diff --git a/.github/dependabot.yml b/.github/dependabot.yml
new file mode 100644
index 0000000..203f3c8
--- /dev/null
+++ b/.github/dependabot.yml
@@ -0,0 +1,6 @@
+version: 2
+updates:
+- package-ecosystem: "github-actions"
+  directory: "/"
+  schedule:
+      interval: "weekly"
diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
index cc47550..27c4d7c 100644
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
@@ -2,6 +2,13 @@ name: "CI - Nix"
 
 on:
   push:
+    branches:
+      - devel
+      - master
+  pull_request:
+    branches:
+      - devel
+      - master
 
 jobs:
   tests:
diff --git a/.github/workflows/update-flake-lock.yml b/.github/workflows/update-flake-lock.yml
new file mode 100644
index 0000000..3807562
--- /dev/null
+++ b/.github/workflows/update-flake-lock.yml
@@ -0,0 +1,17 @@
+name: update-flake-lock
+
+on:
+  workflow_dispatch:
+  schedule:
+    - cron: '0 4 18 * *'
+
+jobs:
+  lockfile:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@v4
+      - name: Install Nix
+        uses: DeterminateSystems/nix-installer-action@main
+      - name: Update flake.lock
+        uses: DeterminateSystems/update-flake-lock@main
diff --git a/.mergify.yml b/.mergify.yml
index 8e98970..16b1c33 100644
--- a/.mergify.yml
+++ b/.mergify.yml
@@ -5,7 +5,8 @@ pull_request_rules:
       - check-success = "Nix build on ubuntu"
       - check-success = "pre-commit.ci - pr"
       - or:
-        - author = pre-commit-ci[bot]
         - author = dependabot[bot]
+        - author = github-actions[bot]
+        - author = pre-commit-ci[bot]
     actions:
       merge:
diff --git a/cmake b/cmake
index 29c0eb4..2bea127 160000
--- a/cmake
+++ b/cmake
@@ -1 +1 @@
-Subproject commit 29c0eb4e659304f44d55a0389e2749812d858659
+Subproject commit 2bea127e8113a32f216ae7a7201e36a6e7c56cc2
diff --git a/flake.lock b/flake.lock
index 291df13..558ed19 100644
--- a/flake.lock
+++ b/flake.lock
@@ -7,11 +7,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1719877454,
-        "narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
+        "lastModified": 1733312601,
+        "narHash": "sha256-4pDvzqnegAfRkPwO3wmwBhVi/Sye1mzps0zHWYnP88c=",
         "owner": "hercules-ci",
         "repo": "flake-parts",
-        "rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
+        "rev": "205b12d8b7cd4802fbcb8e8ef6a0f1408781a4f9",
         "type": "github"
       },
       "original": {
@@ -22,15 +22,16 @@
     },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1727174734,
-        "narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
-        "owner": "gepetto",
+        "lastModified": 1734714690,
+        "narHash": "sha256-qG7ZsWjeuhYKa8mSEVBDvEW5BPyzTV3sK6YNjXnbwXc=",
+        "owner": "NixOS",
         "repo": "nixpkgs",
-        "rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
+        "rev": "8ca81a76ca9f378eff8c25c9db0ffb14acb33d64",
         "type": "github"
       },
       "original": {
-        "owner": "gepetto",
+        "owner": "NixOS",
+        "ref": "refs/pull/362956/head",
         "repo": "nixpkgs",
         "type": "github"
       }
diff --git a/flake.nix b/flake.nix
index 43c0414..c5cdc62 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,13 +1,8 @@
 {
   description = "Multi contact trajectory generation for the COM using Bezier curves";
 
-  nixConfig = {
-    extra-substituters = [ "https://gepetto.cachix.org" ];
-    extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
-  };
-
   inputs = {
-    nixpkgs.url = "github:gepetto/nixpkgs";
+    nixpkgs.url = "github:NixOS/nixpkgs/refs/pull/362956/head";
     flake-parts = {
       url = "github:hercules-ci/flake-parts";
       inputs.nixpkgs-lib.follows = "nixpkgs";