diff --git a/pkgs/development/python-modules/robot-descriptions/default.nix b/pkgs/development/python-modules/robot-descriptions/default.nix
new file mode 100644
index 000000000000..065048ea3aca
--- /dev/null
+++ b/pkgs/development/python-modules/robot-descriptions/default.nix
@@ -0,0 +1,64 @@
+{
+  lib,
+  buildPythonPackage,
+  fetchFromGitHub,
+  flit-core,
+  gitpython,
+  tqdm,
+  # idyntree,
+  mujoco,
+  pinocchio,
+  pybullet,
+  pycollada,
+  # robomeshcat,
+  yourdfpy,
+}:
+
+buildPythonPackage rec {
+  pname = "robot-descriptions";
+  version = "1.20.0";
+  pyproject = true;
+
+  src = fetchFromGitHub {
+    owner = "robot-descriptions";
+    repo = "robot_descriptions.py";
+    tag = "v${version}";
+    hash = "sha256-8SBzhkENpUodnfObekkMPUsTQr/8mz27v3PK0S3IKO0=";
+  };
+
+  build-system = [
+    flit-core
+  ];
+
+  dependencies = [
+    gitpython
+    tqdm
+    pycollada
+  ];
+
+  optional-dependencies = {
+    opts = [
+      # idyntree
+      mujoco
+      pinocchio
+      pybullet
+      # robomeshcat
+      yourdfpy
+    ];
+  };
+
+  pythonImportsCheck = [
+    "robot_descriptions"
+  ];
+
+  # This package needs to download a lot of data at runtime
+  doCheck = false;
+
+  meta = {
+    description = "Access 125+ robot descriptions from the main Python robotics frameworks";
+    homepage = "https://github.com/robot-descriptions/robot_descriptions.py";
+    changelog = "https://github.com/robot-descriptions/robot_descriptions.py/blob/${src.rev}/CHANGELOG.md";
+    license = lib.licenses.asl20;
+    maintainers = with lib.maintainers; [ nim65s ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 6c570afcab40..58f783087bf6 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -15754,6 +15754,8 @@ self: super: with self; {
 
   robomachine = callPackage ../development/python-modules/robomachine { };
 
+  robot-descriptions = callPackage ../development/python-modules/robot-descriptions { };
+
   robot-detection = callPackage ../development/python-modules/robot-detection { };
 
   robotframework = callPackage ../development/python-modules/robotframework { };