diff --git a/module.nix b/module.nix
index 38dab1b..40ed340 100644
--- a/module.nix
+++ b/module.nix
@@ -196,6 +196,7 @@ in
                 mc-hrp2
                 mc-hrp4
                 mc-hrp5-p
+                mc-miroki
               ];
               controllers = [ robogami-controller ];
             };
@@ -367,11 +368,22 @@ in
                   ;
               })
               (lib.optionalAttrs cfg.overlays.private {
+                inherit (pkgs)
+                  hrp2-description
+                  hrp4-description
+                  hrp5-p-description
+                  rhps1-description
+                  miroki-description
+                  ;
                 inherit (pkgs)
                   mc-hrp2
                   mc-hrp4
                   mc-hrp5-p
                   mc-rhps1
+                  mc-miroki
+                  ;
+
+                inherit (pkgs)
                   tasks-lssol
                   politopix
                   mc-dynamic-polytopes
diff --git a/overlay-private.nix b/overlay-private.nix
index 654a085..ffe6ead 100644
--- a/overlay-private.nix
+++ b/overlay-private.nix
@@ -14,10 +14,12 @@
     hrp4-description = callWithRos ./pkgs/mc-rtc/robots/descriptions/hrp4-description.nix { };
     hrp5-p-description = callWithRos ./pkgs/mc-rtc/robots/descriptions/hrp5-p-description.nix { };
     rhps1-description = callWithRos ./pkgs/mc-rtc/robots/descriptions/rhps1-description.nix { };
+    miroki-description = callWithRos ./pkgs/mc-rtc/robots/descriptions/miroki-description.nix { };
     mc-hrp2 = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-hrp2.nix { };
     mc-hrp4 = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-hrp4.nix { };
     mc-hrp5-p = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-hrp5-p.nix { };
     mc-rhps1 = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-rhps1.nix { };
+    mc-miroki = prev.callPackage ./pkgs/mc-rtc/robots/modules/mc-miroki.nix { };
 
     rhps1-mj-description = prev.callPackage ./pkgs/mc-rtc/mc-mujoco/robots/rhps1-mj-description.nix { };
     hrp4-mj-description = prev.callPackage ./pkgs/mc-rtc/mc-mujoco/robots/hrp4-mj-description.nix { };
diff --git a/pkgs/mc-rtc/robots/descriptions/miroki-description.nix b/pkgs/mc-rtc/robots/descriptions/miroki-description.nix
new file mode 100644
index 0000000..8b5b048
--- /dev/null
+++ b/pkgs/mc-rtc/robots/descriptions/miroki-description.nix
@@ -0,0 +1,40 @@
+{
+  stdenv,
+  lib,
+  cmake,
+  with-ros ? true,
+  ament-cmake,
+  buildRosPackage,
+}:
+
+(if with-ros then buildRosPackage else stdenv.mkDerivation) {
+  pname = "miroki-description";
+  version = "0.0.0";
+  separateDebugInfo = false;
+
+  src = fetchGit {
+    url = "git@github.com:isri-aist/miroki_description";
+    rev = "294ccaceb61f331902c5117558ddb4af82836074";
+  };
+
+  buildType = "ament_cmake";
+  nativeBuildInputs = if with-ros then [ ament-cmake ] else [ cmake ];
+  propagatedBuildInputs = [ ];
+
+  preConfigure = ''
+    export ROS_VERSION=2
+  '';
+
+  cmakeFlags = lib.optional (!with-ros) "-DDISABLE_ROS=ON" ++ [
+    "-DBUILD_TESTING=OFF"
+  ];
+
+  doCheck = false;
+
+  meta = with lib; {
+    description = "miroki robot description for mc_rtc";
+    homepage = "https://github.com/isri-aist/miroki_description";
+    license = licenses.bsd2;
+    platforms = platforms.all;
+  };
+}
diff --git a/pkgs/mc-rtc/robots/modules/mc-miroki.nix b/pkgs/mc-rtc/robots/modules/mc-miroki.nix
new file mode 100644
index 0000000..e458dd8
--- /dev/null
+++ b/pkgs/mc-rtc/robots/modules/mc-miroki.nix
@@ -0,0 +1,35 @@
+{
+  stdenv,
+  lib,
+  cmake,
+  mc-rtc,
+  miroki-description,
+}:
+stdenv.mkDerivation {
+  pname = "mc-miroki";
+  version = "0.0.0";
+
+  src = fetchGit {
+    url = "git@github.com:isri-aist/mc_miroki";
+    rev = "f783343513a9beab86c33ce286e49f7291ed963e";
+  };
+
+  nativeBuildInputs = [ cmake ];
+  propagatedBuildInputs = [
+    mc-rtc
+    miroki-description
+  ];
+
+  cmakeFlags = [
+    "-DMC_RTC_HONOR_INSTALL_PREFIX=ON"
+  ];
+
+  doCheck = false;
+
+  meta = with lib; {
+    description = "Miroki robot module for mc_rtc";
+    homepage = "https://github.com/isri-aist/mc_miroki";
+    license = licenses.bsd2;
+    platforms = platforms.all;
+  };
+}