diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
new file mode 100644
index 0000000..1c320d7
--- /dev/null
+++ b/.github/workflows/nix.yml
@@ -0,0 +1,20 @@
+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 .#colmpc
+      - run: nix build -L .#py-colmpc
diff --git a/default.nix b/default.nix
new file mode 100644
index 0000000..cbbeaea
--- /dev/null
+++ b/default.nix
@@ -0,0 +1,54 @@
+{
+  lib,
+  stdenv,
+  cmake,
+  crocoddyl,
+  ipopt,
+  llvmPackages,
+  pkg-config,
+  python3Packages,
+  pythonSupport ? false,
+}:
+
+stdenv.mkDerivation {
+  pname = "colmpc";
+  version = "0.2.0";
+
+  src = lib.fileset.toSource {
+    root = ./.;
+    fileset = lib.fileset.unions [
+      ./CMakeLists.txt
+      ./include
+      ./package.xml
+      ./python
+      ./tests
+    ];
+  };
+
+  nativeBuildInputs = [
+    cmake
+    pkg-config
+  ] ++ lib.optional pythonSupport python3Packages.pythonImportsCheckHook;
+
+  buildInputs = lib.optional stdenv.cc.isClang llvmPackages.openmp;
+
+  propagatedBuildInputs =
+    [ ipopt ]
+    ++ lib.optional pythonSupport python3Packages.crocoddyl
+    ++ lib.optional (!pythonSupport) crocoddyl;
+
+  cmakeFlags = [
+    (lib.cmakeBool "BUILD_PYTHON_INTERFACE" pythonSupport)
+  ];
+
+  doCheck = true;
+  pythonImportsCheck = [ "colmpc" ];
+
+  meta = {
+    description = "Collision avoidance for MPC";
+    homepage = "https://github.com/agimus-project/colmpc";
+    license = lib.licenses.bsd2;
+    maintainers = with lib.maintainers; [ nim65s ];
+    platforms = lib.platforms.unix;
+  };
+}
diff --git a/flake.lock b/flake.lock
new file mode 100644
index 0000000..e4c3565
--- /dev/null
+++ b/flake.lock
@@ -0,0 +1,58 @@
+{
+  "nodes": {
+    "flake-parts": {
+      "inputs": {
+        "nixpkgs-lib": "nixpkgs-lib"
+      },
+      "locked": {
+        "lastModified": 1733312601,
+        "narHash": "sha256-4pDvzqnegAfRkPwO3wmwBhVi/Sye1mzps0zHWYnP88c=",
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "rev": "205b12d8b7cd4802fbcb8e8ef6a0f1408781a4f9",
+        "type": "github"
+      },
+      "original": {
+        "owner": "hercules-ci",
+        "repo": "flake-parts",
+        "type": "github"
+      }
+    },
+    "nixpkgs": {
+      "locked": {
+        "lastModified": 1733759999,
+        "narHash": "sha256-463SNPWmz46iLzJKRzO3Q2b0Aurff3U1n0nYItxq7jU=",
+        "owner": "NixOS",
+        "repo": "nixpkgs",
+        "rev": "a73246e2eef4c6ed172979932bc80e1404ba2d56",
+        "type": "github"
+      },
+      "original": {
+        "owner": "NixOS",
+        "ref": "nixos-unstable",
+        "repo": "nixpkgs",
+        "type": "github"
+      }
+    },
+    "nixpkgs-lib": {
+      "locked": {
+        "lastModified": 1733096140,
+        "narHash": "sha256-1qRH7uAUsyQI7R1Uwl4T+XvdNv778H0Nb5njNrqvylY=",
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/5487e69da40cbd611ab2cadee0b4637225f7cfae.tar.gz"
+      },
+      "original": {
+        "type": "tarball",
+        "url": "https://github.com/NixOS/nixpkgs/archive/5487e69da40cbd611ab2cadee0b4637225f7cfae.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 0000000..4d94156
--- /dev/null
+++ b/flake.nix
@@ -0,0 +1,30 @@
+{
+  description = "Collision avoidance for MPC";
+
+  inputs = {
+    flake-parts.url = "github:hercules-ci/flake-parts";
+    nixpkgs.url = "github:NixOS/nixpkgs/nixos-unstable";
+  };
+
+  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.py-colmpc;
+            colmpc = pkgs.callPackage ./. { };
+            py-colmpc = pkgs.python3Packages.toPythonModule (
+              self'.packages.colmpc.override { pythonSupport = true; }
+            );
+          };
+        };
+    };
+}