diff --git a/pkgs/applications/misc/blender/wrapper.nix b/pkgs/applications/misc/blender/wrapper.nix
new file mode 100644
index 000000000000..24ff72e14f6c
--- /dev/null
+++ b/pkgs/applications/misc/blender/wrapper.nix
@@ -0,0 +1,39 @@
+{ stdenv
+, lib
+, blender
+, makeWrapper
+, python39Packages
+}:
+{ name ? "wrapped"
+, packages ? []
+}:
+stdenv.mkDerivation {
+  pname = "blender-${name}";
+  inherit (blender) version;
+  src = blender;
+
+  nativeBuildInputs = [ python39Packages.wrapPython makeWrapper ];
+  installPhase = ''
+    mkdir $out/{share/applications,bin} -p
+    sed 's/Exec=blender/Exec=blender-${name}/g' $src/share/applications/blender.desktop > $out/share/applications/blender-${name}.desktop
+    cp -r $src/share/blender $out/share
+    cp -r $src/share/doc $out/share
+    cp -r $src/share/icons $out/share
+
+    buildPythonPath "$pythonPath"
+
+    echo '#!/usr/bin/env bash ' >> $out/bin/blender-${name}
+    for p in $program_PATH; do
+      echo "export PATH=\$PATH:$p " >> $out/bin/blender-${name}
+    done
+    for p in $program_PYTHONPATH; do
+      echo "export PYTHONPATH=\$PYTHONPATH:$p " >> $out/bin/blender-${name}
+    done
+    echo 'exec ${blender}/bin/blender "$@"' >> $out/bin/blender-${name}
+    chmod +x $out/bin/blender-${name}
+  '';
+
+  pythonPath = packages;
+
+  meta = blender.meta;
+}
diff --git a/pkgs/development/python-modules/bbox/default.nix b/pkgs/development/python-modules/bbox/default.nix
new file mode 100644
index 000000000000..a07551197b84
--- /dev/null
+++ b/pkgs/development/python-modules/bbox/default.nix
@@ -0,0 +1,30 @@
+{ lib
+, buildPythonPackage
+, fetchPypi
+, pythonOlder
+, pyquaternion
+, numpy
+}:
+
+buildPythonPackage rec {
+  pname = "bbox";
+  version = "0.9.2";
+
+  disabled = pythonOlder "3.6";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "sha256-ucR7mg9eubEefjC7ratEgrb9h++a26z8KV38n3N2kcw=";
+  };
+
+  propagatedBuildInputs = [ pyquaternion numpy ];
+
+  pythonImportsCheck = [ "bbox" ];
+
+  meta = with lib; {
+    description = "Python library for 2D/3D bounding boxes";
+    homepage = "https://github.com/varunagrawal/bbox";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/development/python-modules/boxx/default.nix b/pkgs/development/python-modules/boxx/default.nix
new file mode 100644
index 000000000000..a3f0db80fafe
--- /dev/null
+++ b/pkgs/development/python-modules/boxx/default.nix
@@ -0,0 +1,57 @@
+{ lib
+, buildPythonPackage
+, fetchPypi
+, python
+, xvfb-run
+, matplotlib
+, scikitimage
+, numpy
+, pandas
+, imageio
+, snakeviz
+, fn
+, pyopengl
+, seaborn
+, pytorch
+, torchvision
+}:
+
+buildPythonPackage rec {
+  pname = "boxx";
+  version = "0.9.9";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "sha256-Mc6R6ruUVhFs2D0CTJsAiM9aGOusS973hRS5r2kQsy4=";
+  };
+
+  propagatedBuildInputs = [
+    matplotlib
+    scikitimage
+    numpy
+    pandas
+    imageio
+    snakeviz
+    fn
+    pyopengl
+    seaborn
+  ];
+
+  pythonImportsCheck = [ "boxx" ];
+  checkInputs = [
+    xvfb-run
+    pytorch
+    torchvision
+  ];
+
+  checkPhase = ''
+    xvfb-run ${python.interpreter} -m unittest
+  '';
+
+  meta = with lib; {
+    description = "Tool-box for efficient build and debug in Python. Especially for Scientific Computing and Computer Vision.";
+    homepage = "https://github.com/DIYer22/boxx";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
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 ${./bpycv-test.py}
+    popd
+  '';
+
+  meta = with lib; {
+    description = "Computer vision utils for Blender";
+    homepage = "https://github.com/DIYer22/bpycv";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/development/python-modules/minexr/default.nix b/pkgs/development/python-modules/minexr/default.nix
new file mode 100644
index 000000000000..0417fe7594fd
--- /dev/null
+++ b/pkgs/development/python-modules/minexr/default.nix
@@ -0,0 +1,31 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, pytestCheckHook
+, numpy
+, pillow
+}:
+
+buildPythonPackage rec {
+  pname = "minexr";
+  version = "1.0.1";
+
+  src = fetchFromGitHub {
+    owner = "cheind";
+    repo = "py-minexr";
+    rev = "v${version}";
+    sha256 = "sha256-Om67ttAHxu7C3IwPB+JHYi78E9qBi1E6layMVg4+S3M=";
+  };
+
+  propagatedBuildInputs = [ numpy ];
+
+  pythonImportsCheck = [ "minexr" ];
+  checkInputs = [ pytestCheckHook pillow ];
+
+  meta = with lib; {
+    description = "Minimal, standalone OpenEXR reader for single-part, uncompressed scan line files.";
+    homepage = "https://github.com/cheind/py-minexr";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/development/python-modules/pyquaternion/default.nix b/pkgs/development/python-modules/pyquaternion/default.nix
new file mode 100644
index 000000000000..48c8d991175f
--- /dev/null
+++ b/pkgs/development/python-modules/pyquaternion/default.nix
@@ -0,0 +1,34 @@
+{ lib
+, buildPythonPackage
+, fetchPypi
+, numpy
+, nose
+}:
+
+buildPythonPackage rec {
+  pname = "pyquaternion";
+  version = "0.9.9";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "sha256-sfYa8hnLL+lmtft5oZISTy5jo/end6w8rfKVexqBvqg=";
+  };
+
+  # The VERSION.txt file is required for setup.py
+  # See: https://github.com/KieranWynn/pyquaternion/blob/master/setup.py#L14-L15
+  postPatch = ''
+    echo "${version}" > VERSION.txt
+  '';
+
+  propagatedBuildInputs = [ numpy ];
+
+  checkInputs = [ nose ];
+  pythonImportsCheck = [ "pyquaternion" ];
+
+  meta = with lib; {
+    description = "Library for representing and using quaternions.";
+    homepage = "http://kieranwynn.github.io/pyquaternion/";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/development/python-modules/yacs/default.nix b/pkgs/development/python-modules/yacs/default.nix
new file mode 100644
index 000000000000..7abf151a08f7
--- /dev/null
+++ b/pkgs/development/python-modules/yacs/default.nix
@@ -0,0 +1,32 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, python
+, pyyaml
+}:
+
+buildPythonPackage rec {
+  pname = "yacs";
+  version = "0.1.8";
+
+  src = fetchFromGitHub {
+    owner = "rbgirshick";
+    repo = "yacs";
+    rev = "v${version}";
+    sha256 = "sha256-nO8FL4tTkfTthXYXxXORLieFwvn780DDxfrxC9EUUJ0=";
+  };
+
+  propagatedBuildInputs = [ pyyaml ];
+
+  pythonImportsCheck = [ "yacs" ];
+  checkPhase = ''
+    ${python.interpreter} yacs/tests.py
+  '';
+
+  meta = with lib; {
+    description = "Yet Another Configuration System";
+    homepage = "https://github.com/rbgirshick/yacs";
+    license = licenses.apsl20;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/development/python-modules/zcs/default.nix b/pkgs/development/python-modules/zcs/default.nix
new file mode 100644
index 000000000000..9f22cd1dfc86
--- /dev/null
+++ b/pkgs/development/python-modules/zcs/default.nix
@@ -0,0 +1,33 @@
+{ lib
+, buildPythonPackage
+, fetchPypi
+, python
+, yacs
+, boxx
+}:
+
+buildPythonPackage rec {
+  pname = "zcs";
+  version = "0.1.17";
+
+  src = fetchPypi {
+    inherit pname version;
+    sha256 = "sha256-ZoQgAaJy3kKHLljyKA0Oo/D1kefE8X9FlsGDSNt1nPw=";
+  };
+
+  propagatedBuildInputs = [ yacs ];
+
+  pythonImportsCheck = [ "zcs" ];
+
+  checkInputs = [ boxx ];
+  checkPhase = ''
+    ${python.interpreter} test/test_zcs.py
+  '';
+
+  meta = with lib; {
+    description = "A flexible powerful configuration system which takes advantage of both argparse and yacs";
+    homepage = "https://github.com/DIYer22/zcs";
+    license = licenses.mit;
+    maintainers = with maintainers; [ lucasew ];
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index e2fa4bb2cae8..ff2ae2087025 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -24507,6 +24507,8 @@ with pkgs;
     inherit (darwin.apple_sdk.frameworks) Cocoa CoreGraphics ForceFeedback OpenAL OpenGL;
   };
 
+  blender-with-packages = callPackage ../applications/misc/blender/wrapper.nix {};
+
   blflash = callPackage ../tools/misc/blflash { };
 
   blogc = callPackage ../applications/misc/blogc { };
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 7a82697055ab..3808da50d76a 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -1132,6 +1132,8 @@ in {
 
   bayespy = callPackage ../development/python-modules/bayespy { };
 
+  bbox = callPackage ../development/python-modules/bbox { };
+
   bc-python-hcl2 = callPackage ../development/python-modules/bc-python-hcl2 { };
 
   bcdoc = callPackage ../development/python-modules/bcdoc { };
@@ -1304,6 +1306,10 @@ in {
 
   bottleneck = callPackage ../development/python-modules/bottleneck { };
 
+  boxx = callPackage ../development/python-modules/boxx { };
+
+  bpycv = callPackage ../development/python-modules/bpycv {};
+
   bpython = callPackage ../development/python-modules/bpython { };
 
   braceexpand = callPackage ../development/python-modules/braceexpand { };
@@ -4975,6 +4981,8 @@ in {
 
   millheater = callPackage ../development/python-modules/millheater { };
 
+  minexr = callPackage ../development/python-modules/minexr { };
+
   miniaudio = callPackage ../development/python-modules/miniaudio { };
 
   minidb = callPackage ../development/python-modules/minidb { };
@@ -7251,6 +7259,8 @@ in {
 
   pyquery = callPackage ../development/python-modules/pyquery { };
 
+  pyquaternion = callPackage ../development/python-modules/pyquaternion { };
+
   pyquil = callPackage ../development/python-modules/pyquil { };
 
   pyrabbit2 = callPackage ../development/python-modules/pyrabbit2 { };
@@ -10562,6 +10572,8 @@ in {
 
   yattag = callPackage ../development/python-modules/yattag { };
 
+  yacs = callPackage ../development/python-modules/yacs { };
+
   ydiff = callPackage ../development/python-modules/ydiff { };
 
   yeelight = callPackage ../development/python-modules/yeelight { };
@@ -10618,6 +10630,8 @@ in {
 
   zconfig = callPackage ../development/python-modules/zconfig { };
 
+  zcs = callPackage ../development/python-modules/zcs { };
+
   zdaemon = callPackage ../development/python-modules/zdaemon { };
 
   zeek = toPythonModule (pkgs.zeek.override {