diff --git a/flake.lock b/flake.lock
index f741cb3..051cd1a 100644
--- a/flake.lock
+++ b/flake.lock
@@ -7,11 +7,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1717285511,
-        "narHash": "sha256-iKzJcpdXih14qYVcZ9QC9XuZYnPc6T8YImb6dX166kw=",
+        "lastModified": 1719877454,
+        "narHash": "sha256-g5N1yyOSsPNiOlFfkuI/wcUjmtah+nxdImJqrSATjOU=",
         "owner": "hercules-ci",
         "repo": "flake-parts",
-        "rev": "2a55567fcf15b1b1c7ed712a2c6fadaec7412ea8",
+        "rev": "4e3583423212f9303aa1a6337f8dffb415920e4f",
         "type": "github"
       },
       "original": {
@@ -24,7 +24,8 @@
       "inputs": {
         "flake-parts": [
           "hpp-manipulation-corba",
-          "hpp-corbaserver",
+          "hpp-manipulation-urdf",
+          "hpp-manipulation",
           "hpp-core",
           "flake-parts"
         ],
@@ -33,7 +34,8 @@
         "hpp-util": "hpp-util",
         "nixpkgs": [
           "hpp-manipulation-corba",
-          "hpp-corbaserver",
+          "hpp-manipulation-urdf",
+          "hpp-manipulation",
           "hpp-core",
           "nixpkgs"
         ]
@@ -53,50 +55,27 @@
         "type": "github"
       }
     },
-    "hpp-constraints_2": {
+    "hpp-corbaserver": {
       "inputs": {
         "flake-parts": [
+          "hpp-manipulation-corba",
+          "flake-parts"
+        ],
+        "hpp-core": [
           "hpp-manipulation-corba",
           "hpp-manipulation-urdf",
           "hpp-manipulation",
-          "hpp-core",
-          "flake-parts"
+          "hpp-core"
         ],
-        "hpp-pinocchio": "hpp-pinocchio_2",
-        "hpp-statistics": "hpp-statistics_2",
-        "hpp-util": "hpp-util_3",
-        "nixpkgs": [
+        "hpp-template-corba": "hpp-template-corba",
+        "hpp-util": [
           "hpp-manipulation-corba",
           "hpp-manipulation-urdf",
           "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-corbaserver": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "flake-parts"
+          "hpp-constraints",
+          "hpp-util"
         ],
-        "hpp-core": "hpp-core",
-        "hpp-template-corba": "hpp-template-corba",
-        "hpp-util": "hpp-util_2",
         "nixpkgs": [
           "hpp-manipulation-corba",
           "nixpkgs"
@@ -118,35 +97,6 @@
       }
     },
     "hpp-core": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "flake-parts"
-        ],
-        "hpp-constraints": "hpp-constraints",
-        "nixpkgs": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "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-core_2": {
       "inputs": {
         "flake-parts": [
           "hpp-manipulation-corba",
@@ -154,7 +104,7 @@
           "hpp-manipulation",
           "flake-parts"
         ],
-        "hpp-constraints": "hpp-constraints_2",
+        "hpp-constraints": "hpp-constraints",
         "nixpkgs": [
           "hpp-manipulation-corba",
           "hpp-manipulation-urdf",
@@ -178,40 +128,6 @@
       }
     },
     "hpp-environments": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-pinocchio",
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "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-environments_2": {
       "inputs": {
         "flake-parts": [
           "hpp-manipulation-corba",
@@ -254,7 +170,7 @@
           "hpp-manipulation-urdf",
           "flake-parts"
         ],
-        "hpp-core": "hpp-core_2",
+        "hpp-core": "hpp-core",
         "hpp-universal-robot": "hpp-universal-robot",
         "nixpkgs": [
           "hpp-manipulation-corba",
@@ -289,16 +205,15 @@
         ]
       },
       "locked": {
-        "lastModified": 1719743275,
-        "narHash": "sha256-aXA76GDU9xfb3W8aa0eI/LTtkvG4ydmbd7LCBYBXyyQ=",
+        "lastModified": 1719773112,
+        "narHash": "sha256-QTD+aXURL+dCG3ZbFH4Q2X6TQhOP8sq11xkWtKCM5EU=",
         "owner": "humanoid-path-planner",
         "repo": "hpp-manipulation-corba",
-        "rev": "5146ecf3f3970717441eea178dcfa49a69673514",
+        "rev": "2095617a8d31310c4d5b6b9fb7ff30311f9af16e",
         "type": "github"
       },
       "original": {
         "owner": "humanoid-path-planner",
-        "ref": "release/5.1.0",
         "repo": "hpp-manipulation-corba",
         "type": "github"
       }
@@ -331,46 +246,6 @@
       }
     },
     "hpp-pinocchio": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "hpp-core",
-          "hpp-constraints",
-          "flake-parts"
-        ],
-        "hpp-environments": "hpp-environments",
-        "hpp-util": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-util"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "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-pinocchio_2": {
       "inputs": {
         "flake-parts": [
           "hpp-manipulation-corba",
@@ -380,7 +255,7 @@
           "hpp-constraints",
           "flake-parts"
         ],
-        "hpp-environments": "hpp-environments_2",
+        "hpp-environments": "hpp-environments",
         "hpp-util": [
           "hpp-manipulation-corba",
           "hpp-manipulation-urdf",
@@ -414,45 +289,6 @@
       }
     },
     "hpp-statistics": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "hpp-core",
-          "hpp-constraints",
-          "flake-parts"
-        ],
-        "hpp-util": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "hpp-core",
-          "hpp-constraints",
-          "hpp-util"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "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-statistics_2": {
       "inputs": {
         "flake-parts": [
           "hpp-manipulation-corba",
@@ -558,66 +394,6 @@
       }
     },
     "hpp-util": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "hpp-core",
-          "hpp-constraints",
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "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"
-      }
-    },
-    "hpp-util_2": {
-      "inputs": {
-        "flake-parts": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "flake-parts"
-        ],
-        "nixpkgs": [
-          "hpp-manipulation-corba",
-          "hpp-corbaserver",
-          "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"
-      }
-    },
-    "hpp-util_3": {
       "inputs": {
         "flake-parts": [
           "hpp-manipulation-corba",
diff --git a/flake.nix b/flake.nix
index 99e7359..b42ff58 100644
--- a/flake.nix
+++ b/flake.nix
@@ -13,7 +13,7 @@
       inputs.nixpkgs-lib.follows = "nixpkgs";
     };
     hpp-manipulation-corba = {
-      url = "github:humanoid-path-planner/hpp-manipulation-corba/release/5.1.0";
+      url = "github:humanoid-path-planner/hpp-manipulation-corba";
       inputs.nixpkgs.follows = "nixpkgs";
       inputs.flake-parts.follows = "flake-parts";
     };