diff --git a/pkgs/by-name/ei/eiquadprog/package.nix b/pkgs/by-name/ei/eiquadprog/package.nix
new file mode 100644
index 000000000000..9380e7f9d2bf
--- /dev/null
+++ b/pkgs/by-name/ei/eiquadprog/package.nix
@@ -0,0 +1,38 @@
+{
+  boost,
+  cmake,
+  eigen,
+  fetchFromGitHub,
+  jrl-cmakemodules,
+  lib,
+  stdenv,
+}:
+
+stdenv.mkDerivation (finalAttrs: {
+  pname = "eiquadprog";
+  version = "1.2.9";
+
+  src = fetchFromGitHub {
+    owner = "stack-of-tasks";
+    repo = "eiquadprog";
+    rev = "v${finalAttrs.version}";
+    hash = "sha256-VqRx06sCCZrnB+NWm6Z9OMKzjKQIydGgKQU6fMY7phk=";
+  };
+
+  nativeBuildInputs = [
+    cmake
+    jrl-cmakemodules
+  ];
+  propagatedBuildInputs = [ eigen ];
+  checkInputs = [ boost ];
+
+  doCheck = true;
+
+  meta = {
+    description = "C++ reimplementation of eiquadprog";
+    homepage = "https://github.com/stack-of-tasks/eiquadprog";
+    changelog = "https://github.com/stack-of-tasks/eiquadprog/blob/v${finalAttrs.version}/CHANGELOG.md";
+    license = lib.licenses.gpl3Only;
+    maintainers = with lib.maintainers; [ nim65s ];
+  };
+})
diff --git a/pkgs/by-name/os/osqp-eigen/package.nix b/pkgs/by-name/os/osqp-eigen/package.nix
new file mode 100644
index 000000000000..935bb0bfa659
--- /dev/null
+++ b/pkgs/by-name/os/osqp-eigen/package.nix
@@ -0,0 +1,44 @@
+{
+  catch2,
+  cmake,
+  eigen,
+  fetchFromGitHub,
+  lib,
+  osqp,
+  stdenv,
+  valgrind,
+}:
+
+stdenv.mkDerivation (finalAttrs: {
+  pname = "osqp-eigen";
+  version = "0.8.1";
+
+  src = fetchFromGitHub {
+    owner = "robotology";
+    repo = "osqp-eigen";
+    rev = "v${finalAttrs.version}";
+    hash = "sha256-mN9oU+qXm+Kob8M4rtxv4qNSbXlFCqpN+s8dHedU8Mo=";
+  };
+
+  cmakeFlags = [
+    (lib.cmakeBool "BUILD_TESTING" true)
+    (lib.cmakeBool "OSQPEIGEN_RUN_Valgrind_tests" stdenv.isLinux)
+  ];
+
+  nativeBuildInputs = [ cmake ];
+  propagatedBuildInputs = [
+    eigen
+    osqp
+  ];
+  checkInputs = [ catch2 ];
+  nativeCheckInputs = lib.optional stdenv.isLinux valgrind;
+
+  doCheck = true;
+
+  meta = {
+    description = "Simple Eigen-C++ wrapper for OSQP library";
+    homepage = "https://github.com/robotology/osqp-eigen";
+    license = lib.licenses.bsd3;
+    maintainers = with lib.maintainers; [ nim65s ];
+  };
+})
diff --git a/pkgs/by-name/ts/tsid/package.nix b/pkgs/by-name/ts/tsid/package.nix
new file mode 100644
index 000000000000..054857f8b222
--- /dev/null
+++ b/pkgs/by-name/ts/tsid/package.nix
@@ -0,0 +1,66 @@
+{
+  cmake,
+  doxygen,
+  eiquadprog,
+  fetchFromGitHub,
+  lib,
+  osqp-eigen,
+  pkg-config,
+  pinocchio,
+  proxsuite,
+  stdenv,
+  pythonSupport ? false,
+  python3Packages,
+}:
+
+stdenv.mkDerivation (finalAttrs: {
+  pname = "tsid";
+  version = "1.7.1";
+
+  src = fetchFromGitHub {
+    owner = "stack-of-tasks";
+    repo = "tsid";
+    rev = "v${finalAttrs.version}";
+    hash = "sha256-id6OCOX01o41Z5kqzwvjYa5uoQZtzhRaFBuOBhbLcTA=";
+  };
+
+  cmakeFlags = [
+    (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
+    (lib.cmakeBool "BUILD_WITH_OSQP" true)
+    (lib.cmakeBool "BUILD_WITH_PROXQP" true)
+    (lib.cmakeBool "INSTALL_DOCUMENTATION" true)
+  ];
+
+  outputs = [
+    "doc"
+    "out"
+  ];
+
+  nativeBuildInputs = [
+    doxygen
+    cmake
+    pkg-config
+  ] ++ lib.optional pythonSupport python3Packages.python;
+
+  propagatedBuildInputs =
+    [
+      eiquadprog
+      osqp-eigen
+      proxsuite
+    ]
+    ++ lib.optional (!pythonSupport) pinocchio ++ lib.optional pythonSupport python3Packages.pinocchio;
+
+  doCheck = true;
+  # pythonImportsCheck, but in stdenv.mkDerivation
+  postInstall = lib.optionalString pythonSupport ''
+    PYTHONPATH=$out/${python3Packages.python.sitePackages}:$PYTHONPATH
+    python -c "import tsid"
+  '';
+
+  meta = {
+    description = "Efficient Task Space Inverse Dynamics (TSID) based on Pinocchio";
+    homepage = "https://github.com/stack-of-tasks/tsid";
+    license = lib.licenses.bsd2;
+    maintainers = with lib.maintainers; [ nim65s ];
+  };
+})
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 1397631cf3b9..ef218c2a06bc 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -15758,6 +15758,11 @@ self: super: with self; {
 
   tsfresh = callPackage ../development/python-modules/tsfresh { };
 
+  tsid = toPythonModule (pkgs.tsid.override {
+    pythonSupport = true;
+    python3Packages = self;
+  });
+
   tskit = callPackage ../development/python-modules/tskit { };
 
   ttach = callPackage ../development/python-modules/ttach { };