diff --git a/.github/workflows/nix.yml b/.github/workflows/nix.yml
index d86192c..1ac391b 100644
--- a/.github/workflows/nix.yml
+++ b/.github/workflows/nix.yml
@@ -12,9 +12,8 @@ jobs:
     steps:
       - uses: actions/checkout@v4
       - uses: DeterminateSystems/nix-installer-action@main
-        with:
-          extra-conf: |
-            trusted-substituters = https://gepetto.cachix.org
-            trusted-public-keys = gepetto.cachix.org-1:toswMl31VewC0jGkN6+gOelO2Yom0SOHzPwJMY2XiDY=
       - uses: DeterminateSystems/magic-nix-cache-action@main
-      - run: nix build --accept-flake-config
+      - run: nix --accept-flake-config build -L
+      - run: nix --accept-flake-config run .#cachix push gepetto $(readlink result)
+        env:
+          CACHIX_AUTH_TOKEN: ${{ secrets.CACHIX_AUTH_TOKEN }}
diff --git a/flake.lock b/flake.lock
index 8854f3f..4a1d676 100644
--- a/flake.lock
+++ b/flake.lock
@@ -177,6 +177,8 @@
           "flake-parts"
         ],
         "hpp-util": [
+          "hpp-core",
+          "hpp-constraints",
           "hpp-util"
         ],
         "nixpkgs": [
@@ -226,30 +228,6 @@
         "type": "github"
       }
     },
-    "hpp-util_2": {
-      "inputs": {
-        "flake-parts": [
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "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": 1719585538,
@@ -271,7 +249,6 @@
         "flake-parts": "flake-parts",
         "hpp-core": "hpp-core",
         "hpp-template-corba": "hpp-template-corba",
-        "hpp-util": "hpp-util_2",
         "nixpkgs": "nixpkgs"
       }
     }
diff --git a/flake.nix b/flake.nix
index 0ba2dfb..1df71f7 100644
--- a/flake.nix
+++ b/flake.nix
@@ -12,22 +12,20 @@
       url = "github:hercules-ci/flake-parts";
       inputs.nixpkgs-lib.follows = "nixpkgs";
     };
-    hpp-util = {
-      url = "github:humanoid-path-planner/hpp-util/release/5.1.0";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-    };
     hpp-core = {
       url = "github:humanoid-path-planner/hpp-core/release/5.1.0";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-      inputs.hpp-util.follows = "hpp-util";
+      inputs = {
+        nixpkgs.follows = "nixpkgs";
+        flake-parts.follows = "flake-parts";
+      };
     };
     hpp-template-corba = {
       url = "github:humanoid-path-planner/hpp-template-corba/release/5.1.0";
-      inputs.nixpkgs.follows = "nixpkgs";
-      inputs.flake-parts.follows = "flake-parts";
-      inputs.hpp-util.follows = "hpp-util";
+      inputs = {
+        nixpkgs.follows = "nixpkgs";
+        flake-parts.follows = "flake-parts";
+        hpp-util.follows = "hpp-core/hpp-constraints/hpp-util";
+      };
     };
   };
 
@@ -49,9 +47,12 @@
           ...
         }:
         {
-          packages.default = pkgs.callPackage ./. {
-            hpp-core = inputs.hpp-core.packages.${system}.default;
-            hpp-template-corba = inputs.hpp-template-corba.packages.${system}.default;
+          packages = {
+            inherit (pkgs) cachix;
+            default = pkgs.callPackage ./. {
+              hpp-core = inputs.hpp-core.packages.${system}.default;
+              hpp-template-corba = inputs.hpp-template-corba.packages.${system}.default;
+            };
           };
           devShells.default = pkgs.mkShell { inputsFrom = [ self'.packages.default ]; };
         };