diff --git a/pkgs/development/libraries/crocoddyl/default.nix b/pkgs/development/libraries/crocoddyl/default.nix
new file mode 100644
index 000000000000..2a8267f9d6b9
--- /dev/null
+++ b/pkgs/development/libraries/crocoddyl/default.nix
@@ -0,0 +1,49 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, cmake
+, example-robot-data
+, pinocchio
+, pythonSupport ? false
+, python3Packages
+}:
+
+stdenv.mkDerivation rec {
+  pname = "crocoddyl";
+  version = "1.9.0";
+
+  src = fetchFromGitHub {
+    owner = "loco-3d";
+    repo = pname;
+    rev = "v${version}";
+    sha256 = "sha256-IQ+8ZZXVTTRFa4uGetpylRab4P9MSTU2YtytYA3z6ys=";
+    fetchSubmodules = true;
+  };
+
+  strictDeps = true;
+
+  nativeBuildInputs = [
+    cmake
+  ];
+
+  propagatedBuildInputs = lib.optionals (!pythonSupport) [
+    example-robot-data
+    pinocchio
+  ] ++ lib.optionals pythonSupport [
+    python3Packages.example-robot-data
+    python3Packages.pinocchio
+  ];
+
+  cmakeFlags = lib.optionals (!pythonSupport) [
+    "-DBUILD_EXAMPLES=OFF"
+    "-DBUILD_PYTHON_INTERFACE=OFF"
+  ];
+
+  meta = with lib; {
+    description = "Crocoddyl optimal control library";
+    homepage = "https://github.com/loco-3d/crocoddyl";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ wegank ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/development/libraries/example-robot-data/default.nix b/pkgs/development/libraries/example-robot-data/default.nix
new file mode 100644
index 000000000000..08a650dbca00
--- /dev/null
+++ b/pkgs/development/libraries/example-robot-data/default.nix
@@ -0,0 +1,42 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, cmake
+, pythonSupport ? false
+, python3Packages
+}:
+
+stdenv.mkDerivation rec {
+  pname = "example-robot-data";
+  version = "4.0.3";
+
+  src = fetchFromGitHub {
+    owner = "Gepetto";
+    repo = pname;
+    rev = "v${version}";
+    fetchSubmodules = true;
+    sha256 = "sha256-rxVyka8tcF/CmGTVNyh3FPR1LVa6JOAN+9zjElgqCak=";
+  };
+
+  strictDeps = true;
+
+  nativeBuildInputs = [
+    cmake
+  ];
+
+  buildInputs = lib.optionals pythonSupport [
+    python3Packages.pinocchio
+  ];
+
+  cmakeFlags = lib.optionals (!pythonSupport) [
+    "-DBUILD_PYTHON_INTERFACE=OFF"
+  ];
+
+  meta = with lib; {
+    description = "Set of robot URDFs for benchmarking and developed examples.";
+    homepage = "https://github.com/Gepetto/example-robot-data";
+    license = licenses.bsd3;
+    maintainers = with maintainers; [ wegank ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/development/libraries/pinocchio/default.nix b/pkgs/development/libraries/pinocchio/default.nix
new file mode 100644
index 000000000000..8b48e74476a6
--- /dev/null
+++ b/pkgs/development/libraries/pinocchio/default.nix
@@ -0,0 +1,57 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, cmake
+, boost
+, eigen
+, urdfdom
+, pythonSupport ? false
+, python3Packages
+}:
+
+stdenv.mkDerivation rec {
+  pname = "pinocchio";
+  version = "2.6.12";
+
+  src = fetchFromGitHub {
+    owner = "stack-of-tasks";
+    repo = pname;
+    rev = "v${version}";
+    fetchSubmodules = true;
+    sha256 = "sha256-DJX/njNX8l7ngSl3yCeN7ZoQaH65pQTsZrKwmY7EZ+E=";
+  };
+
+  # error: use of undeclared identifier '__sincos'
+  postPatch = lib.optionalString (stdenv.isDarwin && stdenv.isx86_64) ''
+    substituteInPlace src/math/sincos.hpp \
+      --replace "__APPLE__" "0"
+  '';
+
+  strictDeps = true;
+
+  nativeBuildInputs = [
+    cmake
+  ];
+
+  propagatedBuildInputs = [
+    urdfdom
+  ] ++ lib.optionals (!pythonSupport) [
+    boost
+    eigen
+  ] ++ lib.optionals pythonSupport [
+    python3Packages.boost
+    python3Packages.eigenpy
+  ];
+
+  cmakeFlags = lib.optionals (!pythonSupport) [
+    "-DBUILD_PYTHON_INTERFACE=OFF"
+  ];
+
+  meta = with lib; {
+    description = "A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives";
+    homepage = "https://github.com/stack-of-tasks/pinocchio";
+    license = licenses.bsd2;
+    maintainers = with maintainers; [ wegank ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/development/python-modules/eigenpy/default.nix b/pkgs/development/python-modules/eigenpy/default.nix
new file mode 100644
index 000000000000..a13b8e52ed53
--- /dev/null
+++ b/pkgs/development/python-modules/eigenpy/default.nix
@@ -0,0 +1,44 @@
+{ lib
+, stdenv
+, fetchFromGitHub
+, cmake
+, boost
+, eigen
+, numpy
+}:
+
+stdenv.mkDerivation rec {
+  pname = "eigenpy";
+  version = "2.8.1";
+
+  src = fetchFromGitHub {
+    owner = "stack-of-tasks";
+    repo = pname;
+    rev = "v${version}";
+    fetchSubmodules = true;
+    sha256 = "sha256-nofB5TDvEArhPcYe/Pb1LQBC+W6MrE3NuapaZmKIO68=";
+  };
+
+  strictDeps = true;
+
+  nativeBuildInputs = [
+    cmake
+  ];
+
+  buildInputs = [
+    boost
+  ];
+
+  propagatedBuildInputs = [
+    eigen
+    numpy
+  ];
+
+  meta = with lib; {
+    description = "Bindings between Numpy and Eigen using Boost.Python";
+    homepage = "https://github.com/stack-of-tasks/eigenpy";
+    license = licenses.bsd2;
+    maintainers = with maintainers; [ wegank ];
+    platforms = platforms.unix;
+  };
+}
diff --git a/pkgs/top-level/all-packages.nix b/pkgs/top-level/all-packages.nix
index cd08b4415220..d83f1d3fe9bd 100644
--- a/pkgs/top-level/all-packages.nix
+++ b/pkgs/top-level/all-packages.nix
@@ -18786,6 +18786,8 @@ with pkgs;
 
   croaring = callPackage ../development/libraries/croaring { };
 
+  crocoddyl = callPackage ../development/libraries/crocoddyl { };
+
   crossguid = callPackage ../development/libraries/crossguid { };
 
   cryptopp = callPackage ../development/libraries/crypto++ { };
@@ -18957,6 +18959,8 @@ with pkgs;
 
   liberasurecode = callPackage ../applications/misc/liberasurecode { };
 
+  example-robot-data = callPackage ../development/libraries/example-robot-data { };
+
   exiv2 = callPackage ../development/libraries/exiv2 { };
 
   expat = callPackage ../development/libraries/expat { };
@@ -22051,6 +22055,8 @@ with pkgs;
 
   pico-sdk = callPackage ../development/libraries/pico-sdk { };
 
+  pinocchio = callPackage ../development/libraries/pinocchio { };
+
   pipelight = callPackage ../tools/misc/pipelight {
     stdenv = stdenv_32bit;
     wine-staging = pkgsi686Linux.wine-staging;
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 51719fbde161..b9d16de47750 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -2028,6 +2028,11 @@ self: super: with self; {
 
   criticality-score = callPackage ../development/python-modules/criticality-score { };
 
+  crocoddyl = toPythonModule (callPackage ../development/libraries/crocoddyl {
+    pythonSupport = true;
+    python3Packages = self;
+  });
+
   cron-descriptor = callPackage ../development/python-modules/cron-descriptor { };
 
   croniter = callPackage ../development/python-modules/croniter { };
@@ -2897,6 +2902,8 @@ self: super: with self; {
 
   eggdeps = callPackage ../development/python-modules/eggdeps { };
 
+  eigenpy = toPythonModule (callPackage ../development/python-modules/eigenpy { });
+
   einops = callPackage ../development/python-modules/einops { };
 
   eiswarnung = callPackage ../development/python-modules/eiswarnung { };
@@ -3068,6 +3075,11 @@ self: super: with self; {
 
   ewmh = callPackage ../development/python-modules/ewmh { };
 
+  example-robot-data = toPythonModule (pkgs.example-robot-data.override {
+    pythonSupport = true;
+    python3Packages = self;
+  });
+
   exdown = callPackage ../development/python-modules/exdown { };
 
   exceptiongroup = callPackage ../development/python-modules/exceptiongroup { };
@@ -6963,6 +6975,11 @@ self: super: with self; {
 
   pinboard = callPackage ../development/python-modules/pinboard { };
 
+  pinocchio = toPythonModule (pkgs.pinocchio.override {
+    pythonSupport = true;
+    python3Packages = self;
+  });
+
   pint = callPackage ../development/python-modules/pint { };
 
   pint-pandas = callPackage ../development/python-modules/pint-pandas { };