diff --git a/module.nix b/module.nix
index 5889d55..38dab1b 100644
--- a/module.nix
+++ b/module.nix
@@ -350,6 +350,9 @@ in
                   ;
 
                 inherit (pkgs) panda-prosthesis mc-force-shoe-plugin sphinx-cmake;
+
+                # Tools
+                inherit (pkgs) mc-robot-tools;
               }
               (lib.optionalAttrs (cfg.with-ros || superbuildCfg.withRos) {
                 inherit (pkgs) mc-rtc-ticker;
diff --git a/overlay.nix b/overlay.nix
index e08d45a..5a88807 100644
--- a/overlay.nix
+++ b/overlay.nix
@@ -213,6 +213,14 @@
 
     sphinx-cmake = prev.callPackage ./pkgs/sphinx-cmake.nix { };
 
+    ##########
+    # TOOLS  #
+    ##########
+    mc-robot-tools = prev.callPackage ./pkgs/mc-rtc/tools/mc-robot-tools.nix { };
+
+    ##########
+    # PYTHON #
+    ##########
     pythonPackagesExtensions = prev.pythonPackagesExtensions ++ [
       (
         python-final: _python-prev:
diff --git a/pkgs/mc-rtc/tools/mc-robot-tools.nix b/pkgs/mc-rtc/tools/mc-robot-tools.nix
new file mode 100644
index 0000000..94911bb
--- /dev/null
+++ b/pkgs/mc-rtc/tools/mc-robot-tools.nix
@@ -0,0 +1,55 @@
+{
+  stdenv,
+  lib,
+  fetchFromGitHub,
+  cmake,
+  xacro,
+  mc-rtc,
+  mesh-sampling,
+  with-bota-sensor ? false, # missing bota_driver
+  with-ds4 ? true, # ok
+  with-plate ? true, # ok
+  with-realsense-camera ? true, # ok
+  # missing robotiq_gripper https://github.com/PickNikRobotics/ros2_robotiq_gripper
+  with-robotiq-gripper ? false,
+  with-screw ? true,
+}:
+
+stdenv.mkDerivation {
+  pname = "mc-robot-tools";
+  version = "0.0.0";
+
+  src = fetchFromGitHub {
+    owner = "isri-aist";
+    repo = "mc_robot_tools";
+    rev = "1c4c9ce4da400e48975fa491f27ff3fba2688fb9";
+    hash = "sha256-91jH8Xx8C/vUFr7qwunHL49P11CEP/SslRLH8NVHySM=";
+  };
+
+  nativeBuildInputs = [
+    cmake
+    xacro
+  ];
+  propagatedBuildInputs = [
+    mc-rtc
+    mesh-sampling
+  ];
+
+  cmakeFlags = [
+    (lib.cmakeBool "WITH_BOTA_SENSOR" with-bota-sensor)
+    (lib.cmakeBool "WITH_DS4" with-ds4)
+    (lib.cmakeBool "WITH_PLATE" with-plate)
+    (lib.cmakeBool "WITH_REALSENSE_CAMERA" with-realsense-camera)
+    (lib.cmakeBool "WITH_ROBOTIQ_GRIPPER" with-robotiq-gripper)
+    (lib.cmakeBool "WITH_SCREW" with-screw)
+  ];
+
+  doCheck = false;
+
+  meta = with lib; {
+    description = "All tool modules with mc-rtc framework";
+    homepage = "https://github.com/isri-aist/mc_robot_tools";
+    license = licenses.bsd2;
+    platforms = platforms.all;
+  };
+}