diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 000000000..52b45d9f0
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,19 @@
+name: "CI - Nix"
+
+on:
+ push:
+
+jobs:
+ nix:
+ runs-on: "${{ matrix.os }}-latest"
+ strategy:
+ matrix:
+ os: [ubuntu, macos]
+ steps:
+ - uses: actions/checkout@v4
+ - uses: cachix/install-nix-action@v27
+ - uses: cachix/cachix-action@v15
+ with:
+ name: gepetto
+ authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+ - run: nix build -L
diff --git a/README.md b/README.md
index 1ba508aa5..10c7cd3b2 100644
--- a/README.md
+++ b/README.md
@@ -7,7 +7,10 @@
+
+
+
@@ -52,6 +55,13 @@ If you want to learn more about **Crocoddyl** and its solvers, we suggest readin
**Crocoddyl** can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Below, there are different ways to install Crocoddyl.
+### 
On ArchLinux
+
+With your favorite AUR helper, eg. paru:
+```bash
+ paru -Syu crocoddyl
+```
+
### :dragon: From 
Just run the following command in the terminal:
@@ -60,6 +70,16 @@ Just run the following command in the terminal:
```
Conda installation supports [](https://anaconda.org/conda-forge/crocoddyl).
+### 
From Nix
+
+`crocoddyl` & `python3Packages.crocoddyl` are available in [nixpkgs](https://github.com/NixOS/nixpkgs/).
+
+This repository is also a flake, so you may:
+- run a python shell with crocoddyl: `nix run github:loco-3d/crocoddyl`
+- use it in your own flake: `crocoddyl.url = "github:loco-3d/crocoddyl";`
+
+The build cache use by CI and developers is [gepetto.cachix.org](https://app.cachix.org/cache/gepetto)
+
### :snake: From 
Just run the following command in the terminal:
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 000000000..5a0734589
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,57 @@
+{
+ "nodes": {
+ "flake-parts": {
+ "inputs": {
+ "nixpkgs-lib": "nixpkgs-lib"
+ },
+ "locked": {
+ "lastModified": 1722555600,
+ "narHash": "sha256-XOQkdLafnb/p9ij77byFQjDf5m5QYl9b2REiVClC+x4=",
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "rev": "8471fe90ad337a8074e957b69ca4d0089218391d",
+ "type": "github"
+ },
+ "original": {
+ "owner": "hercules-ci",
+ "repo": "flake-parts",
+ "type": "github"
+ }
+ },
+ "nixpkgs": {
+ "locked": {
+ "lastModified": 1724857063,
+ "narHash": "sha256-Hr4qs3NQLP6JDUPpItJOztUzsr3IjC9WAWM47ob03GU=",
+ "owner": "gepetto",
+ "repo": "nixpkgs",
+ "rev": "b953c287a7ed9e5d33917ec4c838e1b5de9713e0",
+ "type": "github"
+ },
+ "original": {
+ "owner": "gepetto",
+ "repo": "nixpkgs",
+ "type": "github"
+ }
+ },
+ "nixpkgs-lib": {
+ "locked": {
+ "lastModified": 1722555339,
+ "narHash": "sha256-uFf2QeW7eAHlYXuDktm9c25OxOyCoUOQmh5SZ9amE5Q=",
+ "type": "tarball",
+ "url": "https://github.com/NixOS/nixpkgs/archive/a5d394176e64ab29c852d03346c1fc9b0b7d33eb.tar.gz"
+ },
+ "original": {
+ "type": "tarball",
+ "url": "https://github.com/NixOS/nixpkgs/archive/a5d394176e64ab29c852d03346c1fc9b0b7d33eb.tar.gz"
+ }
+ },
+ "root": {
+ "inputs": {
+ "flake-parts": "flake-parts",
+ "nixpkgs": "nixpkgs"
+ }
+ }
+ },
+ "root": "root",
+ "version": 7
+}
diff --git a/flake.nix b/flake.nix
new file mode 100644
index 000000000..940a0b891
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,44 @@
+{
+ description = "optimal control library for robot control under contact sequence.";
+
+ inputs = {
+ flake-parts.url = "github:hercules-ci/flake-parts";
+ #nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+ # use gepetto fork until https://github.com/NixOS/nixpkgs/pull/324018
+ nixpkgs.url = "github:gepetto/nixpkgs";
+ };
+
+ outputs =
+ inputs:
+ inputs.flake-parts.lib.mkFlake { inherit inputs; } {
+ systems = inputs.nixpkgs.lib.systems.flakeExposed;
+ perSystem =
+ { pkgs, self', ... }:
+ {
+ apps.default = {
+ type = "app";
+ program = pkgs.python3.withPackages (_: [ self'.packages.default ]);
+ };
+ devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
+ packages = {
+ default = self'.packages.crocoddyl;
+ crocoddyl = pkgs.python3Packages.crocoddyl.overrideAttrs (_: {
+ src = pkgs.lib.fileset.toSource {
+ root = ./.;
+ fileset = pkgs.lib.fileset.unions [
+ ./benchmark
+ ./bindings
+ ./CMakeLists.txt
+ ./doc
+ ./examples
+ ./include
+ ./package.xml
+ ./src
+ ./unittest
+ ];
+ };
+ });
+ };
+ };
+ };
+}