diff --git a/env-manager-interfaces.nix b/env-manager-interfaces.nix
index c5b742a..efe0a5a 100644
--- a/env-manager-interfaces.nix
+++ b/env-manager-interfaces.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/env-manager.nix b/env-manager.nix
index dd4538e..c545bdd 100644
--- a/env-manager.nix
+++ b/env-manager.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_python";
diff --git a/flake.lock b/flake.lock
index baae090..821fd6e 100644
--- a/flake.lock
+++ b/flake.lock
@@ -24,17 +24,18 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1732998835,
+        "lastModified": 1733001380,
         "narHash": "sha256-d5elFO/gqbuvst0Ost2yOmApb3BpgFtNK5t+QtlrKX4=",
-        "ref": "refs/heads/gz-version-fix",
-        "rev": "8277a937e9326b6842bd9d942245f58975672372",
-        "revCount": 1091,
-        "type": "git",
-        "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay"
+        "owner": "lopsided98",
+        "repo": "nix-ros-overlay",
+        "rev": "518d764262aafc6e18abc1f7f4facf41cf24b072",
+        "type": "github"
       },
       "original": {
-        "type": "git",
-        "url": "file:///home/movefasta/Documents/robossembler/nix-ros-overlay"
+        "owner": "lopsided98",
+        "ref": "develop",
+        "repo": "nix-ros-overlay",
+        "type": "github"
       }
     },
     "nixpkgs": {
diff --git a/flake.nix b/flake.nix
index 79f5598..5b1096d 100644
--- a/flake.nix
+++ b/flake.nix
@@ -18,11 +18,21 @@
           # Apply the overlay to multiple ROS distributions
           rosPackages = applyDistroOverlay (import ./overlay.nix) super.rosPackages;
         };
+        pythonOverlay = self: super: {
+          pythonPackagesExtensions = super.pythonPackagesExtensions ++ [
+            (
+              python-final: python-prev: {
+                rbs-assets-library = self.python3Packages.callPackage ./rbs-assets-library.nix { };
+              }
+            )
+          ];
+        };
         pkgs = import nixpkgs {
           inherit system;
           overlays = [
             nix-ros-overlay.overlays.default
             rosDistroOverlays
+            pythonOverlay
           ];
           config.permittedInsecurePackages = [
             "freeimage-unstable-2021-11-01"
@@ -36,13 +46,13 @@
         packages = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro};
         checks = builtins.intersectAttrs (import ./overlay.nix null null) pkgs.rosPackages.${rosDistro};
         devShells.default = pkgs.mkShell {
-          name = "Example project";
+          name = "Robossembler ROS 2 Runtime";
           shellHook = ''
             unset QT_QPA_PLATFORM
           '';
           packages = [
             pkgs.colcon
-            (pkgs.python3.withPackages (p: with p; [ dacite scipy ]))
+            (pkgs.python3.withPackages (p: with p; [ dacite scipy loguru rbs-assets-library ]))
             # ... other non-ROS packages
             (with pkgs.rosPackages.${rosDistro}; buildEnv {
               paths = [
diff --git a/rbs-arm.nix b/rbs-arm.nix
index 3572798..971e9d4 100644
--- a/rbs-arm.nix
+++ b/rbs-arm.nix
@@ -7,8 +7,8 @@ buildRosPackage rec {
   src = fetchFromGitHub {
     owner = "solid-sinusoid";
     repo = "rbs-arm";
-    rev = "bc13ea275cffdaa062d225bf3934918a6dbaafb3";
-    sha256 = "0f3j8vlshq19qkcxy7fiv9ij3zz70k5lhn4y4184zfr4czdkpmf0";
+    rev = "a39c474dcdef2a13af3056165a3ed29be9f4e173";
+    hash = "sha256-c/umjcDzXd63tZ0mttPMmhQFSXPPkmEIDe6SF4E9Fag=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-assets-library.nix b/rbs-assets-library.nix
index 2012e0d..17fd72d 100644
--- a/rbs-assets-library.nix
+++ b/rbs-assets-library.nix
@@ -8,15 +8,14 @@
 
 buildPythonPackage rec {
   pname = "rbs-assets-library";
-  version = "0.2.0";
+  version = "unstable-2024-12-01";
   pyproject = true;
 
   src = fetchFromGitHub {
     owner = "solid-sinusoid";
     repo = "rbs_assets_library";
     rev = "16d3f6d750a8c903532f4bde22bbe41ebd35ec5c";
-    hash = "";
-    fetchLFS = true;
+    hash = "sha256-0JrOp0xbJc/cZdy7Ho53mSI5HmwVmPDvDJOx+Wu6nIg=";
   };
 
   build-system = [
@@ -31,7 +30,7 @@ buildPythonPackage rec {
   meta = {
     description = "";
     homepage = "https://github.com/solid-sinusoid/rbs_assets_library";
-    license = lib.licenses.unfree; # FIXME: nix-init did not find a license
+    license = lib.licenses.asl20;
     maintainers = with lib.maintainers; [ ];
   };
 }
diff --git a/rbs-bringup.nix b/rbs-bringup.nix
index 6c79075..e53166c 100644
--- a/rbs-bringup.nix
+++ b/rbs-bringup.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-bt-executor.nix b/rbs-bt-executor.nix
index c89a48c..0b7ab6f 100644
--- a/rbs-bt-executor.nix
+++ b/rbs-bt-executor.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-gym.nix b/rbs-gym.nix
index 66ebf8d..feffadb 100644
--- a/rbs-gym.nix
+++ b/rbs-gym.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_python";
diff --git a/rbs-perception.nix b/rbs-perception.nix
index 2c9094b..0906cfd 100644
--- a/rbs-perception.nix
+++ b/rbs-perception.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-runtime.nix b/rbs-runtime.nix
index 2c893b5..7a075e9 100644
--- a/rbs-runtime.nix
+++ b/rbs-runtime.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_python";
diff --git a/rbs-simulation.nix b/rbs-simulation.nix
index 0d36289..a568ce9 100644
--- a/rbs-simulation.nix
+++ b/rbs-simulation.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-skill-interfaces.nix b/rbs-skill-interfaces.nix
index 7fd6d16..70a16f0 100644
--- a/rbs-skill-interfaces.nix
+++ b/rbs-skill-interfaces.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-skill-servers.nix b/rbs-skill-servers.nix
index c5b2451..256b3f1 100644
--- a/rbs-skill-servers.nix
+++ b/rbs-skill-servers.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-task-planner.nix b/rbs-task-planner.nix
index 0069458..88a4019 100644
--- a/rbs-task-planner.nix
+++ b/rbs-task-planner.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-utils-interfaces.nix b/rbs-utils-interfaces.nix
index b816b84..ec34ec5 100644
--- a/rbs-utils-interfaces.nix
+++ b/rbs-utils-interfaces.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbs-utils.nix b/rbs-utils.nix
index 4a5d2b1..61e94d0 100644
--- a/rbs-utils.nix
+++ b/rbs-utils.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbss-movetopose.nix b/rbss-movetopose.nix
index 98c3e4a..0637204 100644
--- a/rbss-movetopose.nix
+++ b/rbss-movetopose.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbss-objectdetection.nix b/rbss-objectdetection.nix
index ca1bf32..f1b7be9 100644
--- a/rbss-objectdetection.nix
+++ b/rbss-objectdetection.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/rbss-poseestimation.nix b/rbss-poseestimation.nix
index be78486..bf22612 100644
--- a/rbss-poseestimation.nix
+++ b/rbss-poseestimation.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_cmake";
diff --git a/robonomics.nix b/robonomics.nix
index dc52552..63607ea 100644
--- a/robonomics.nix
+++ b/robonomics.nix
@@ -6,8 +6,8 @@ buildRosPackage rec {
 
   src = fetchgit {
     url = "https://gitlab.com/robossembler/robossembler-ros2";
-    rev = "72415c155ce1a410250b48a773d33545d6cb4e78";
-    sha256 = "sha256-ZCAPrdObbfdmZ0Oq2Nx+7CIBeXGUZnRqKbsYW+1iwYo=";
+    rev = "b83a68f77724d83e1a0a014ffb4da4ef42ec3a42";
+    sha256 = "sha256-UdshWzp+WAThBieQPIqNgpy48bLO/+FEEX/higgMJH8=";
   };
 
   buildType = "ament_python";
diff --git a/robot-builder.nix b/robot-builder.nix
index e604e72..87ab5ad 100644
--- a/robot-builder.nix
+++ b/robot-builder.nix
@@ -7,8 +7,8 @@ buildRosPackage rec {
   src = fetchFromGitHub {
     owner = "solid-sinusoid";
     repo = "robot-builder";
-    rev = "5f02b5868047767df2ab8f4bc026fe40a420e94d";
-    sha256 = "08wi1lk584r6nm9j169rg7d944wp167xk5aw0x5b1smbqnsgcdq5";
+    rev = "4995d978e9702e6c344ee214aa93caba6fcbb730";
+    hash = "sha256-qhBD8ee+cotL/J4Q4I9lOgaecnCBVxoUobKGsyeMFiU=";
   };
 
   buildType = "ament_python";