diff --git a/flake.lock b/flake.lock
index d77b63b..3d2f99d 100644
--- a/flake.lock
+++ b/flake.lock
@@ -264,6 +264,26 @@
         "type": "github"
       }
     },
+    "hpp-core": {
+      "inputs": {
+        "gepetto": [
+          "gepetto"
+        ]
+      },
+      "locked": {
+        "lastModified": 1786116273,
+        "narHash": "sha256-WO9Xn1TYXQB6qrnluYYAYN6990YFEionBZtLsoJ6hSE=",
+        "owner": "humanoid-path-planner",
+        "repo": "hpp-core",
+        "rev": "13a5dffb644e50a71b53d0541bc99b0d65823202",
+        "type": "github"
+      },
+      "original": {
+        "owner": "humanoid-path-planner",
+        "repo": "hpp-core",
+        "type": "github"
+      }
+    },
     "nix-ros-overlay": {
       "inputs": {
         "flake-utils": "flake-utils",
@@ -423,7 +443,8 @@
     },
     "root": {
       "inputs": {
-        "gepetto": "gepetto"
+        "gepetto": "gepetto",
+        "hpp-core": "hpp-core"
       }
     },
     "rosdistro": {
diff --git a/flake.nix b/flake.nix
index a044cc8..dbc89bb 100644
--- a/flake.nix
+++ b/flake.nix
@@ -1,13 +1,20 @@
 {
   description = "python bindings for HPP, based on boost python";
 
-  inputs.gepetto.url = "github:gepetto/nix";
+  inputs = {
+    gepetto.url = "github:gepetto/nix";
+    hpp-core = {
+      url = "github:humanoid-path-planner/hpp-core";
+      inputs.gepetto.follows = "gepetto";
+    };
+  };
 
   outputs =
     inputs:
     inputs.gepetto.lib.mkFlakoboros inputs (
       { lib, ... }:
       {
+        overlays = [ inputs.hpp-core.overlays.flakoboros ];
         pyOverrideAttrs.hpp-python = {
           src = lib.fileset.toSource {
             root = ./.;
diff --git a/src/pyhpp/core/path-validation.cc b/src/pyhpp/core/path-validation.cc
index 6daf7dd..7bfec8d 100644
--- a/src/pyhpp/core/path-validation.cc
+++ b/src/pyhpp/core/path-validation.cc
@@ -133,6 +133,29 @@ struct Progressive : PathValidation {
                        tolerance) {}
 };
 
+struct ProgressiveWrapper {
+  static hpp::core::value_type getTimeOut(PathValidation* pv) {
+    return HPP_DYNAMIC_PTR_CAST(hpp::core::continuousValidation::Progressive,
+                                pv->obj)
+        ->timeOut();
+  }
+  static void setTimeOut(PathValidation* pv,
+                         const hpp::core::value_type& timeOut) {
+    auto progressive = HPP_DYNAMIC_PTR_CAST(
+        hpp::core::continuousValidation::Progressive, pv->obj);
+    progressive->timeOut(timeOut);
+
+    pv->factory = [timeOut](const hpp::core::DevicePtr_t& robot,
+                            const hpp::core::value_type& tolerance)
+        -> hpp::core::PathValidationPtr_t {
+      auto result = hpp::core::continuousValidation::Progressive::create(
+          robot, tolerance);
+      result->timeOut(timeOut);
+      return result;
+    };
+  }
+};
+
 struct Dichotomy : PathValidation {
   Dichotomy(const hpp::core::DevicePtr_t& robot,
             const hpp::core::value_type& tolerance)
@@ -184,7 +207,11 @@ void exposePathValidation() {
   class_<pathValidation::Progressive, bases<PathValidation>>(
       "Progressive", "Create a progressive continuous path validation.",
       init<const hpp::core::DevicePtr_t&, const hpp::core::value_type&>(
-          (arg("robot"), arg("tolerance"))));
+          (arg("robot"), arg("tolerance"))))
+      .def("timeOut", &pathValidation::ProgressiveWrapper::getTimeOut,
+           "Get wall-clock timeout (seconds) for path validation.")
+      .def("timeOut", &pathValidation::ProgressiveWrapper::setTimeOut,
+           "Set wall-clock timeout (seconds) for path validation.");
   class_<pathValidation::Dichotomy, bases<PathValidation>>(
       "Dichotomy", "Create a dichotomy-based continuous path validation.",
       init<const hpp::core::DevicePtr_t&, const hpp::core::value_type&>(