diff --git a/pkgs/by-name/cr/crocoddyl/package.nix b/pkgs/by-name/cr/crocoddyl/package.nix
index ccc05b0297f1..87aa4b589409 100644
--- a/pkgs/by-name/cr/crocoddyl/package.nix
+++ b/pkgs/by-name/cr/crocoddyl/package.nix
@@ -10,8 +10,6 @@
   lib,
   pinocchio,
   pkg-config,
-  pythonSupport ? false,
-  python3Packages,
   stdenv,
 }:
 
@@ -46,31 +44,20 @@ stdenv.mkDerivation (finalAttrs: {
     cmake
     doxygen
     pkg-config
-  ]
-  ++ lib.optionals pythonSupport [
-    python3Packages.python
-    python3Packages.pythonImportsCheckHook
   ];
 
   propagatedBuildInputs = [
     blas
     ipopt
     lapack
-  ]
-  ++ lib.optionals (!pythonSupport) [
     example-robot-data
     pinocchio
-  ]
-  ++ lib.optionals pythonSupport [
-    python3Packages.example-robot-data
-    python3Packages.pinocchio
-    python3Packages.scipy
   ];
 
   cmakeFlags = [
     (lib.cmakeBool "INSTALL_DOCUMENTATION" true)
-    (lib.cmakeBool "BUILD_EXAMPLES" pythonSupport)
-    (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
+    (lib.cmakeBool "BUILD_EXAMPLES" false)
+    (lib.cmakeBool "BUILD_PYTHON_INTERFACE" false)
   ];
 
   prePatch = ''
@@ -81,8 +68,6 @@ stdenv.mkDerivation (finalAttrs: {
   '';
 
   doCheck = true;
-  pythonImportsCheck = [ "crocoddyl" ];
-  checkInputs = lib.optionals pythonSupport [ python3Packages.scipy ];
 
   meta = with lib; {
     description = "Crocoddyl optimal control library";
diff --git a/pkgs/development/python-modules/crocoddyl/default.nix b/pkgs/development/python-modules/crocoddyl/default.nix
new file mode 100644
index 000000000000..5e5e449899f0
--- /dev/null
+++ b/pkgs/development/python-modules/crocoddyl/default.nix
@@ -0,0 +1,54 @@
+{
+  lib,
+
+  toPythonModule,
+  pythonImportsCheckHook,
+
+  crocoddyl,
+
+  example-robot-data,
+  ffmpeg,
+  matplotlib,
+  nbconvert,
+  nbformat,
+  ipykernel,
+  python,
+  scipy,
+}:
+toPythonModule (
+  crocoddyl.overrideAttrs (super: {
+    pname = "py-${super.pname}";
+
+    cmakeFlags = super.cmakeFlags ++ [
+      (lib.cmakeBool "BUILD_PYTHON_INTERFACE" true)
+      (lib.cmakeBool "BUILD_STANDALONE_PYTHON_INTERFACE" true)
+    ];
+
+    # those are used by CMake at configure/build time
+    nativeBuildInputs = super.nativeBuildInputs ++ [
+      python
+    ];
+
+    propagatedBuildInputs = super.propagatedBuildInputs ++ [
+      crocoddyl
+      example-robot-data
+    ];
+
+    nativeCheckInputs = [
+      ffmpeg
+      pythonImportsCheckHook
+    ];
+
+    checkInputs = [
+      matplotlib
+      nbconvert
+      nbformat
+      ipykernel
+      scipy
+    ];
+
+    pythonImportsCheck = [
+      "crocoddyl"
+    ];
+  })
+)
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 39ee4ccf6217..c77ad5075b6e 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -3108,12 +3108,7 @@ self: super: with self; {
 
   crochet = callPackage ../development/python-modules/crochet { };
 
-  crocoddyl = toPythonModule (
-    pkgs.crocoddyl.override {
-      pythonSupport = true;
-      python3Packages = self;
-    }
-  );
+  crocoddyl = callPackage ../development/python-modules/crocoddyl { inherit (pkgs) crocoddyl; };
 
   cron-converter = callPackage ../development/python-modules/cron-converter { };