSupport; })
+      tbb
+      gmp
+      pugixml
+      potrace
+      libharu
+      brotli
+      libepoxy
+      lzma
+      optix
+    ]
+    ++ lib.optionals waylandSupport [
+      wayland wayland-protocols libffi libdecor libxkbcommon dbus
+    ]
+    ++ lib.optionals (!stdenv.isAarch64) [
+      openimagedenoise
+      embree
+    ]
+    ++ (if (!stdenv.isDarwin) then [
+      libXi libX11 libXext libXrender
+      libGLU libGL
+      libXxf86vm
+      # OpenVDB currently doesn't build on darwin
+      openvdb
+    ]
+    else [
+      llvmPackages.openmp clang
+    ])
+    ++ lib.optional cudaSupport cudaPackages.cudatoolkit
+    ++ lib.optional colladaSupport opencollada
+  ;
+  pythonPath = with python310Packages; [ numpy requests ];
+
+  postPatch = ''
+    cp ${cg_preferences}/startup.blend release/datafiles/
+  '' +
+    (if stdenv.isDarwin then ''
+      : > build_files/cmake/platform/platform_apple_xcode.cmake
+      substituteInPlace source/creator/CMakeLists.txt \
+        --replace '${"$"}{LIBDIR}/python' \
+                  '${python}'
+      substituteInPlace build_files/cmake/platform/platform_apple.cmake \
+        --replace '${"$"}{LIBDIR}/python' \
+                  '${python}' \
+        --replace '${"$"}{LIBDIR}/opencollada' \
+                  '${opencollada}' \
+        --replace '${"$"}{PYTHON_LIBPATH}/site-packages/numpy' \
+                  '${python310Packages.numpy}/${python.sitePackages}/numpy'
+    '' else ''
+      substituteInPlace extern/clew/src/clew.c --replace '"libOpenCL.so"' '"${ocl-icd}/lib/libOpenCL.so"'
+    '') +
+    (lib.optionalString hipSupport ''
+      substituteInPlace extern/hipew/src/hipew.c --replace '"/opt/rocm/hip/lib/libamdhip64.so"' '"${hip}/lib/libamdhip64.so"'
+      substituteInPlace extern/hipew/src/hipew.c --replace '"opt/rocm/hip/bin"' '"${hip}/bin"'
+    '');
+
+  cmakeFlags =
+    [
+      "-DWITH_PYTHON_INSTALL=OFF"
+      "-DWITH_AUDASPACE=OFF"
+      "-DWITH_PYTHON_MODULE=ON"
+      "-DWITH_MEM_JEMALLOC=OFF"
+      "-DWITH_INSTALL_PORTABLE=ON"
+      #___________
+      "-DPYTHON_LIBPATH=${python}/lib"
+      "-DPYTHON_VERSION=${python.pythonVersion}"
+      "-DPYTHON_INCLUDE_DIR=${python}/include/${python.libPrefix}"
+      "-DPYTHON_LIBRARY=${python.libPrefix}"
+      "-DWITH_PYTHON_INSTALL_NUMPY=OFF"
+      "-DPYTHON_NUMPY_PATH=${python310Packages.numpy}/${python.sitePackages}"
+      "-DPYTHON_NUMPY_INCLUDE_DIRS=${python310Packages.numpy}/${python.sitePackages}/numpy/core/include"
+      "-DWITH_PYTHON_INSTALL_REQUESTS=OFF"
+      "-DWITH_ALEMBIC=OFF"
+      "-DWITH_OPENVDB=ON"
+      "-DWITH_NANOVDB=ON"
+      "-DWITH_IMAGE_OPENJPEG=OFF"
+      "-DWITH_OPENCOLLADA=${if colladaSupport then "ON" else "OFF"}"
+      "-DWITH_OPENAL=OFF"
+      "-DWITH_SDL=OFF"
+      "-DWITH_PULSEAUDIO=OFF"
+      "-DWITH_JACK=OFF"
+      "-DWITH_OPENMP=ON"
+      "-DWITH_OPENCOLORIO=ON"
+      "-DWITH_OPENSUBDIV=ON"
+      "-DWITH_TBB=ON"
+      "-DWITH_USD=OFF"
+      "-DWITH_XR_OPENXR=OFF"
+      "-DWITH_NINJA_POOL_JOBS=OFF"
+      "-DBUILD_SHARED_LIBS=OFF"
+      "-DWITH_BUILDINFO=OFF"
+      "-DWITH_HYDRA=OFF"
+      "-DWITH_MATERIALX=OFF"
+      "-DWITH_LINKER_LLD=ON"
+      "-DWITH_LIBS_PRECOMPILED=OFF"
+      "-DWITH_INTERNATIONAL=ON"
+    ]
+    ++ lib.optionals stdenv.hostPlatform.isAarch64 [
+      "-DWITH_CYCLES_EMBREE=OFF"
+    ]
+    ++ lib.optionals stdenv.isDarwin [
+      "-DWITH_CYCLES_OSL=OFF" # requires LLVM
+      "-DWITH_OPENVDB=OFF" # OpenVDB currently doesn't build on darwin
+      "-DLIBDIR=/does-not-exist"
+    ]
+    ++ lib.optionals cudaSupport [
+      "-DWITH_CYCLES_CUDA_BINARIES=ON"
+      "-DCUDA_NVCC_FLAGS=-std=c++14"
+      "-DWITH_CYCLES_DEVICE_OPTIX=ON"
+      "-DOPTIX_INCLUDE_DIR=${optix}"
+    ]
+    # Clang doesn't support "-export-dynamic"
+    ++ lib.optional stdenv.cc.isClang "-DPYTHON_LINKFLAGS="
+    ++ lib.optionals waylandSupport [
+      "-DWITH_GHOST_WAYLAND=ON"
+      "-DWITH_GHOST_WAYLAND_DBUS=ON"
+      "-DWITH_GHOST_WAYLAND_DYNLOAD=OFF"
+      "-DWITH_GHOST_WAYLAND_LIBDECOR=ON"
+    ];
+
+  env.NIX_CFLAGS_COMPILE = "-I${ilmbase.dev}/include/OpenEXR -I${python}/include/${python.libPrefix}";
+
+  # Since some dependencies are built with gcc 6, we need gcc 6's
+  # libstdc++ in our RPATH. Sigh.
+  NIX_LDFLAGS = lib.optionalString cudaSupport "-rpath ${stdenv.cc.cc.lib}/lib";
+
+  postInstall = ''
+    mkdir -p $out/lib/python3.10/site-packages
+    mkdir -p $out/nix-support
+    mv $out/bpy $out/lib/python3.10/site-packages/
+    echo ${python} >> $out/nix-support/propagated-build-inputs
+  '' + ''
+    mkdir $out/lib/python3.10/site-packages/bpy/3.6/scripts/addons/cg_preferences
+    cp -r ${cg_preferences}/* $out/lib/python3.10/site-packages/bpy/3.6/scripts/addons/cg_preferences/
+  '';
+  # Set RUNPATH so that libcuda and libnvrtc in /run/opengl-driver(-32)/lib can be
+  # found. See the explanation in libglvnd.
+  postFixup = ''
+    buildPythonPath $out/lib/python3.10/site-packages
+  '';
+
+  passthru = { inherit python; };
+
+  meta = with lib; {
+    description = "3D Creation/Animation/Publishing System module";
+    homepage = "https://www.blender.org";
+    # They comment two licenses: GPLv2 and Blender License, but they
+    # say: "We've decided to cancel the BL offering for an indefinite period."
+    # OptiX, enabled with cudaSupport, is non-free.
+    license = with licenses; [ gpl2Plus ] ++ optional cudaSupport unfree;
+    platforms = [ "x86_64-linux" "x86_64-darwin" "aarch64-linux" ];
+    broken = stdenv.isDarwin;
+    maintainers = with maintainers; [ goibhniu veprbl brothermechanic ];
+    mainProgram = "bpy";
+  };
+}
diff --git a/pkgs/development/python-modules/bpy/x112.patch b/pkgs/development/python-modules/bpy/x112.patch
new file mode 100644
index 0000000..791591b
--- /dev/null
+++ b/pkgs/development/python-modules/bpy/x112.patch
@@ -0,0 +1,46 @@
+--- a/intern/ghost/CMakeLists.txt
++++ b/intern/ghost/CMakeLists.txt
+@@ -183,6 +183,13 @@
+       ${X11_X11_INCLUDE_PATH}
+     )
+ 
++    list(APPEND LIB
++      ${X11_X11_LIB}
++      -lXext
++      -lXxf86vm
++      ${X11_Xrender_LIB}
++    )
++
+     list(APPEND SRC
+       intern/GHOST_DisplayManagerX11.cpp
+       intern/GHOST_SystemX11.cpp
+@@ -234,6 +241,9 @@
+       list(APPEND INC_SYS
+         ${X11_xf86vmode_INCLUDE_PATH}
+       )
++      list(APPEND LIB
++        ${X11_Xf86vmode_LIB}
++      )
+     endif()
+ 
+     if(WITH_X11_XFIXES)
+@@ -241,6 +251,9 @@
+       list(APPEND INC_SYS
+         ${X11_Xfixes_INCLUDE_PATH}
+       )
++      list(APPEND LIB
++        ${X11_Xfixes_LIB}
++      )
+     endif()
+ 
+     if(WITH_X11_ALPHA)
+@@ -252,6 +265,9 @@
+       list(APPEND INC_SYS
+         ${X11_Xinput_INCLUDE_PATH}
+       )
++      list(APPEND LIB
++        ${X11_Xinput_LIB}
++      )
+     endif()
+ 
+     add_definitions(-DWITH_GHOST_X11)
diff --git a/pkgs/megapose6d/default.nix b/pkgs/development/python-modules/megapose6d/default.nix
similarity index 100%
rename from pkgs/megapose6d/default.nix
rename to pkgs/development/python-modules/megapose6d/default.nix
diff --git a/pkgs/open3d/default.nix b/pkgs/development/python-modules/open3d/default.nix
similarity index 100%
rename from pkgs/open3d/default.nix
rename to pkgs/development/python-modules/open3d/default.nix
diff --git a/pkgs/pysdf/default.nix b/pkgs/development/python-modules/pysdf/default.nix
similarity index 100%
rename from pkgs/pysdf/default.nix
rename to pkgs/development/python-modules/pysdf/default.nix
diff --git a/pkgs/pytorch3d/default.nix b/pkgs/development/python-modules/pytorch3d/default.nix
similarity index 100%
rename from pkgs/pytorch3d/default.nix
rename to pkgs/development/python-modules/pytorch3d/default.nix
diff --git a/pkgs/spatialmath/default.nix b/pkgs/development/python-modules/spatialmath/default.nix
similarity index 100%
rename from pkgs/spatialmath/default.nix
rename to pkgs/development/python-modules/spatialmath/default.nix
diff --git a/pkgs/test-script/default.nix b/pkgs/development/python-modules/test-script/default.nix
similarity index 100%
rename from pkgs/test-script/default.nix
rename to pkgs/development/python-modules/test-script/default.nix
diff --git a/pkgs/unified-planning/default.nix b/pkgs/development/python-modules/unified-planning/default.nix
similarity index 100%
rename from pkgs/unified-planning/default.nix
rename to pkgs/development/python-modules/unified-planning/default.nix
diff --git a/pkgs/webdataset/default.nix b/pkgs/development/python-modules/webdataset/default.nix
similarity index 100%
rename from pkgs/webdataset/default.nix
rename to pkgs/development/python-modules/webdataset/default.nix
diff --git a/pkgs/freecad-lib/default.nix b/pkgs/freecad-lib/default.nix
deleted file mode 100644
index cec2b44..0000000
--- a/pkgs/freecad-lib/default.nix
+++ /dev/null
@@ -1,14 +0,0 @@
-{ stdenv
-, freecad
-, python3
-}:
-stdenv.mkDerivation {
-  inherit (freecad) version;
-  pname = "freecad-lib";
-  src = freecad;
-  buildInputs = [ python3 ];
-  installPhase = ''
-    mkdir -p $out/lib/python${python3.pythonVersion}
-    ln -s ${freecad}/lib $out/lib/python${python3.pythonVersion}/site-packages
-  '';
-}
diff --git a/pkgs/freecad.robossembler/default.nix b/pkgs/freecad.robossembler/default.nix
deleted file mode 100644
index dafd9f8..0000000
--- a/pkgs/freecad.robossembler/default.nix
+++ /dev/null
@@ -1,45 +0,0 @@
-{ buildPythonPackage
-, fetchgit
-, python3Packages
-, lib
-, autoPatchelfHook
-, pythonImportsCheckHook
-, config
-, setuptools
-, freecad-lib
-, pytestCheckHook
-, toPythonModule
-, python
-, rbsFrameworkSrc
-, ... }:
-
-buildPythonPackage rec {
-  name = "freecad.robossembler";
-  version = "1.0.0";
-  format = "setuptools";
-
-  src = rbsFrameworkSrc;
-
-  sourceRoot = "${src.name}/freecad_workbench";
-
-  nativeBuildInputs = [
-    setuptools
-  ];
-
-  buildInputs = [ freecad-lib ];
-
-  propagatedBuildInputs = [
-    freecad-lib
-  ];
-  
-  pythonImportsCheck = [ "freecad.robossembler" ];
-
-  doCheck = false;
-  
-  meta = with lib; {
-    description = "Robossembler CG Pipeline Python Module";
-    homepage = "https://gitlab.com/robossembler/framework/rcg_pipeline";
-    license = licenses.mit;
-    maintainers = with maintainers; [ ];
-  };
-}
diff --git a/pkgs/fstl/default.nix b/pkgs/misc/fstl/default.nix
similarity index 100%
rename from pkgs/fstl/default.nix
rename to pkgs/misc/fstl/default.nix
diff --git a/pkgs/mayo/default.nix b/pkgs/misc/mayo/default.nix
similarity index 91%
rename from pkgs/mayo/default.nix
rename to pkgs/misc/mayo/default.nix
index 098561a..912277b 100644
--- a/pkgs/mayo/default.nix
+++ b/pkgs/misc/mayo/default.nix
@@ -9,13 +9,13 @@
 
 stdenv.mkDerivation rec {
   pname = "mayo";
-  version = "0.8.0";
+  version = "0.6.0";
 
   src = fetchFromGitHub {
     owner = "fougue";
     repo = "mayo";
     rev = "v${version}";
-    hash = "sha256-/MavLqC3BBRmlqMZIhKEYJPTV6pvLKlCNMXGJ6vnmUg=";
+    hash = "sha256-seRk02jYiABjoO35AG47ioCByBIdLibJ4QHLeXW8cXQ=";
   };
 
   buildInputs = [ qtbase opencascade-occt ];
diff --git a/pkgs/rcg-pipeline/default.nix b/pkgs/rcg-pipeline/default.nix
deleted file mode 100644
index cd4ee6b..0000000
--- a/pkgs/rcg-pipeline/default.nix
+++ /dev/null
@@ -1,44 +0,0 @@
-{ buildPythonPackage
-, fetchgit
-, python3Packages
-, lib
-, autoPatchelfHook
-, pythonImportsCheckHook
-, config
-, cudaSupport ? config.cudaSupport
-, numpy
-, setuptools
-, bpy-lib
-, rbsFrameworkSrc
-, ... }:
-
-buildPythonPackage rec {
-  name = "rcg_pipeline";
-  version = "1.0.0";
-  format = "pyproject";
-
-  src = rbsFrameworkSrc;
-
-  sourceRoot = "${src.name}/rcg_pipeline";
-
-  nativeBuildInputs = [
-    setuptools
-  ];
-
-  propagatedBuildInputs = [
-    numpy
-    bpy-lib
-  ];
-
-  # TODO - see later, pyproject.toml duntime deps check doesnt work
-  dontCheckRuntimeDeps = true;
-
-  pythonImportsCheck = [ "rcg_pipeline" ];
-
-  meta = with lib; {
-    description = "Robossembler CG Pipeline Python Module";
-    homepage = "https://gitlab.com/robossembler/framework/rcg_pipeline";
-    license = licenses.mit;
-    maintainers = with maintainers; [ ];
-  };
-}
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; [ ];
+  };
+}
diff --git a/ros/default.nix b/ros/default.nix
deleted file mode 100644
index b1c0e06..0000000
--- a/ros/default.nix
+++ /dev/null
@@ -1,17 +0,0 @@
-self: super:
-{
-  humble = super.rosPackages.humble.overrideScope (
-    final: prev: {
-      # remove after update github:lopsided98/nixpkgs/nix-ros for https://github.com/NixOS/nixpkgs/pull/224099
-      behaviortree-cpp-v3 = prev.behaviortree-cpp-v3.overrideAttrs (old: {
-        propagatedBuildInputs = old.propagatedBuildInputs ++ [ self.zeromq self.pkg-config ];
-      });
-      moveit-core = prev.moveit-core.overrideAttrs (old: { 
-          propagatedBuildInputs = old.propagatedBuildInputs ++ [ prev.tf2-kdl ];
-      });
-      moveit-kinematics = prev.moveit-kinematics.overrideAttrs (old: { 
-          propagatedBuildInputs = old.propagatedBuildInputs ++ [ final.moveit-ros-planning ];
-      });
-    }
-  );
-}