diff --git a/flake.lock b/flake.lock
index ad853d0..0ea652f 100644
--- a/flake.lock
+++ b/flake.lock
@@ -36,35 +36,84 @@
         "type": "github"
       }
     },
-    "gazebros2nix": {
+    "flakoboros": {
       "inputs": {
         "flake-parts": "flake-parts",
-        "gepetto-lib": "gepetto-lib",
         "nix-ros-overlay": "nix-ros-overlay",
         "nixpkgs": [
           "gepetto",
           "gazebros2nix",
+          "flakoboros",
           "nix-ros-overlay",
           "nixpkgs"
         ],
-        "pyproject-build-systems": "pyproject-build-systems",
-        "pyproject-nix": "pyproject-nix",
         "systems": [
           "gepetto",
           "gazebros2nix",
+          "flakoboros",
           "nix-ros-overlay",
           "flake-utils",
           "systems"
         ],
-        "treefmt-nix": "treefmt-nix",
+        "treefmt-nix": "treefmt-nix"
+      },
+      "locked": {
+        "lastModified": 1774365635,
+        "narHash": "sha256-QjJ/CURzUwkO54xMKmGS1U4q+dog3KNQotxUtJ+JFz8=",
+        "owner": "gepetto",
+        "repo": "flakoboros",
+        "rev": "a42bc6287c3f47a7f2aea0699a344df22426e581",
+        "type": "github"
+      },
+      "original": {
+        "owner": "gepetto",
+        "repo": "flakoboros",
+        "type": "github"
+      }
+    },
+    "gazebros2nix": {
+      "inputs": {
+        "flake-parts": [
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "flake-parts"
+        ],
+        "flakoboros": "flakoboros",
+        "nix-ros-overlay": [
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nix-ros-overlay"
+        ],
+        "nixpkgs": [
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "nixpkgs"
+        ],
+        "pyproject-build-systems": "pyproject-build-systems",
+        "pyproject-nix": "pyproject-nix",
+        "systems": [
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "systems"
+        ],
+        "treefmt-nix": [
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros",
+          "treefmt-nix"
+        ],
         "uv2nix": "uv2nix"
       },
       "locked": {
-        "lastModified": 1773524302,
-        "narHash": "sha256-0phiMh2h3tZoe3rJGWWKMMJhuLMMHa65hRtgkzbXBJQ=",
+        "lastModified": 1774701840,
+        "narHash": "sha256-WnpLhilp4PxdmQ96N5A5zEuPfkuiC9TVe3oj3Z2PBnQ=",
         "owner": "gepetto",
         "repo": "gazebros2nix",
-        "rev": "0eb9151c41ec370e29d4d4ae1640aa4c6c4aa7a7",
+        "rev": "cd163a3b5b4f931bf766ac870c36c82246088b60",
         "type": "github"
       },
       "original": {
@@ -80,6 +129,11 @@
           "gazebros2nix",
           "flake-parts"
         ],
+        "flakoboros": [
+          "gepetto",
+          "gazebros2nix",
+          "flakoboros"
+        ],
         "gazebros2nix": "gazebros2nix",
         "home-manager": "home-manager",
         "nix-ros-overlay": [
@@ -108,11 +162,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1773834979,
-        "narHash": "sha256-pxEUfvPZG3lMMiorJxKPt0kjjNE2gQDA3w/cRHvSUX4=",
+        "lastModified": 1774758543,
+        "narHash": "sha256-5PWMYdUm1Y6eTuKvcd2qFvgCti9A7KAsxgYg1h3LxYU=",
         "owner": "gepetto",
         "repo": "nix",
-        "rev": "57036f98001a3b66384cd68ace974d237e3fa78b",
+        "rev": "90825881c84bcd2e55255f97f4e3b585b61f0d9e",
         "type": "github"
       },
       "original": {
@@ -121,21 +175,6 @@
         "type": "github"
       }
     },
-    "gepetto-lib": {
-      "locked": {
-        "lastModified": 1772454823,
-        "narHash": "sha256-jROeQxiRkzpHHAWDAxHJVfW/liA+t6JKDyPMJFqUE9E=",
-        "owner": "Gepetto",
-        "repo": "nix-lib",
-        "rev": "4500b5aa6af20c60011926ad6f42238375779c90",
-        "type": "github"
-      },
-      "original": {
-        "owner": "Gepetto",
-        "repo": "nix-lib",
-        "type": "github"
-      }
-    },
     "home-manager": {
       "inputs": {
         "nixpkgs": [
@@ -144,11 +183,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1773681845,
-        "narHash": "sha256-o8hrZrigP0JYcwnglCp8Zi8jQafWsxbDtRRPzuVwFxY=",
+        "lastModified": 1774559029,
+        "narHash": "sha256-deix7yg3j6AhjMPnFDCmWB3f83LsajaaULP5HH2j34k=",
         "owner": "nix-community",
         "repo": "home-manager",
-        "rev": "0759e0e137305bc9d0c52c204c6d8dffe6f601a6",
+        "rev": "a0bb0d11514f92b639514220114ac8063c72d0a3",
         "type": "github"
       },
       "original": {
@@ -164,11 +203,11 @@
         "nixpkgs": "nixpkgs"
       },
       "locked": {
-        "lastModified": 1773393994,
-        "narHash": "sha256-zm24obq1c4ielRR8KlUQ2M5XnNfUIcQjN++9s6CFvxc=",
+        "lastModified": 1774047596,
+        "narHash": "sha256-UNT8fGmAm2ZlaktMmiVYPeHgok2IJoCfLg698rO3Kq8=",
         "owner": "lopsided98",
         "repo": "nix-ros-overlay",
-        "rev": "a522c5a050a6d50471a29bbf6a060e2df16abf44",
+        "rev": "c0659dc45d4c1736d71d5578b17f12e3b1afe190",
         "type": "github"
       },
       "original": {
@@ -249,11 +288,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1772555609,
-        "narHash": "sha256-3BA3HnUvJSbHJAlJj6XSy0Jmu7RyP2gyB/0fL7XuEDo=",
+        "lastModified": 1773870109,
+        "narHash": "sha256-ZoTdqZP03DcdoyxvpFHCAek4bkPUTUPUF3oCCgc3dP4=",
         "owner": "pyproject-nix",
         "repo": "build-system-pkgs",
-        "rev": "c37f66a953535c394244888598947679af231863",
+        "rev": "b6e74f433b02fa4b8a7965ee24680f4867e2926f",
         "type": "github"
       },
       "original": {
@@ -271,11 +310,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1773190977,
-        "narHash": "sha256-fkJvOxz80cJViPz6GVaayC8BVCs5fclJ8qHDaNUpoEA=",
+        "lastModified": 1774498001,
+        "narHash": "sha256-wTfdyzzrmpuqt4TQQNqilF91v0m5Mh1stNy9h7a/WK4=",
         "owner": "pyproject-nix",
         "repo": "pyproject.nix",
-        "rev": "10ebca8a137bf26b7fbd3e94b339bf68cee18693",
+        "rev": "794afa6eb588b498344f2eaa36ab1ceb7e6b0b09",
         "type": "github"
       },
       "original": {
@@ -290,6 +329,10 @@
           "gepetto",
           "flake-parts"
         ],
+        "flakoboros": [
+          "gepetto",
+          "flakoboros"
+        ],
         "gazebros2nix": [
           "gepetto",
           "gazebros2nix"
@@ -388,6 +431,7 @@
         "nixpkgs": [
           "gepetto",
           "gazebros2nix",
+          "flakoboros",
           "nixpkgs"
         ]
       },
@@ -419,11 +463,11 @@
         ]
       },
       "locked": {
-        "lastModified": 1773359304,
-        "narHash": "sha256-knv2C6tIk5ysix+9TxWIenPvpB20kFjQ1CH6SJMBNsU=",
+        "lastModified": 1774490495,
+        "narHash": "sha256-a9WmQWj8fF7BctZGCoyzpUjP6GJw8H+lxl+zxpGnETk=",
         "owner": "pyproject-nix",
         "repo": "uv2nix",
-        "rev": "27b135ea72ab1637fc5845a61c101ea66d6636d6",
+        "rev": "18ae62fc5e389e3069854a7c66455c22e31708fc",
         "type": "github"
       },
       "original": {
diff --git a/flake.nix b/flake.nix
index 3bb357d..449907c 100644
--- a/flake.nix
+++ b/flake.nix
@@ -3,6 +3,7 @@
 
   inputs = {
     gepetto.url = "github:gepetto/nix";
+    flakoboros.follows = "gepetto/flakoboros";
     gazebros2nix.follows = "gepetto/gazebros2nix";
     flake-parts.follows = "gepetto/flake-parts";
     nixpkgs.follows = "gepetto/nixpkgs";
@@ -20,7 +21,7 @@
         imports = [
           inputs.gepetto.flakeModule
           {
-            gazebros2nix.overrides.hpp-tutorial = _final: {
+            flakoboros.overrideAttrs.hpp-tutorial = _: {
               src = lib.fileset.toSource {
                 root = ./.;
                 fileset = lib.fileset.unions [
diff --git a/tutorial_3/README.md b/tutorial_3/README.md
index 761d902..1fc763a 100644
--- a/tutorial_3/README.md
+++ b/tutorial_3/README.md
@@ -180,6 +180,7 @@ You can visualize `qpg` and `qg` in the graphical interface.
 
 We now need to plan a motion between `q_init` and `qpg` and between `qpg` and `qg`, keeping the relevant constraints satisfied. Here the only relevant constraint is that the part should not move. To do so, we will use the `TransitionPlanner` class. This class plans motions along a transition, keeping the constraints of the transition satisfied. The right hand side of the parameterizable constraints of the transition is initialized with the initial configuration. The code below shows how to use this class.
 ```
+from pyhpp.manipulation import TransitionPlanner
 planner = TransitionPlanner(problem)
 planner.maxIterations(1000)
 for i in range(10):