diff --git a/pkgs/development/python-modules/transforms3d/default.nix b/pkgs/development/python-modules/transforms3d/default.nix
new file mode 100644
index 000000000000..8b21e64e9a7e
--- /dev/null
+++ b/pkgs/development/python-modules/transforms3d/default.nix
@@ -0,0 +1,36 @@
+{ lib
+, buildPythonPackage
+, fetchFromGitHub
+, isPy27
+, pytest
+, numpy
+, scipy
+, sympy
+}:
+
+buildPythonPackage rec {
+  pname = "transforms3d";
+  version = "unstable-2019-12-17";
+
+  disabled = isPy27;
+
+  # no Git tag or PyPI release in some time
+  src = fetchFromGitHub {
+    owner = "matthew-brett";
+    repo = pname;
+    rev = "6b20250c610249914ca5e3a3a2964c36ca35c19a";
+    sha256 = "1z789hgk71a6rj6mqp9srpzamg06g58hs2p1l1p344cfnkj5a4kc";
+  };
+
+  propagatedBuildInputs = [ numpy sympy ];
+
+  checkInputs = [ pytest scipy ];
+  checkPhase = "pytest transforms3d";
+
+  meta = with lib; {
+    homepage = "https://matthew-brett.github.io/transforms3d";
+    description = "Convert between various geometric transformations";
+    license = licenses.bsd2;
+    maintainers = with maintainers; [ bcdarwin ];
+  };
+}
diff --git a/pkgs/top-level/python-packages.nix b/pkgs/top-level/python-packages.nix
index 755c724e275e..88c41dacdfab 100644
--- a/pkgs/top-level/python-packages.nix
+++ b/pkgs/top-level/python-packages.nix
@@ -1467,6 +1467,8 @@ in {
 
   transformers = callPackage ../development/python-modules/transformers { };
 
+  transforms3d = callPackage ../development/python-modules/transforms3d { };
+
   sentinel = callPackage ../development/python-modules/sentinel { };
 
   sentry-sdk = callPackage ../development/python-modules/sentry-sdk {};