diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
index 9488350..cc47550 100644
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
@@ -1,6 +1,7 @@
-name: "Nix CI"
+name: "CI - Nix"
 
-on: [pull_request, push]
+on:
+  push:
 
 jobs:
   tests:
@@ -11,10 +12,9 @@ jobs:
         os: [ubuntu]
     steps:
       - uses: actions/checkout@v4
-      - uses: DeterminateSystems/nix-installer-action@main
-      - uses: DeterminateSystems/magic-nix-cache-action@main
-      - run: nix --accept-flake-config build -L
-      - run: nix --accept-flake-config run .#cachix push gepetto $(readlink result)
-        if: github.repository_owner == 'humanoid-path-planner'
-        env:
-          CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
+      - uses: cachix/install-nix-action@v27
+      - uses: cachix/cachix-action@v15
+        with:
+          name: gepetto
+          authToken: '${{ secrets.CACHIX_AUTH_TOKEN }}'
+      - run: nix build -L
diff --git a/default.nix b/default.nix
deleted file mode 100644
index 3da57fd..0000000
--- a/default.nix
+++ /dev/null
@@ -1,41 +0,0 @@
-{
-  lib,
-  stdenv,
-  cmake,
-  example-robot-data,
-  hpp-manipulation,
-}:
-
-stdenv.mkDerivation {
-  pname = "hpp-manipulation-urdf";
-  version = "5.0.0";
-
-  src = lib.fileset.toSource {
-    root = ./.;
-    fileset = lib.fileset.unions [
-      ./CMakeLists.txt
-      ./doc
-      ./include
-      ./package.xml
-      ./src
-      ./tests
-    ];
-  };
-
-  strictDeps = true;
-
-  nativeBuildInputs = [ cmake ];
-  propagatedBuildInputs = [ hpp-manipulation ];
-  doCheck = true;
-
-  preCheck = ''
-    export ROS_PACKAGE_PATH=${example-robot-data}/share
-  '';
-
-  meta = {
-    description = "Implementation of a parser for hpp-manipulation";
-    homepage = "https://github.com/humanoid-path-planner/hpp-manipulation-urdf";
-    license = lib.licenses.bsd2;
-    maintainers = [ lib.maintainers.nim65s ];
-  };
-}
diff --git a/flake.lock b/flake.lock
index 27eaee6..291df13 100644
--- a/flake.lock
+++ b/flake.lock
@@ -20,262 +20,17 @@
         "type": "github"
       }
     },
-    "hpp-constraints": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "hpp-core",
-          "flake-parts"
-        ],
-        "hpp-pinocchio": "hpp-pinocchio",
-        "hpp-statistics": "hpp-statistics",
-        "hpp-util": "hpp-util",
-        "nixpkgs": [
-          "hpp-manipulation",
-          "hpp-core",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719584695,
-        "narHash": "sha256-8K94IgUt8kpdRDASnstfX14cBQN4ZK6+LmvOuq6Sg0I=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-constraints",
-        "rev": "acd1c62fdfcdb329fd0dea19ae2f18e471e3ef08",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-constraints",
-        "type": "github"
-      }
-    },
-    "hpp-core": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "flake-parts"
-        ],
-        "hpp-constraints": "hpp-constraints",
-        "nixpkgs": [
-          "hpp-manipulation",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719586831,
-        "narHash": "sha256-oRFZsERQKzaW2NvgcKcxqJZtqtlk7rqDK2inhUTABiQ=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-core",
-        "rev": "733f884a03cde41aeae18758a26b28cf6fdf02fa",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-core",
-        "type": "github"
-      }
-    },
-    "hpp-environments": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-pinocchio",
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-pinocchio",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719580427,
-        "narHash": "sha256-T76zgTJrGm7maKBPwgX+FgQ7MPN7NoLvdZvzARPo9V0=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-environments",
-        "rev": "1c727bcc85145a1f5236357fa73df5a183a31f04",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-environments",
-        "type": "github"
-      }
-    },
-    "hpp-manipulation": {
-      "inputs": {
-        "flake-parts": [
-          "flake-parts"
-        ],
-        "hpp-core": "hpp-core",
-        "hpp-universal-robot": "hpp-universal-robot",
-        "nixpkgs": [
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719772310,
-        "narHash": "sha256-IAukCfmub9dn0OmwXib7WdUluGoacqJVbGADX/av3wg=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-manipulation",
-        "rev": "7d3bf681f5d64cc3786e0fd72ee2e61e14eba7fd",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-manipulation",
-        "type": "github"
-      }
-    },
-    "hpp-pinocchio": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "flake-parts"
-        ],
-        "hpp-environments": "hpp-environments",
-        "hpp-util": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-util"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719582071,
-        "narHash": "sha256-sRWf973UZIdyrS0fhd+vXdTucR9d7Eks9yU85kcFxfo=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-pinocchio",
-        "rev": "4ec6186223ce18f4c48605421a7ef583fe827352",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-pinocchio",
-        "type": "github"
-      }
-    },
-    "hpp-statistics": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "flake-parts"
-        ],
-        "hpp-util": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-util"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719582334,
-        "narHash": "sha256-bzGI7z6hTGkuNs71Vcb3vsVpey1SuR7Okx4rJU1LHFs=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-statistics",
-        "rev": "613b1f9c2788cb33097c1f1c0e4216420665a1e0",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-statistics",
-        "type": "github"
-      }
-    },
-    "hpp-universal-robot": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719670288,
-        "narHash": "sha256-9gi96DhSqvAHlXUlTs6O7TG/3dTthL2LETHb1rqP75A=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-universal-robot",
-        "rev": "d9308abb98b864da8ab1041f66f6c78aef2e8d53",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-universal-robot",
-        "type": "github"
-      }
-    },
-    "hpp-util": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation",
-          "hpp-core",
-          "hpp-constraints",
-          "nixpkgs"
-        ]
-      },
-      "locked": {
-        "lastModified": 1719580825,
-        "narHash": "sha256-trfl8A+P7a1gnACnTXNK98TYWWDAOM3PKfkXxpC3X/8=",
-        "owner": "humanoid-path-planner",
-        "repo": "hpp-util",
-        "rev": "0504f15818a92c7a257cd6b60cd8b6092bd6dbfa",
-        "type": "github"
-      },
-      "original": {
-        "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
-        "repo": "hpp-util",
-        "type": "github"
-      }
-    },
     "nixpkgs": {
       "locked": {
-        "lastModified": 1719674427,
-        "narHash": "sha256-z2hCpVyfnmYTA5iabf1SW4peFV9itE1JJcXNBKIFkDg=",
-        "owner": "nim65s",
+        "lastModified": 1727174734,
+        "narHash": "sha256-xa3TynMF5vaWonmTOg/Ejc1Fmo0GkQnCaVRVkBc3z2I=",
+        "owner": "gepetto",
         "repo": "nixpkgs",
-        "rev": "b81610d293fac26c2ec6a81718a979bc25f8c155",
+        "rev": "0ad139a0e4372abc12320c8c92ee90e0e5e296e1",
         "type": "github"
       },
       "original": {
-        "owner": "nim65s",
-        "ref": "gepetto",
+        "owner": "gepetto",
         "repo": "nixpkgs",
         "type": "github"
       }
@@ -283,7 +38,6 @@
     "root": {
       "inputs": {
         "flake-parts": "flake-parts",
-        "hpp-manipulation": "hpp-manipulation",
         "nixpkgs": "nixpkgs"
       }
     }
diff --git a/flake.nix b/flake.nix
index b35b3f4..bfb9b42 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,28 +1,17 @@
 {
   description = "Implementation of a parser for hpp-manipulation";
 
-  nixConfig = {
-    extra-substituters = [ "https://gepetto.cachix.org" ];
-    extra-trusted-public-keys = [ "gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=" ];
-  };
-
   inputs = {
-    nixpkgs.url = "github:nim65s/nixpkgs/gepetto";
+    nixpkgs.url = "github:gepetto/nixpkgs";
     flake-parts = {
       url = "github:hercules-ci/flake-parts";
       inputs.nixpkgs-lib.follows = "nixpkgs";
     };
-    hpp-manipulation = {
-      url = "github:humanoid-path-planner/hpp-manipulation";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-    };
   };
 
   outputs =
-    inputs@{ flake-parts, ... }:
-    flake-parts.lib.mkFlake { inherit inputs; } {
-      imports = [ ];
+    inputs:
+    inputs.flake-parts.lib.mkFlake { inherit inputs; } {
       systems = [
         "x86_64-linux"
         "aarch64-linux"
@@ -30,23 +19,30 @@
         "x86_64-darwin"
       ];
       perSystem =
+        { pkgs, self', ... }:
         {
-          self',
-          pkgs,
-          system,
-          ...
-        }:
-        {
-          packages = {
-            inherit (pkgs) cachix;
-            default = pkgs.callPackage ./. {
-              hpp-manipulation = inputs.hpp-manipulation.packages.${system}.default;
-            };
-          };
           devShells.default = pkgs.mkShell {
             inputsFrom = [ self'.packages.default ];
             ROS_PACKAGE_PATH = "${pkgs.example-robot-data}/share";
           };
+          packages = {
+            default = self'.packages.hpp-manipulation-urdf;
+            hpp-manipulation-urdf = pkgs.hpp-manipulation-urdf.overrideAttrs (_: {
+              # TODO: remove this after next release
+              patches = [];
+              src = pkgs.lib.fileset.toSource {
+                root = ./.;
+                fileset = pkgs.lib.fileset.unions [
+                  ./CMakeLists.txt
+                  ./doc
+                  ./include
+                  ./package.xml
+                  ./src
+                  ./tests
+                ];
+              };
+            });
+          };
         };
     };
 }