diff --git a/pkgs/development/python-modules/bpycv/bpycv-test.py b/pkgs/development/python-modules/bpycv/bpycv-test.py
new file mode 100644
index 000000000000..94e1bb122c77
--- /dev/null
+++ b/pkgs/development/python-modules/bpycv/bpycv-test.py
@@ -0,0 +1,76 @@
+# based on https://github.com/DIYer22/bpycv/blob/c576e01622d87eb3534f73bf1a5686bd2463de97/example/ycb_demo.py
+import bpy
+import bpycv
+
+import os
+import glob
+import random
+
+example_data_dir = os.environ['BPY_EXAMPLE_DATA']
+
+models = sorted(glob.glob(os.path.join(example_data_dir, "model", "*", "*.obj")))
+cat_id_to_model_path = dict(enumerate(sorted(models), 1))
+
+distractors = sorted(glob.glob(os.path.join(example_data_dir, "distractor", "*.obj")))
+
+bpycv.clear_all()
+bpy.context.scene.frame_set(1)
+bpy.context.scene.render.engine = "CYCLES"
+bpy.context.scene.cycles.samples = 32
+bpy.context.scene.render.resolution_y = 1024
+bpy.context.scene.render.resolution_x = 1024
+
+# A transparency stage for holding rigid body
+stage = bpycv.add_stage(transparency=True)
+
+bpycv.set_cam_pose(cam_radius=1, cam_deg=45)
+
+hdri_dir = os.path.join(example_data_dir, "background_and_light")
+hdri_manager = bpycv.HdriManager(
+    hdri_dir=hdri_dir, download=False
+)  # if download is True, will auto download .hdr file from HDRI Haven
+hdri_path = hdri_manager.sample()
+bpycv.load_hdri_world(hdri_path, random_rotate_z=True)
+
+# load 5 objects
+for index in range(5):
+    cat_id = random.choice(list(cat_id_to_model_path))
+    model_path = cat_id_to_model_path[cat_id]
+    obj = bpycv.load_obj(model_path)
+    obj.location = (
+        random.uniform(-0.2, 0.2),
+        random.uniform(-0.2, 0.2),
+        random.uniform(0.1, 0.3),
+    )
+    obj.rotation_euler = [random.uniform(-3.1415, 3.1415) for _ in range(3)]
+    # set each instance a unique inst_id, which is used to generate instance annotation.
+    obj["inst_id"] = cat_id * 1000 + index
+    with bpycv.activate_obj(obj):
+        bpy.ops.rigidbody.object_add()
+
+# load 6 distractors
+for index in range(6):
+    distractor_path = random.choice(distractors)
+    target_size = random.uniform(0.1, 0.3)
+    distractor = bpycv.load_distractor(distractor_path, target_size=target_size)
+    distractor.location = (
+        random.uniform(-0.2, 0.2),
+        random.uniform(-0.2, 0.2),
+        random.uniform(0.1, 0.3),
+    )
+    distractor.rotation_euler = [random.uniform(-3.1415, 3.1415) for _ in range(3)]
+    with bpycv.activate_obj(distractor):
+        bpy.ops.rigidbody.object_add()
+
+# run pyhsic engine for 20 frames
+for i in range(20):
+    bpy.context.scene.frame_set(bpy.context.scene.frame_current + 1)
+
+# render image, instance annoatation and depth in one line code
+result = bpycv.render_data()
+
+dataset_dir = "./dataset"
+result.save(dataset_dir=dataset_dir, fname="0", save_blend=True)
+print(f'Save to "{dataset_dir}"')
+print(f'Open "{dataset_dir}/vis/" to see visualize result.')
+
diff --git a/pkgs/development/python-modules/bpycv/default.nix b/pkgs/development/python-modules/bpycv/default.nix
new file mode 100644
index 000000000000..7a88a4078f0b
--- /dev/null
+++ b/pkgs/development/python-modules/bpycv/default.nix
@@ -0,0 +1,62 @@
+{ lib
+, buildPythonPackage
+, fetchPypi
+, fetchFromGitHub
+, fetchurl
+, writeText
+, blender
+, minexr
+, beautifulsoup4
+, zcs
+, requests
+, opencv3
+, boxx
+}:
+
+buildPythonPackage rec {
+  pname = "bpycv";
+  version = "0.2.43";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "sha256-6LXhKuNkX3yKeZARLXmOVNAUQhJghtzKhnszJ1G/a8U=";
+  };
+
+  propagatedBuildInputs = [
+    beautifulsoup4
+    minexr
+    zcs
+    requests
+    opencv3
+    boxx
+  ];
+
+  postPatch = ''
+    sed -i 's/opencv-python//g' requirements.txt
+  '';
+
+  # pythonImportsCheck = [ "bpycv" ]; # this import depends on bpy that is only available inside blender
+  checkInputs = [ blender ];
+  checkPhase = let
+    bpycv_example_data = fetchFromGitHub {
+      owner = "DIYer22";
+      repo = "bpycv_example_data";
+      sha256 = "sha256-dGb6KvbXTGTu5f4AqhA+i4AwTqBoR5SdXk0vsMEcD3Q=";
+      rev = "6ce0e65c107d572011394da16ffdf851e988dbb4";
+    };
+  in ''
+    TEMPDIR=$(mktemp -d)
+    pushd $TEMPDIR
+      cp -r ${bpycv_example_data} example_data
+      chmod +w -R example_data
+      BPY_EXAMPLE_DATA=${bpycv_example_data} blender -b -P ${./bpycv-test.py}
+    popd
+  '';
+
+  meta = with lib; {
+    description = "Computer vision utils for Blender";
+    homepage = "https://github.com/DIYer22/bpycv";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 6ab59cdf54a6..01455f9c9c29 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -1302,6 +1302,8 @@ in {
 
   bottleneck = callPackage ../development/python-modules/bottleneck { };
 
+  bpycv = callPackage ../development/python-modules/bpycv {};
+
   bpython = callPackage ../development/python-modules/bpython { };
 
   braceexpand = callPackage ../development/python-modules/braceexpand { };